CN104898467A - Uniform electromagnetic force field generation device and method - Google Patents
Uniform electromagnetic force field generation device and method Download PDFInfo
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- CN104898467A CN104898467A CN201510141272.8A CN201510141272A CN104898467A CN 104898467 A CN104898467 A CN 104898467A CN 201510141272 A CN201510141272 A CN 201510141272A CN 104898467 A CN104898467 A CN 104898467A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
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Abstract
The invention discloses a uniform electromagnetic force field generation device and a method, which can be used for a space microgravity ground simulation experiment. A normal conductive liquid is used for magnetic mixing and suspension, a multi-point support is adopted, an excitation coil and a permanent magnet are designed, a multi-pole coupled electromagnetic field is generated, a needed electromagnetic force is provided in experiment space, the axial electromagnetic force at any point in an identical height and uncontrolled state is the same, a horizontal electromagnetic force is basically zero, and the electromagnetic forces of different heights in the space can reach a required constant value via an active control system. In the given three-dimensional experiment space, a constant electromagnetic force is generated for a moving body according to requirements, and the moving body is constantly in a microgravity simulation effect state. As for different experiment purposes and the moving bodies, the required constant electromagnetic forces are different, the size of the required uniform force field can be regulated and controlled via the active control system of the device, and different space microgravity ground simulation experiment requirements can be met.
Description
Technical field
The invention belongs to the Laboratory Simulation field that magnetic liquid mixes floating space microgravity, relate to a kind of evenly electromagnetic force field generating apparatus and method.
Background technology
Magnetic levitation is widely used in ground microgravity effect analog experiment, when the electromagnetic force suffered by object is contrary with object self gravitation equal and opposite in direction direction, get final product virtual space weightlessness effect, wherein electromagnetic force mainly utilizes super-conductive magnetic suspension or electromagnetic suspension to produce.The microgravity simulation of this ground is mainly used in life science, protein crystal growth, alloy molecule/difficulty mixing gold making, nano-magnetic fluid/STUDY ON HYDRODYNAMICS OF CIRCULATING etc.
A lot of research was had about the control of magnetic suspension system and corresponding coupling thereof, but the time delay of distributed electrical magnetic system and time variation are not furtherd investigate, and the electromagnetic suspension system control method of the accurately trim in real time of simulating for array space microgravity is not furtherd investigate.The present invention well solves these problems, achieve electromagnetic suspension system time delay and time there is accurately trim in real time to suspended matter under change condition, achieve the microgravity effect analog of movable body any point in particular experiment space.
Summary of the invention
The object of the invention is to realize spatially distributed electromagnetic system on a large scale and produce the device of uniform force field, a kind of evenly electromagnetic force field generation method is provided, the method is by concrete control strategy, realize the constant of electromagnetic force in given lab space, with the requirement of meeting spatial microgravity effect ground simulation.
To achieve these goals, the technical solution adopted in the present invention is:
A kind of evenly electromagnetic force field generating apparatus, comprises movable body, position measuring system, computer for controlling, switch control cabinet, power supply and array electromagnet; Computer for controlling is connected with array electromagnet by switch control cabinet and power supply, array electromagnet is placed with water tank, movable body is placed in water tank, electromagnetic force field is formed above it after array electromagnet energising, movable body in water tank is in the electromagnetic force field formed above array electromagnet, computer for controlling regulates and controls electromagnetic force suffered on electromagnetic field and movable body that array electromagnet produces by controlling power supply, makes movable body be suspended in the water of water tank; Computer for controlling measures the positional information of movable body in real time by position measuring system.
Described array electromagnet adopts multiple field coil unit to form 26 × 26 array electromagnets, and multiple field coil unit is laid in surface level, and the axis direction of each field coil unit is parallel to each other and perpendicular to surface level.
The shape of described field coil adopts to be avoided edge effect and ensures the square of surface level magnetic field's regularity and directivity.
The movable body position signalling recorded is transferred to computer for controlling by 232 communication modes by described position measuring system.
Perform region control signal is transferred to switch control cabinet by " D/O module " by described computer for controlling, and current controling signal is transferred to power supply by " D/A module ".
Described movable body adopts shape to meet experiment purpose cylindrical permanent magnet.
A kind of evenly electromagnetic force field generation method, comprises the following steps:
Step 1: the gravity utilizing buoyancy of water to overcome movable body carries out thick trim to movable body, after thick trim, buoyancy and gravitational difference are a
0n, the i.e. floating-mg=a of F
0n, wherein, m is movable body quality, and unit is kilogram, and g is acceleration of gravity, a
0for constant, then the electromagnetic force in the whole lab space of space microgravity ground simulating demand equals a
0n;
Step 2: according between the calibration zone in the reach Binding experiment demand determination lab space of electromagnetic force and need demarcate point, determine stated accuracy; Set up xyz three-dimensional system of coordinate, x direction and y direction are demarcated a bit every 0.05m, and a point is demarcated every 10mm in z direction; Tangential movement interval is 1.3m × 1.3m, and vertical motion interval is 0.3m;
Step 3: given level position signalling and vertical altitude signal, demarcates in this point process and no longer changes electromagnetic array shop order tuple, make electromagnetic force equal a
0n, the fixed point realizing this point in experimental situation suspends, and meets Level of Microgravity;
Step 4: adopt position measuring system to record the current three-dimensional position signal coordinate of movable body, coordinate signal is sent to computer for controlling by feedback signal path;
Step 5: computer for controlling accepts three-dimensional position signal, according to the electromagnetic array shop order tuple of 12 × 12 of the corresponding movable body geometric center of horizontal level signal x coordinate and y coordinate determination electromagnetic array shop order tuple geometric center, sends switch controlling signal; Meanwhile, computer for controlling is according to vertical position signal z coordinate determination voltage control signal; Determine voltage control signal;
Step 6: switch control cabinet receives the switch controlling signal that computer for controlling sends, and controls corresponding relay switch action; Meanwhile, power supply accepts the voltage control signal that computer for controlling sends, and produces the electric current of corresponding size to electromagnetic array shop order tuple;
Step 7: according to the change-over switch signal of switch control cabinet, corresponding 12 × 12 electromagnetic array shop order tuples are positioned at on-state, receive the electric current that power supply provides, and produce electromagnetic force;
Step 8: electromagnetic force, in movable body, changes the three-dimensional position of movable body, repeats step 4 to step 8, suspends until movable body realizes stable fixed point at demarcated point;
Step 9: change calibration point position, repeats step 3 to step 8, and all calibration point places between calibration zone realize stable fixed point and suspend, and then realize the even electromagnetic force in whole interval.
Compared with prior art, the present invention has following beneficial effect:
Under permanent magnet is placed in movable body by the present invention, coordinate below Energizing unit to produce suspending power, below Energizing unit is wrapped in electromagnet core by coil groups and forms.Energizing unit adopts array ranking method to form electromagnetism battle array and produces uniform magnetic field, and power of alterating and direct current switch board carrys out controlling magnetic field intensity by changing size of current.
Further, the shape of permanent magnet of the present invention uses and meets experiment purpose cylindrical (with movable body bottom surface similar shape), size requires that permanent magnet meets later stage simulation requirements, electromagnetism battle array is by Energizing unit array combination, Energizing unit is formed by coil winding iron core combination, ensure surface level magnetic field's regularity and directivity in order to avoid edge effect, coil shape is selected square.
The present invention sets up out the constant array uniform magnetic field of axial force, and the axial electromagnetic force size variation that the magnetic field set up by the method can meet sustained height in lab space within the scope of meter level is no more than 1%, and levels electromagnetic power levels off to zero.By experiment, control method of the present invention can reach following experiment effect (experiment measured result): under the thick trim of gravity reaches the condition of 99%, can realize 1 × 10
-3m/s
2(namely 1 × 10
-4g) microgravity effect analog level.
Even electromagnetic force field generation method of the present invention, producing the critical piece in magnetic field is permanent magnet and solenoid battle array, electromagnetic array to suspended matter by attractive force effect.In order to ensure that movable body still can obtain constant axial electromagnetic force at movable volume edges, requiring electromagnetism battle array to cover when arranging also to increase outside movable scope the area of 20%, so just obtaining the magnetic field of static suspension.
Further, perform region of the present invention is the field coil of 12 × 12 distributions.Electromagnetism battle array overlay area is the field coil of 26 × 26 distributions, and in experiment, only have perform region coil electricity, other coil does not have electric current.The gravity buoyancy difference of suspended matter is constant, controlling electromagnetic force by change size of current makes electromagnetic force suffered by differing heights low suspension body equal, utilize infrared follow-up device can determine the height of test articles, thus obtain required electromagnetic force size and then try to achieve size of current, required electric current is provided, electromagnetic force constant under differing heights can be realized by power of alterating and direct current switch board.
Accompanying drawing explanation
Fig. 1 is that array electromagnetism in the present invention-permanent magnetism controls system hardware block diagram;
Fig. 2 is electromagnetic array working cell of the present invention control principle block diagram;
Fig. 3 is array electromagnetism-permanent magnet suspension system model schematic in the present invention;
Fig. 4 is that the present invention gets the bid Given current controller signal data table algorithm structural drawing;
Fig. 5 is suspend control design sketch of fixing a point in the present invention.
Embodiment
Below in conjunction with accompanying drawing, the present invention will be further described in detail.
See Fig. 1, the even electromagnetic force field generating apparatus of the present invention, comprises movable body 2, position measuring system, computer for controlling, switch control cabinet, power supply and array electromagnet 1; Computer for controlling is connected with array electromagnet 1 by switch control cabinet and power supply, array electromagnet 1 is placed with water tank 3, movable body 2 is placed in water tank 3, array electromagnet 1 forms electromagnetic force field after being energized above it, movable body 2 in water tank 3 is in the electromagnetic force field formed above array electromagnet 1, computer for controlling regulates and controls electromagnetic force suffered on electromagnetic field and movable body 2 that array electromagnet 1 produces by controlling power supply, makes movable body 2 be suspended in the water of water tank 3; Computer for controlling measures the positional information of movable body in real time by position measuring system.
The electromagnetic array of a group 26 × 26 bottom the present invention, by controlling the size of current under opening state in solenoid, can magnetic force between regulating magnet and suspended motion body, thus the motion of controlled motion body.By controlling its each height stable in water, obtain corresponding Calibrated current, this electric current can meet compensate trim in experimental precision situation after the power of buoyancy suffered by movable body and gravity poor, thus the ground simulation of implementation space microgravity.
The present invention's even electromagnetic force field generation method, comprises the following steps:
Movable body, under the effect of electromagnetic force, gravity, buoyancy etc., is stabilized in the coordinate position of setting; Measured the position of movable body by position detecting system, provide the three-dimensional coordinate position of movable body; Computer for controlling receives the horizontal level signal of movable body, determines the perform region of array electromagnet, and according to the axial location signal of movable body, is calculated the size of the control signal of power supply by corresponding control algolithm; The control signal that gauge tap cabinet switches according to solenoid perform region, controls the break-make of corresponding contact device switch, makes the motion of perform region, magnetic field pursuit movement body; Power supply, according to the control signal size of controller computing, exports corresponding electric current; The electric current input electromagnet that power supply exports, electromagnet produces magnetic field under the effect of electric current, and the permanent magnet in this magnetic field and movable body interacts, and generation electromagnetic force, suffered by compensating motion body, the power of buoyancy and gravity is poor.
The present invention utilizes multiple field coil unit to define field coil battle array, is closely laid in surface level, and the axis direction of each unit is parallel to each other and perpendicular to surface level; The electromagnetic force that multipole coupled magnetic field provides, axially (direction parallel with gravity) electromagnetic force is identical without arbitrfary point under control state to meet co-altitude, and levels electromagnetic power is zero substantially; What the present invention adopted is the magnet mixing suspended method of liquid, utilizes liquid to most of gravity of the buoyancy overcoming object that the object be in wherein produces, and the gravity remaining very fraction is overcome by electromagnetic force fine setting, to realize the simulation of microgravity effect; Position detecting system records three-dimensional coordinate and the rate signal of movable body, adopts 232 communication modes, and the movable body position signalling recorded by position detecting system is transferred to computer for controlling; Computer for controlling, by controller, provides array electromagnet perform region control signal according to horizontal level signal, provides power control signal size according to axial location signal; Perform region control signal is transferred to relay control switch by " D/O module " by computer for controlling, and current controling signal is transferred to power supply by " D/A module "; Power supply, according to the size of the signal received, changes electromagnetic force by changing voltage.
The present invention produces the constant electromagnetic power of multipole coupled magnetic field by array electromagnet 1, the ground simulation of implementation space microgravity effect.The overall control block diagram of the control system shown in composition graphs 2, concrete steps are as follows:
1) control of movable body axially fixed point suspension in lab space is realized.Particularly, the ground simulation of implementation space microgravity effect, then to ensure that movable body is all microgravity effect states at any point of lab space, due to can switch operating unit group when the horizontal direction of sustained height moves, and can ensure that each shop order tuple electric current under same power supplies control signal is identical, so the research of control method only each height need obtain respectively the electric current realizing fixed point and suspend in the height interval axially meeting experiment condition, just microgravity environment can be formed in whole lab space like this by following horizontal level signal switching shop order tuple.
Step 1) be specially:
Delay 1-1) caused due to the output time of operation time of distributed electromagnetic system work process middle controller, D/A change-over circuit, current-responsive time, magnetic field Time Created, position detection etc. makes distributed electrical magnetic system have large time ductility, the present invention adopts Smith predictive compensation, the action making control module in advance, makes up the adverse effect that purely retarded brings control procedure.Combination model Model Reference Adaptive Control, reduces model accuracy to the impact of control method, gives full play to the advantage of Smith Predictive Compensation Control method to eliminate distributed electrical magnetic system by the delayed time delay caused.
1-2) except having strong hysteresis quality, distributed electrical magnetic system also has time variation, select the control method of model reference adaptive to adjust controller parameter, the parameter of auto--tuning controller, with the change conformed, makes the control of distributed electrical magnetic system more stable.Due to time variation and model self accuracy limitations of distributed electrical magnetic system, fuzzy-adaptation PID control is introduced on the basis of Smith predictive compensation, model reference self-adapting control.Fuzzy-adaptation PID control not only can reduce the impact of time variation, also has great role to ductility when improving, and also plays good action to the coupling of distributed electrical magnetic system.
By comparing with actual test the theoretical analysis of above-mentioned control method, the final control method adopting Smith predictive compensation, fuzzy, model reference self-adapting control to combine, realizes the movable body control that axial fixed point suspends in lab space.
2) control of movable body tangential movement in lab space is realized.Electromagnet unit battle array is 26 × 26 arrays, and shop order tuple is 12 × 12 arrays, and requiring provides electromagnetic force to be not less than 10N.Ensure 2 points in implementation process: (1) working cell group switching centre switches according to movable body position signalling in real time, keep working cell group switching centre on movable body longitudinal center line, levels electromagnetic power is zero substantially; (2) power control signal of each shop order tuple is equal, and under ensureing sustained height, suffered by movable body, axial electromagnetic force is identical.
In this embodiment, hybrid suspension system model shown in composition graphs 3, step 2) be specially:
2-1) the design of tangential movement control.According to the feature of hybrid suspension system, suspended matter at certain altitude from the center tangential movement relative to bottom 12 × 12 shop order tuple, when displacement is no more than 30mm, keep the duty of bottom 12 × 12 shop order tuples constant, in moving process, the levels electromagnetic of suspension permanent magnet body is stressed is zero substantially, and the electromagnetic force rate of change of vertical direction is no more than 1% substantially.When moving horizontally distance and continuing to increase, then start the position switching bottom 12 × 12 shop order tuples, make working portion overall also along with the direction of motion of suspension permanent magnet body moves 50mm (length of an electromagnet unit).
2-2) the concrete grammar of electromagnetic array shop order tuple switching: the lab space horizontal position coordinate that in the electromagnetic array of calculating 26 × 26, the working cell group switching centre of each 12 × 12 is corresponding, coordinate signal is transferred to the horizontal level signal of computer for controlling by position detecting system, calculate the I/O control signal controlling relay switch break-make, control relay switch by " D/O module ", make corresponding 12 × 12 shop order tuples be in opening state.
3) complex controll of microgravity ground simulation accurately trim is in real time realized.By step 1) realization of axial fixed point suspend control, to the solenoid current that the fixed point of each height in microgravity simulated experiment space suspends when realizing, make the Calibrated current control signal tables of data in microgravity simulated experiment space.Movable body is in microgravity simulated experiment space during three-dimensional motion, controller accepts the three-dimensional coordinate signal of movable body by data communication, by computer for controlling, perform region control signal is transferred to relay control switch by " D/O module ", power control signal, the current controling signal extracting respective heights from Calibrated current control signal tables of data is transferred to power supply by " D/A module ".
The present invention is 770mm (namely axial height is 770mm) in expectation hoverheight, and when shop order tuple is 12 × 12 unit group at electromagnetic array center, the control effects that employing PID control method obtains as shown in Figure 4.The fixed point highly for 770mm suspend realize time vertical direction acceleration situation of change is as shown in Figure 5 in time.
Above content is only and technological thought of the present invention is described; protection scope of the present invention can not be limited with this; every technological thought proposed according to the present invention, any change that technical scheme basis is done, within the protection domain all falling into claims of the present invention.
Claims (7)
1. an even electromagnetic force field generating apparatus, is characterized in that: comprise movable body (2), position measuring system, computer for controlling, switch control cabinet, power supply and array electromagnet (1), computer for controlling is connected with array electromagnet (1) by switch control cabinet and power supply, array electromagnet (1) is placed with water tank (3), movable body (2) is placed in water tank (3), electromagnetic force field is formed above it after array electromagnet (1) energising, movable body (2) in water tank (3) is in the electromagnetic force field formed above array electromagnet (1), computer for controlling regulates and controls by controlling power supply the electromagnetic field and the upper suffered electromagnetic force of movable body (2) that array electromagnet (1) produces, movable body (2) is made to be suspended in the water of water tank (3), computer for controlling measures the positional information of movable body in real time by position measuring system.
2. even electromagnetic force field generating apparatus according to claim 1, it is characterized in that: described array electromagnet adopts multiple field coil unit to form 26 × 26 array electromagnets, multiple field coil unit is laid in surface level, and the axis direction of each field coil unit is parallel to each other and perpendicular to surface level.
3. even electromagnetic force field generating apparatus according to claim 2, is characterized in that: the shape of described field coil adopts to be avoided edge effect and ensures the square of surface level magnetic field's regularity and directivity.
4. even electromagnetic force field generating apparatus according to claim 1, is characterized in that: the movable body position signalling recorded is transferred to computer for controlling by 232 communication modes by described position measuring system.
5. even electromagnetic force field generating apparatus according to claim 1, is characterized in that: perform region control signal is transferred to switch control cabinet by " D/O module " by described computer for controlling, and current controling signal is transferred to power supply by " D/A module ".
6. even electromagnetic force field generating apparatus according to claim 1, is characterized in that: described movable body adopts shape to meet experiment purpose cylindrical permanent magnet.
7. one kind adopts the even electromagnetic force field generation method of device described in claim 1-6 any one, it is characterized in that, comprises the following steps:
Step 1: the gravity utilizing buoyancy of water to overcome movable body carries out thick trim to movable body, after thick trim, buoyancy and gravitational difference are a
0n, the i.e. floating-mg=a of F
0n, wherein, m is movable body quality, and unit is kilogram, and g is acceleration of gravity, a
0for constant, then the electromagnetic force in the whole lab space of space microgravity ground simulating demand equals a
0n;
Step 2: according between the calibration zone in the reach Binding experiment demand determination lab space of electromagnetic force and need demarcate point, determine stated accuracy; Set up xyz three-dimensional system of coordinate, x direction and y direction are demarcated a bit every 0.05m, and a point is demarcated every 10mm in z direction; Tangential movement interval is 1.3m × 1.3m, and vertical motion interval is 0.3m;
Step 3: given level position signalling and vertical altitude signal, demarcates in this point process and no longer changes electromagnetic array shop order tuple, make electromagnetic force equal a
0n, the fixed point realizing this point in experimental situation suspends, and meets Level of Microgravity;
Step 4: adopt position measuring system to record the current three-dimensional position signal coordinate of movable body, coordinate signal is sent to computer for controlling by feedback signal path;
Step 5: computer for controlling accepts three-dimensional position signal, according to the electromagnetic array shop order tuple of 12 × 12 of the corresponding movable body geometric center of horizontal level signal x coordinate and y coordinate determination electromagnetic array shop order tuple geometric center, sends switch controlling signal; Meanwhile, computer for controlling is according to vertical position signal z coordinate determination voltage control signal; Determine voltage control signal;
Step 6: switch control cabinet receives the switch controlling signal that computer for controlling sends, and controls corresponding relay switch action; Meanwhile, power supply accepts the voltage control signal that computer for controlling sends, and produces the electric current of corresponding size to electromagnetic array shop order tuple;
Step 7: according to the change-over switch signal of switch control cabinet, corresponding 12 × 12 electromagnetic array shop order tuples are positioned at on-state, receive the electric current that power supply provides, and produce electromagnetic force;
Step 8: electromagnetic force, in movable body, changes the three-dimensional position of movable body, repeats step 4 to step 8, suspends until movable body realizes stable fixed point at demarcated point;
Step 9: change calibration point position, repeats step 3 to step 8, and all calibration point places between calibration zone realize stable fixed point and suspend, and then realize the even electromagnetic force in whole interval.
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106005494A (en) * | 2016-06-02 | 2016-10-12 | 西北工业大学 | General loading platform for ground microgravity simulation experiment based on magnetic-fluid mixing suspension |
| CN107102248A (en) * | 2017-05-09 | 2017-08-29 | 普冉半导体（上海）有限公司 | A kind of wafer adds magnetic tester device and its method of testing |
| CN109841138A (en) * | 2019-03-28 | 2019-06-04 | 西南石油大学 | A kind of test model and method of the ground foundation simulation sedimentation with Distribution of Magnetic Field |
| CN109946966A (en) * | 2019-03-15 | 2019-06-28 | 宁波大学 | Magnetic current body movement controlling method based on Parameter uncertainties quantization |
| CN110356596A (en) * | 2019-07-02 | 2019-10-22 | 上海交通大学 | A kind of device using magnetic compensation method simulation fluid microgravity environment |
| CN110481819A (en) * | 2019-08-22 | 2019-11-22 | 燕山大学 | Microgravity experiment platform based on halbach array permanent magnet |
| CN110901965A (en) * | 2019-11-12 | 2020-03-24 | 中国科学院空间应用工程与技术中心 | Guide control device and method for microgravity tower falling |
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| CN103955137A (en) * | 2014-05-07 | 2014-07-30 | 西北工业大学 | Distributed electromagnetic array coupling electromagnetic force compound control method |
| CN103956939A (en) * | 2014-04-30 | 2014-07-30 | 西北工业大学 | Compound control method for array type electromagnet-permanent magnet system used for space microgravity ground-based simulation |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106005494A (en) * | 2016-06-02 | 2016-10-12 | 西北工业大学 | General loading platform for ground microgravity simulation experiment based on magnetic-fluid mixing suspension |
| CN106005494B (en) * | 2016-06-02 | 2018-03-13 | 西北工业大学 | The general payload platform of ground microgravity simulated experiment based on magnetic liquid mix suspending |
| CN107102248A (en) * | 2017-05-09 | 2017-08-29 | 普冉半导体（上海）有限公司 | A kind of wafer adds magnetic tester device and its method of testing |
| CN109946966A (en) * | 2019-03-15 | 2019-06-28 | 宁波大学 | Magnetic current body movement controlling method based on Parameter uncertainties quantization |
| CN109946966B (en) * | 2019-03-15 | 2022-04-15 | 宁波大学 | Magnetic fluid motion control method based on uncertain parameter quantification |
| CN109841138A (en) * | 2019-03-28 | 2019-06-04 | 西南石油大学 | A kind of test model and method of the ground foundation simulation sedimentation with Distribution of Magnetic Field |
| CN110356596A (en) * | 2019-07-02 | 2019-10-22 | 上海交通大学 | A kind of device using magnetic compensation method simulation fluid microgravity environment |
| CN110356596B (en) * | 2019-07-02 | 2022-08-30 | 上海交通大学 | Device for simulating fluid microgravity environment by using magnetic compensation method |
| CN110481819A (en) * | 2019-08-22 | 2019-11-22 | 燕山大学 | Microgravity experiment platform based on halbach array permanent magnet |
| CN110901965A (en) * | 2019-11-12 | 2020-03-24 | 中国科学院空间应用工程与技术中心 | Guide control device and method for microgravity tower falling |
| CN110901965B (en) * | 2019-11-12 | 2021-06-29 | 中国科学院空间应用工程与技术中心 | Guide control device and method for microgravity tower falling |
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