CN113219820A - Method for extracting zero position of negative stiffness force of inertial sensor by using drag-free control - Google Patents

Method for extracting zero position of negative stiffness force of inertial sensor by using drag-free control Download PDF

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CN113219820A
CN113219820A CN202110348696.7A CN202110348696A CN113219820A CN 113219820 A CN113219820 A CN 113219820A CN 202110348696 A CN202110348696 A CN 202110348696A CN 113219820 A CN113219820 A CN 113219820A
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苟兴宇
王丽娇
邹奎
李明群
王绍凯
蒋庆华
孟超
李鹤
李声涛
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Beijing Institute of Control Engineering
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Abstract

The invention relates to a method for extracting a zero position of negative stiffness force of an inertial sensor by using drag-free control, which comprises the following steps: establishing a data table of the variation of the non-conservative external disturbance force acceleration along with the position of the track; on the premise of not considering attitude motion influence, establishing a displacement mode single-degree-of-freedom drag-free control kinetic equation in the most general form; establishing a displacement mode single-degree-of-freedom drag-free control kinetic equation under the condition that the disturbance force of the inspection mass is a displacement linear function; taking a displacement vector from the centroid of the electrode chamber of the satellite inertial sensor to the centroid of the inspection mass as a controlled state parameter to obtain a transfer function of a control object; introducing PD controller Gc(s) constructing a displacement mode drag-free control system; in the orbit arc segment with stable non-conservative external disturbance force in the direction of the single degree of freedom, performing displacement mode drag-free PD control on the satellite to obtain the steady-state response data of the displacement mode drag-free PD control system and obtain the steady-state displacement static error x of the drag-free PD control systemsd(ii) a Finally, calculating to obtain a negative stiffness force zero position xfns0。

Description

Method for extracting zero position of negative stiffness force of inertial sensor by using drag-free control
Technical Field
The invention relates to a method for extracting a negative stiffness force zero position by adopting a proper drag-free controller under the condition that the disturbance force of a detection mass linearly changes along with the position, and belongs to the technical field of satellite drag-free control.
Background
The non-dragging control technology is a key technology in the technical field of gravity field measurement satellites, gravitational wave detection satellites and equivalent principle inspection satellite control. According to different control targets, the drag-free control is divided into two types, namely acceleration mode drag-free control and displacement mode drag-free control.
The displacement mode drag-free control requires that the proof mass in the on-board inertial sensor be controlled within a small variation range near the nominal position within its electrode cage by a thruster whose thrust is continuously adjustable. The acceleration corresponding to the displacement of the proof mass relative to the nominal position is the result of the interference force of the proof mass, such as the electrostatic bias, and the like, and the combined action of the atmospheric resistance, the sunlight pressure and the thruster thrust on the satellite. The relative displacement of the proof mass is typically limited within the electrode cage by mechanical limiting means between specified maximum positive and negative displacements.
Under ideal conditions, the nominal position in the electrode cage is not only the position where the disturbance function value of the proof mass is zero, but also the measurement zero position of the displacement of the proof mass. However, in engineering practice, the zero position of the function of the disturbance force of the proof mass is generally not coincident with the zero position of measurement, and a PID (proportion integration differentiation) controller is often adopted for a displacement mode drag-free controller.
The basic dynamics coordination condition in the reported patent 'a displacement mode non-dragging control dynamics coordination condition determination method' is not satisfied by the maximum thrust of the thruster for non-dragging control with large negative stiffness coefficient:
Figure BDA0003001684260000011
if the proof mass disturbed force function zero is also offset significantly from the measurement zero, then the inertial sensor still releases the proof mass at the measurement zero to establish the initial conditions for displacement mode drag-free control, which can easily result in the proof mass not being captured by displacement mode drag-free control. In the above formula, FtThrust is output by the drag-free actuator, M is satellite mass,
Figure BDA0003001684260000012
is a negative stiffness coefficient, xdFor detecting the positive mechanical limit displacement of the mass along the non-dragging control freedom degree, the reverse mechanical limit displacement is defaulted to-xd。
Disclosure of Invention
The technical problem solved by the invention is as follows: the method for extracting the zero position of the negative stiffness force of the inertial sensor by using drag-free control is used for extracting the zero position of the negative stiffness force of the inertial sensor and correcting the measurement zero position.
The technical scheme of the invention is as follows: a method for extracting a negative stiffness force zero position of an inertial sensor by using drag-free control comprises the following steps for a single degree of freedom:
s1, acceleration a of non-conservative external disturbance force in single degree of freedom direction on orbit of satellitedPerforming general investigation, and establishing a data table of the variation of the non-conservative external disturbance force acceleration along with the position of the track;
s2, establishing a displacement mode single-degree-of-freedom drag-free control kinetic equation in the most general form on the premise of not considering attitude motion influence;
s3, assuming the disturbance force model of the proof mass as a linear function of the displacement, and defining the generalized disturbance acceleration a corresponding to the relative displacement of the proof massDAcceleration a of non-conservative external disturbance force in single degree of freedom directiondMultiplying the sum of the acceleration of the negative stiffness force and the acceleration of the negative stiffness force by-1 to obtain the disturbed force of the proof mass as a positionA displacement mode single-degree-of-freedom drag-free control kinetic equation under the condition of a linear function is moved;
s4, taking a displacement vector from the centroid of the satellite inertial sensor electrode chamber to the centroid of the inspection mass as a controlled state parameter, and obtaining a transfer function P (S) of a control object by using a displacement mode single-degree-of-freedom drag-free control kinetic equation under the condition that the disturbance force of the inspection mass is a displacement linear function;
s5 introduction of PD controller Gc(s) constructing the displacement mode drag-free control system, so that a forward channel transfer function phi(s) of the displacement mode drag-free control system is as follows:
Φ(s)＝Gc(s)Gt(s)P(s)
in the formula, Gt(s) is a transfer function model of the actuator;
s6, in the orbit arc section with stable non-conservative external disturbance force in the single-degree-of-freedom direction, performing displacement mode non-towing PD control on the satellite by adopting the displacement mode non-towing control system constructed in the step S5 to obtain steady-state response data of the displacement mode non-towing PD control system;
s7, averaging the steady state response data of the relative displacement of the inspection mass output by the displacement mode non-towed PD control system to obtain the static difference x of the steady state displacement of the non-towed PD control systemsd；
S8, according to the direction of single degree of freedom, the external disturbance force acceleration a is not conservativedAnd no-drag PD control steady state displacement static error xsdAnd calculating to obtain a negative stiffness force zero position xfns0。
The most general form of the displacement mode single-degree-of-freedom drag-free control kinetic equation is as follows:
Figure BDA0003001684260000031
in the formula, x is the component of the displacement vector from the centroid of the satellite inertial sensor electrode chamber to the center of mass of the inspection mass in the direction of single degree of freedom,
Figure BDA0003001684260000032
the component of the acceleration vector corresponding to the x component in the direction of the single degree of freedom, ans(x, t) is a proof mass disturbance force model fns(x, t) is not limited to the corresponding acceleration expression, and u is a generalized acceleration control amount.
The transfer function of the PD controller is:
Figure BDA0003001684260000033
in the formula, kpIs a proportionality coefficient, kdIs a differential coefficient, TdIs a first order time constant of inertia;
zero position x of negative stiffness forcefns0The specific calculation formula of (2) is as follows:
Figure BDA0003001684260000034
wherein the content of the first and second substances,
Figure BDA0003001684260000035
is a negative stiffness coefficient.
Step S1 is carried out by adopting the calibrated accelerometer to carry out non-conservative external disturbance force acceleration a in the direction of single degree of freedom on the satellite in orbitdAnd performing general survey, wherein the calibrated accelerometer refers to an accelerometer for eliminating constant drift.
The single degree of freedom is the degree of freedom in the X direction, the Y direction or the Z direction of the satellite body coordinate system.
The orbit arc segment with stable single-degree-of-freedom direction non-conservative external disturbance force refers to acceleration a of the single-degree-of-freedom direction non-conservative external disturbance forcedA track arc segment having an absolute value at least one order of magnitude less than the absolute value of the expected negative stiffness force acceleration.
The negative stiffness coefficient is calculated by the following formula:
Figure BDA0003001684260000041
wherein k isxTo examine the linear coefficient of the mass in the case of disturbance force as a linear function of displacement.
The non-conservative external disturbance force acceleration adAtmospheric resistance and sunlight pressure resultant acceleration.
Compared with the prior art, the invention has the following beneficial effects:
(1) the invention provides a displacement mode single-degree-of-freedom drag-free control kinetic equation under the condition that a test mass disturbance force model is not limited, and provides a uniform kinetic equation for presenting various possible conditions for a test mass disturbance force function;
(2) the invention provides an analytical expression for acquiring the zero position of the negative stiffness force based on the steady-state response static difference of the drag-free PD control system under the condition that the disturbance force of the inspection mass is a displacement linear function, so that the application of the drag-free control in the displacement mode is expanded from the scientific measurement service of gravitational wave detection to the fields of extraction of characteristic parameters of inertial sensors and the like;
(3) the method comprises the specific operation steps of extracting the negative stiffness zero position through the non-dragging control test in the rail displacement mode, so that the negative stiffness zero position extraction has operability.
Drawings
FIG. 1 is a flow chart of steps of a method according to an embodiment of the present invention.
Fig. 2 is an example of steady-state response of the system under PD control according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in detail with reference to the accompanying drawings.
The invention provides a method for extracting a negative stiffness force zero position of an inertial sensor by using drag-free control, which comprises the following steps for a single degree of freedom as shown in figure 1:
s1, acceleration a of non-conservative external disturbance force in single degree of freedom direction on orbit of satellitedPerforming general investigation, and establishing a data table of the variation of the non-conservative external disturbance force acceleration along with the position of the track; the above mentioned non-securityExternal disturbance acceleration adAtmospheric resistance and sunlight pressure resultant acceleration.
In the step, the non-conservative external disturbance force acceleration a can be obtained by adopting the calibrated accelerometerdThe calibrated accelerometer refers to an accelerometer for eliminating constant drift. The single degree of freedom direction can be the degree of freedom of the satellite body coordinate system in the X direction, the degree of freedom of the satellite body coordinate system in the Y direction or the Z direction.
S2, on the premise of not considering attitude motion influence, establishing the most general form of the displacement mode single-degree-of-freedom drag-free control kinetic equation as follows:
Figure BDA0003001684260000051
in the formula, x is the component of the displacement vector from the centroid of the satellite inertial sensor electrode chamber to the center of mass of the inspection mass in the direction of single degree of freedom,
Figure BDA0003001684260000052
the component of the acceleration vector corresponding to the x component in the direction of the single degree of freedom, ans(x, t) is a proof mass disturbance force model fns(x, t) an acceleration expression corresponding to the case where the condition is not defined, and u is a generalized acceleration control amount;
s3, assuming the disturbance force model of the proof mass as a linear function of the displacement, and defining the generalized disturbance acceleration a corresponding to the relative displacement of the proof massDAcceleration a of non-conservative external disturbance force in single degree of freedom directiondMultiplying the sum of the acceleration of the negative stiffness force and the acceleration of the negative stiffness force by-1 to obtain a displacement mode single-degree-of-freedom drag-free control kinetic equation under the condition that the disturbance force of the inspection mass is a displacement linear function;
s4, taking a displacement vector from the centroid of the satellite inertial sensor electrode chamber to the centroid of the inspection mass as a control object, and obtaining a transfer function of the control object by using a displacement mode single-degree-of-freedom drag-free control kinetic equation under the condition that the disturbance force of the inspection mass is a displacement linear function, namely a transfer function P (S) of a component x of the displacement vector from the generalized acceleration control quantity u to the centroid of the satellite inertial sensor electrode chamber to the centroid of the inspection mass in the single-degree-of-freedom direction;
s5 introduction of PD controller Gc(s) constructing the displacement mode drag-free control system, so that a forward channel transfer function phi(s) of the displacement mode drag-free control system is as follows:
Φ(s)＝Gc(s)Gt(s)P(s)
in the formula, Gt(s) is a transfer function model of the actuator;
s6, in the orbit arc section with stable non-conservative external disturbance force in the single-degree-of-freedom direction, performing displacement mode non-towing PD control on the satellite by adopting the displacement mode non-towing control system constructed in the step S5 to obtain steady-state response data of the displacement mode non-towing PD control system; the orbit arc segment with stable single-degree-of-freedom direction non-conservative external disturbance force refers to acceleration a of the single-degree-of-freedom direction non-conservative external disturbance forcedA track arc segment having an absolute value at least one order of magnitude less than the absolute value of the expected negative stiffness force acceleration.
The transfer function of the PD controller is:
Figure BDA0003001684260000061
in the formula, kpIs a proportionality coefficient, kdIs a differential coefficient, TdIs a first order time constant of inertia;
s7, averaging the steady state response data of the relative displacement of the inspection mass output by the displacement mode non-towed PD control system to obtain the static difference x of the steady state displacement of the non-towed PD control systemsd；
S8, according to the direction of single degree of freedom, the external disturbance force acceleration a is not conservativedAnd no-drag PD control steady state displacement static error xsdAnd calculating to obtain a negative stiffness force zero position xfns0The specific calculation formula is as follows:
Figure BDA0003001684260000062
wherein the content of the first and second substances,
Figure BDA0003001684260000063
is a negative stiffness coefficient.
The negative stiffness coefficient is calculated by the following formula:
Figure BDA0003001684260000064
wherein k isxTo examine the linear coefficient of the mass in the case of disturbance force as a linear function of displacement.
Example (b):
taking only x degrees of freedom of a certain satellite as the displacement mode non-towing control degrees of freedom as an example, under the condition that the deviation influence of the satellite attitude angular velocity, the attitude angular acceleration, the orbit angular velocity and the nominal position of the inspection mass relative to the satellite centroid is not considered, the most general displacement mode single-degree-of-freedom non-towing control kinetic equation is established as follows:
Figure BDA0003001684260000065
in the formula, x is the component of the displacement vector from the centroid of the satellite inertial sensor electrode chamber to the center of mass of the inspection mass in the direction of single degree of freedom,
Figure BDA0003001684260000066
the component of the acceleration vector corresponding to the x component in the direction of the single degree of freedom, ans(x, t) is a proof mass disturbance force model fns(x, t) an acceleration expression corresponding to the case where the condition is not defined, and u is a generalized acceleration control amount; in this embodiment, the single degree of freedom direction is the x direction of the satellite body coordinate system.
Figure BDA0003001684260000067
In the formula, MTMThe proof mass is a mass in a displacement mode non-towed satellite inertial sensor. In the kinetic equation, adThe u is a generalized acceleration control quantity and satisfies the relation:
u＝-au
in the formula, auThe thrust acceleration, i.e., the acceleration control amount, is performed for the drag-free control of the satellite in the direction of the single degree of freedom. In this embodiment, the single degree of freedom direction is the x direction of the satellite body coordinate system.
In this embodiment, under the condition that the proof mass disturbance force is a displacement linear function, an analytical expression of the negative stiffness force zero position is obtained based on the static difference of the steady-state response of the displacement mode drag-free PD control system.
In the case of proof mass disturbance as a linear function of displacement:
fns(x,t)＝kxx+b
in this case, the proof mass perturbed force acceleration in the kinetic equation is written as:
Figure BDA0003001684260000071
at this time, the proof mass disturbed force degenerates to a negative stiffness force, and the proof mass disturbed force acceleration degenerates to a negative stiffness force acceleration, regardless of time t. In the formula (I), the compound is shown in the specification,
Figure BDA0003001684260000072
referred to as the negative stiffness coefficient, is generally a known parameter. In the expression of the negative stiffness force acceleration,
Figure BDA0003001684260000073
called the negative stiffness force null, is an unknown parameter.
Substituting the negative stiffness force acceleration expression into a kinetic equation to obtain a displacement mode single-degree-of-freedom drag-free control kinetic equation under the condition that the disturbance force of the proof mass is a displacement linear function as follows:
Figure BDA0003001684260000074
in the formula (I), the compound is shown in the specification,
Figure BDA0003001684260000075
generalized disturbance acceleration. Obviously, in adIn the constant case, the generalized disturbance acceleration is also constant.
Obtaining a transfer function of a control object by a displacement mode single-degree-of-freedom drag-free control kinetic equation under the condition that the disturbance force of the proof mass is a displacement linear function, namely the transfer function from a generalized acceleration control quantity u to an output displacement x:
Figure BDA0003001684260000081
introducing a PD controller:
Figure BDA0003001684260000082
in the formula, kpIs a proportionality coefficient, kdIs a differential coefficient, TdThe first-order inertia time constants are given parameters. Thus, the displacement mode drag-free control system forward channel transfer function is:
Φ(s)＝Gc(s)Gt(s)P(s)
in the formula, Gt(s) is a transfer function model of the actuator. Due to GtThe(s) low frequency gain must be constant and therefore the system is a zeroth order system. From generalized disturbance acceleration aDThe transfer function to the output of the unit negative feedback closed loop control system is:
Figure BDA0003001684260000083
deriving the steady-state displacement static error x from the above equationsdThe analytical expression of (1):
Figure BDA0003001684260000084
in the derivation of the above equation, the following relations are used:
Figure BDA0003001684260000085
Figure BDA0003001684260000086
in the derivation process, xsdAnd aDAre all considered to be constant. By steady state displacement static difference xsdAnalytic expression of (1) and generalized disturbance acceleration aDThe analytical expression for the negative stiffness force null is easily derived:
Figure BDA0003001684260000087
the assumption introduced in the derivation process is combined to show that the PD controller is introduced to construct a displacement mode drag-free control system forward channel transfer function phi(s), so that a transfer function from generalized disturbance acceleration to unit negative feedback control system output is obtained
Figure BDA0003001684260000091
Further obtaining a steady state output xsdFrom steady state output xsdAnalytic expression of (1) and generalized disturbance acceleration aDCan derive an analytical expression for the negative stiffness force null. The invention provides the following specific operation steps for extracting the zero offset of the negative stiffness force through an on-orbit test:
the first step is as follows: in the case that accelerometer constant drift has been eliminated, using the accelerometer in-orbit is not conservativeDisturbance force acceleration adGenerally checking along with the change rule of the orbit position, and carrying out non-conservative external disturbance force acceleration a in the direction of single degree of freedom on the in-orbit of the satellitedPerforming general investigation, and establishing a data table of the variation of the non-conservative external disturbance force acceleration along with the position of the track;
the second step is that: disturbance of force acceleration a outside of non-conservationdAn orbit arc section with an absolute value smaller than the absolute value of the expected negative stiffness force acceleration by at least one order of magnitude is used for developing the displacement mode drag-free PD control and preparing on-orbit test data for extracting the zero position of the negative stiffness force; the displacement mode drag-free PD control employs a PD controller.
The third step: averaging the steady state response data of the relative displacement of the inspection mass controlled by the non-towed PD in the displacement mode to obtain the static deviation c of the steady state displacementsd(ii) a In this embodiment, the steady-state response of the system with quasi-static error under PD control is shown in fig. 2.
The fourth step: non-conservative external disturbance force acceleration adCoefficient of proportionality kpNegative coefficient of stiffness
Figure BDA0003001684260000092
And steady state displacement static error xsdSubstituting negative stiffness force zero xfns0Finally, calculating to obtain a negative stiffness force zero position x by using an expressionfns0Specific values of (a).
In closed-loop control, the negative stiffness force null x is subtracted from the measured null at each instant in timefns0The effect of correcting the measurement zero position to the negative stiffness force zero position can be achieved.
According to the method, a displacement mode drag-free PD control test is carried out on an orbit arc section with relatively stable non-conservative external disturbance force, the steady state static difference is extracted based on the steady state response of the test, the deviation of the zero position of the function of the disturbance force of the test mass relative to the measurement zero position is calculated, so that the zero position parameter of the function of the disturbance force of the test mass of the inertial sensor is obtained, and conditions are created for determining a reasonable release position of the test mass under the condition that the maximum thrust of a thruster for drag-free control does not meet the basic dynamics coordination condition in the 'determination method for determining the coordination condition of the displacement mode drag-free control dynamics'.
Although the present invention has been described with reference to the preferred embodiments, it is not intended to limit the present invention, and those skilled in the art can make variations and modifications of the present invention without departing from the spirit and scope of the present invention by using the methods and technical contents disclosed above.
Those skilled in the art will appreciate that those matters not described in detail in the present specification are well known in the art.

Claims (9)

1. A method for extracting a negative stiffness force zero position of an inertial sensor by using drag-free control is characterized by comprising the following steps of:
s1, acceleration a of non-conservative external disturbance force in single degree of freedom direction on orbit of satellitedPerforming general investigation, and establishing a data table of the variation of the non-conservative external disturbance force acceleration along with the position of the track;
s2, establishing a displacement mode single-degree-of-freedom drag-free control kinetic equation in the most general form on the premise of not considering attitude motion influence;
s3, assuming the disturbance force model of the proof mass as a linear function of the displacement, and defining the generalized disturbance acceleration a corresponding to the relative displacement of the proof massDAcceleration a of non-conservative external disturbance force in single degree of freedom directiondMultiplying the sum of the acceleration of the negative stiffness force and the acceleration of the negative stiffness force by-1 to obtain a displacement mode single-degree-of-freedom drag-free control kinetic equation under the condition that the disturbance force of the inspection mass is a displacement linear function;
s4, taking a displacement vector from the centroid of the satellite inertial sensor electrode chamber to the centroid of the inspection mass as a controlled state parameter, and obtaining a transfer function P (S) of a control object by using a displacement mode single-degree-of-freedom drag-free control kinetic equation under the condition that the disturbance force of the inspection mass is a displacement linear function;
s5 introduction of PD controller Gc(s) constructing a displacement mode drag-free controlThe system enables a forward channel transfer function phi(s) of the displacement mode drag-free control system to be:
Φ(s)＝Gc(s)Gt(s)P(s)
in the formula, Gt(s) is a transfer function model of the actuator;
s6, in the orbit arc section with stable non-conservative external disturbance force in the single-degree-of-freedom direction, performing displacement mode non-towing PD control on the satellite by adopting the displacement mode non-towing control system constructed in the step S5 to obtain steady-state response data of the displacement mode non-towing PD control system;
s7, averaging the steady state response data of the relative displacement of the inspection mass output by the displacement mode non-towed PD control system to obtain the static difference x of the steady state displacement of the non-towed PD control systemsd；
S8, according to the direction of single degree of freedom, the external disturbance force acceleration a is not conservativedAnd no-drag PD control steady state displacement static error xsdAnd calculating to obtain a negative stiffness force zero position xfns0。
2. The method for extracting the zero position of the negative stiffness force of the inertial sensor by using the drag-free control as claimed in claim 1, wherein the most general form of the displacement mode single-degree-of-freedom drag-free control kinetic equation is as follows:
Figure FDA0003001684250000021
in the formula, x is the component of the displacement vector from the centroid of the satellite inertial sensor electrode chamber to the center of mass of the inspection mass in the direction of single degree of freedom,
Figure FDA0003001684250000022
the component of the acceleration vector corresponding to the x component in the direction of the single degree of freedom, ans(x, t) is a proof mass disturbance force model fns(x, t) is not limited to the corresponding acceleration expression, and u is a generalized acceleration control amount.
3. The method for extracting the negative stiffness force zero of the inertial sensor by using drag-free control as claimed in claim 1, wherein the transfer function of the PD controller is:
Figure FDA0003001684250000023
in the formula, kpIs a proportionality coefficient, kdIs a differential coefficient, TdIs a first order time constant of inertia.
4. The method for extracting the negative stiffness force zero position of the inertial sensor by using drag-free control as claimed in claim 1, wherein the negative stiffness force zero position xfns0The specific calculation formula of (2) is as follows:
Figure FDA0003001684250000024
wherein the content of the first and second substances,
Figure FDA0003001684250000025
is a negative stiffness coefficient.
5. The method for extracting the zero position of the negative stiffness force of the inertial sensor through the drag-free control according to claim 1, wherein the step S1 employs a calibrated accelerometer, which is an accelerometer capable of eliminating the constant drift.
6. The method as claimed in claim 1, wherein the orbit arc segment with stable external non-conservative disturbance force in single degree of freedom is acceleration a of external non-conservative disturbance force in single degree of freedomdA track arc segment having an absolute value at least one order of magnitude less than the absolute value of the expected negative stiffness force acceleration.
7. The method for extracting the zero position of the negative stiffness force of the inertial sensor by using the drag-free control as claimed in claim 1, wherein the negative stiffness coefficient is calculated by the following formula:
Figure FDA0003001684250000031
wherein k isxTo examine the linear coefficient of the mass in the case of disturbance force as a linear function of displacement.
8. The method for extracting the zero position of the negative stiffness force of the inertial sensor by using the drag-free control as claimed in claim 1, wherein the non-conservative external disturbance force acceleration adAtmospheric resistance and sunlight pressure resultant acceleration.
9. The method for extracting the zero position of the negative stiffness force of the inertial sensor by using the drag-free control as claimed in any one of claims 1 to 8, wherein the single degree of freedom is a degree of freedom in an X direction, a degree of freedom in a Y direction or a degree of freedom in a Z direction of a satellite body coordinate system.
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