CN113945996A - Inclination feedback control method, control system, terminal and medium for gravimeter - Google Patents
Inclination feedback control method, control system, terminal and medium for gravimeter Download PDFInfo
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Abstract
The invention belongs to the technical field of inclination control of a gravity measuring instrument, and discloses an inclination feedback control method, a control system, a terminal and a medium for a gravity meter, wherein the inclination feedback control method for the gravity meter comprises the following steps: establishing a deviation model of the direction of a sensitive axis of the gravimeter and the gravity direction, and determining the inclination feedback control precision; determining a gravity meter supporting mode and a cross coupling coefficient; selecting key components according to control requirements; and determining a PID feedback control logic diagram, and building a PID feedback control system to perform tilt feedback control on the gravimeter. The PID feedback control system of the invention is a two-channel PID control system for simultaneously controlling the inclination angle thetaXAnd thetaY(ii) a The two-channel PID control system is provided with parameters which are coupled with each other. The invention provides an inclination feedback control method and a control method for a gravimeter, which can realize the inclination control of a mu rad magnitude and have short regulation time.
Description
Technical Field
The invention belongs to the technical field of inclination control of a gravity measuring instrument, and particularly relates to an inclination feedback control method, a control system, a terminal and a medium for the gravity measuring instrument.
Background
At present, a Superconducting Gravimeter (SG) is a precise relative gravity measuring instrument constructed by utilizing superconductivity, works at a temperature of 4.2K liquid helium, has the characteristics of low inherent noise and good stability, and is widely applied to the fields of geosynamics analysis, major natural disasters, early warning and the like.
One of the keys to gravity measurement is to ensure that the direction of the sensitive axis of the gravimeter coincides with the direction of the local gravitational acceleration g, which would otherwise result in a change in the observed gravity value and could affect the drift of the instrument. Assuming that the included angle between the direction of the sensitive axis of the gravimeter and the direction of the local gravity g is theta, the gravity value measured by the gravimeter is gcos theta, and when theta is very small, the gravity measurement error caused by inclination can be approximately g (1-cos theta) ≈ g theta 2/2. In the long-term gravity observation process, environmental factors such as ground settlement, change of foundation density, sunshine, change of ambient temperature and humidity, change of underground water level and the like all affect the level of a gravimeter installation platform, the average annual inclination change is about 20 mu rad, but the maximum difference of the annual inclination change is about 200 mu rad, correspondingly, the annual gravity measurement deviation introduced by the inclination of the installation platform reaches 20 mu Gal to cover the real gravity change. Therefore, in order to reduce the measurement error caused by the inclination of the mounting platform of the gravimeter, the inclination feedback control system is adopted to compensate the inclination change in real time, and the inclination deviation is controlled within +/-2.5 mu rad, so that the influence of the inclination change on the deviation of the measured value of the gravimeter is controlled within +/-0.01 mu gal.
In addition, the inclination change caused by the environmental change in the gravity instrument observation process is a long-term gradual change process, and the existing inclination control system is mainly applied to the horizontal adjustment of precision instruments and equipment and is a quick adjustment process, for example, an electromechanical automatic leveling system which is designed by Zhouchun swallow, etc. of the university of Western electronic technology and is applied to radar installation, the leveling precision is 0.1 degrees, and the adjustment time is about 2 minutes; the hydraulic automatic leveling system for the missile launching platform, which is designed by Yanhaiqing and the like of Zhejiang industrial university, has the leveling precision of +/-0.2 degrees and the adjusting time of about 1 min; the electromechanical automatic leveling system developed by research institute of China electronics science and technology group 38 has leveling precision of 4' and adjustment time of about 2 min; the leveling precision of the hydraulic high-precision platform control system designed by Zhang Fang et al, Zhongbei university is 2', and the adjusting time is about 1 min. The tilt control accuracy is mostly in the order of 100 μ rad, and the tilt control in the order of μ rad cannot be satisfied.
Through the above analysis, the problems and defects of the prior art are as follows: the existing gravimeter is insufficient in inclination control precision and long in adjustment time.
The inclination of the sensitive axis direction of the instrument can cause the change of the observed gravity value and influence the drift of the instrument.
The problem of fluid leakage from a hydraulic transmission is difficult to avoid.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a tilt feedback control method, a control system, a terminal and a medium for a gravimeter.
The invention is realized in such a way that the inclination feedback control method for the gravimeter comprises the following steps:
establishing a deviation model of the direction of a sensitive axis of a gravimeter and the gravity direction, and determining the inclination feedback control precision;
determining a gravity meter supporting mode and a cross coupling coefficient; selecting key components according to control requirements;
and step three, determining a PID feedback control logic diagram, building a PID feedback control system, and performing tilt feedback control on the gravimeter.
Further, the establishing of a deviation model between the direction of the sensitive axis of the gravimeter and the gravity direction and the determining of the tilt feedback control accuracy include:
the control accuracy for obtaining the initial deviation angle and the time-varying inclination angle by determining the absolute deviation and the relative deviation of the gravity measurement value is as follows:
wherein g represents gravity, theta 0 represents an initial deviation angle of the gravity meter, and theta represents a time-varying inclination angle; Δ g represents the relative gravity measurement error.
Further, in the second step, the gravimeter is supported in the following manner:
an equilateral triangle structure is adopted as a support mode, and the correlation is as follows:
further, the coupling coefficient is:
further, the key components include: inclinometer and feedback control execution structure.
Further, the inclinometer may be a Jewell-755 series inclinometer.
Further, the feedback control execution structure can be an electrothermal telescopic micro-displacement execution mechanism, namely a thermal driving micro-displacement execution mechanism.
Further, the PID feedback control system is a two-channel PID control system for simultaneously controlling the inclination angle thetaXAnd thetaY；
And mutually coupled parameters are set in the two-channel PID control system.
Another object of the present invention is to provide a program storage medium for receiving a user input, the stored computer program causing an electronic device to execute the tilt feedback control method for a gravimeter, comprising the steps of:
establishing a deviation model of the direction of a sensitive axis of a gravimeter and the gravity direction, and determining the inclination feedback control precision;
determining a gravity meter supporting mode and a cross coupling coefficient; selecting key components according to control requirements;
and step three, determining a PID feedback control logic diagram, building a PID feedback control system, and performing tilt feedback control on the gravimeter.
Another object of the present invention is to provide an information data processing terminal including a memory storing a computer program and a processor, the computer program, when executed by the processor, causing the processor to execute the tilt feedback control method for a gravimeter.
By combining all the technical schemes, the invention has the advantages and positive effects that: the invention can control the inclination of mu rad magnitude and has short adjusting time.
According to the inclination feedback control system for the superconducting gravimeter, provided by the invention, the thermally driven micro-displacement actuating mechanism is designed and packaged according to the requirements of the inclination feedback control system for the superconducting gravimeter, the bearing capacity is about 300N, and the manual wide-range coarse adjustment (the range is 30mm, the adjustment precision is 0.01mm) and the automatic small-range precise fine adjustment (the range is 1mm, and the adjustment precision is 0.05 mu m) can be realized; an inclination feedback control system based on LabVIEW is constructed, inclination feedback control software is compiled, and switching between an automatic mode and a manual mode can be realized, wherein the manual mode is used for adjusting the working point of an execution machine and finely adjusting the inclination attitude, and the automatic mode is used for automatically controlling the inclination of the superconducting gravimeter; the tilt feedback control system for the superconducting gravimeter has high requirements on control precision and long-term stability, the performance of the system is evaluated through a long-term tilt feedback control experiment, the time domain steady-state error of the single-axis tilt control system is less than +/-2.5 mu rad, the step impact adjusting time of 30 mu rad is less than 2h, the operation of the two-axis tilt feedback control system is stable, and 80h stable control data show that the X-axis and Y-axis time domain control precision is within +/-0.3 mu rad, and the index requirements of tilt control are met.
On the basis of investigating the current analysis situation at home and abroad, the invention completes the scheme design of each part of the tilt control system aiming at the characteristic of high requirements on the control precision and the long-term stability of the tilt compensation system of the superconducting gravimeter. A single-shaft and two-shaft inclination feedback experimental device is designed and built, an inclination feedback control experiment is carried out, and the performance of the system is evaluated.
The invention establishes a tilt error model, and provides a time domain control index of the tilt feedback control system through calculation and analysis, namely the tilt feedback control system is stabilized at a working point +/-2.5 mu rad for a long time. The inclination feedback control system for the superconducting gravimeter consists of a support frame, an inclinometer, a micro-displacement actuator and a control circuit, and the scheme of each part is determined on the basis of investigation and selection and analysis calculation, namely a support structure with an orthorhombic bottom triangle for supporting and an inclinometer for being orthogonally placed, a thermal drive micro-displacement actuator and a PID control circuit based on LabVIEW are selected.
According to the requirements of an actuator of the tilt feedback control system, the thermally-driven micro-displacement actuator is designed in a model selection manner, so that large-range manual coarse tuning and small-range automatic precise fine tuning can be realized, the fine tuning range is 1mm, and the tuning precision is 0.05 mu m. The input of the thermal drive is power output which is displacement, a measurement experiment of a thermal drive power-displacement transfer function is carried out according to the requirement of a control system, the correlation coefficient of a power-displacement fitting straight line is 0.98, and the actually measured total stroke reaches the design index of 1 mm.
The invention completes simulation based on simulink, input data fluctuation is +/-30 mu rad, and output residual error is about +/-2.5 mu rad. LabVIEW-based tilt feedback control software is compiled, single-axis and two-axis tilt feedback control experiments are respectively carried out, the steady-state error of time domain stable data of a single-axis tilt control system is less than +/-2.5 mu rad, and the adjusting time of a 30 mu rad step impact system is less than 2 h. The operation of the two-axis tilt feedback control system is stable, and the stable control data of about 80h shows that the time domain control effect of the X axis and the Y axis reaches the tilt control index within +/-0.3 mu rad of a working point.
Drawings
Fig. 1 is a flowchart of a tilt feedback control method for a gravimeter according to an embodiment of the present invention.
Fig. 2 is a schematic diagram of a model of deviation between a sensitive axis direction of a gravimeter and a g-direction of gravity according to an embodiment of the present invention.
Fig. 3 is a schematic diagram of a gravimeter support structure and an inclinometer arrangement according to an embodiment of the present invention.
Fig. 4 is a block diagram of a feedback control logic provided in an embodiment of the present invention.
Fig. 5 is a schematic diagram of a measured time-varying tilt angle of a tilt feedback control system 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, the present invention is further described in detail with reference to the following embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
In view of the problems in the prior art, the present invention provides a tilt feedback control method and a tilt feedback control method for a gravimeter, and the present invention is described in detail below with reference to the accompanying drawings.
As shown in fig. 1, a tilt feedback control method for a gravimeter according to an embodiment of the present invention includes:
s101, establishing a deviation model of the direction of a sensitive axis of the gravimeter and the gravity direction, and determining the inclination feedback control precision;
s102, determining a gravity meter supporting mode and a cross coupling coefficient; selecting key components according to control requirements;
s103, determining a PID feedback control logic diagram, building a PID feedback control system, and performing tilt feedback control on the gravimeter.
The method for establishing the deviation model of the direction of the sensitive axis of the gravimeter and the gravity direction comprises the following steps:
the control accuracy for obtaining the initial deviation angle and the time-varying inclination angle by determining the absolute deviation and the relative deviation of the gravity measurement value is as follows:
wherein g represents gravity, theta 0 represents an initial deviation angle of the gravity meter, and theta represents a time-varying inclination angle; Δ g represents the relative gravity measurement error.
The gravity meter supporting mode provided by the embodiment of the invention is as follows:
an equilateral triangle structure is adopted as a support mode, and the correlation is as follows:
the embodiment of the invention provides a coupling coefficient as follows:
the key components provided by the embodiment of the invention comprise: inclinometer and feedback control execution structure.
The inclinometer provided by the embodiment of the invention can be a Jewell-755 series inclinometer.
The feedback control execution structure provided by the embodiment of the invention can be an electrothermal telescopic micro-displacement execution mechanism, namely a thermal driving micro-displacement execution mechanism.
The PID feedback control system provided by the embodiment of the invention is a two-channel PID control system and is used for simultaneously controlling the inclination angle thetaXAnd thetaY(ii) a The two-channel PID control system provided by the embodiment of the invention is provided with mutually coupled parameters.
The technical solution of the present invention is further described with reference to the following specific embodiments.
Example (b):
the invention provides a tilt feedback control method for a superconducting gravimeter, which comprises the following steps:
step S10, establishing a deviation model of the direction of the sensitive axis of the gravimeter and the direction of gravity g, and accordingly determining the accuracy of the tilt feedback control: the bias model is shown in fig. 2.
Wherein
Representing the local direction of gravity, θ0Representing the initial deviation angle of the gravimeter installation and theta representing the time-varying tilt angle. Initial deviation angle theta0Is related to the initial mounting error and the value of the time varying tilt angle theta is related to the change in tilt of the mounting base platform over time. The values of the initial deviation angle and the time-varying inclination angle are all in milliradian order, and can be regarded as small quantity in calculation, so that the absolute gravity value measurement deviation introduced by the initial deviation angle is as follows:
the initial deviation angle theta can be obtained from the above formula0Error Δ g from absolute gravity measurement0In relation to (1), i.e.
The relative gravity value measurement deviation introduced by the time-varying tilt angle is:
from the above equation, the relationship between the time-varying inclination angle θ and the error Δ g of the relative gravity measurement can be obtained, i.e.
Because theta is a positive value, a small value is taken as a control angle, and therefore
Thus, by determining the absolute and relative deviations of the gravity measurements, control accuracies for the initial deviation angle and the time-varying inclination angle can be obtained, as shown in the following table (1ngal ═ 0.001 μ gal, 1gal ═1cm/s2)
TABLE 1 initial deviation angle and time varying inclination angle comparison table
For example, when the absolute deviation of gravity measurement is controlled to be 1ngal, the initial deviation angle should be less than 1.41 μ rad, and when the corresponding relative deviation is controlled to be 10ngal, the time-varying inclination angle should be less than 3.28 μ rad.
Step S20, determining a gravity meter support mode and a cross-coupling coefficient:
a gravity meter generally adopts a three-point supporting structure, tiltmeters for measuring two-axis inclination of a platform are vertically and crossly arranged, as shown in figure 3, ABC is the three-point supporting structure, point A is a fixed point, points B and C are inclination adjusting points, green respectively represents an X-direction tiltmeter and a Y-direction tiltmeter and is orthogonally arranged, firstly, the supporting structure is an isosceles right triangle, and L is an isosceles right triangle1Is a right-angle side length, a third, a fourth, an equilateral triangle structure, L2Is the side length. By changing the height h of the points B and CB，hCCan realize the inclination angle thetaXAnd thetaYAnd (4) adjusting.
The related relations are as follows:
for the support structure (r):
for the support structure (c):
for the support structure c:
for support structure (iv):
2 x 2 determinant of the above four formulas
I.e. the corresponding cross-coupling coefficient. From the analysis of the angle of feedback control, the corresponding adjusting mode of the scheme I is completely decoupled from the X axis and the Y axis, the adjusting mode is independent from each other, and the feedback control is simplest. The supporting structures I and II correspond to supporting frames in an isosceles right triangle structure, when the centroid of the frame is superposed with the center of the bottom surface, the ratio of the arm lengths of the three supporting points to the central axis of the Dewar is about 1:1:0.6, the occupied area is relatively large, the three supporting points are stressed unevenly, and the stability is relatively poor. The supporting structures (c) and (d) are equilateral triangles, so that the stress is uniform, and the occupied area is smaller. In addition, from the angle of symmetry of the arrangement of the inclinometer, schemes (i) and (iii) do not have adjustment symmetry, positive and negative values need to be determined in control operation, and schemes (i) and (ii) have adjustment symmetry, are simpler and more convenient to operate, are comprehensively considered, and are preferably used as a support scheme for the inclination feedback control.
Step S30, selecting key components according to control requirements:
according to the control requirement, the resolution of the tilt sensor is better than 1 mu rad, and the measuring range is not less than 1mrad, so that a Jewell-755 series inclinometer can be selected, the resolution reaches 0.1 mu rad, the measuring range is 8mrad, and the precision control requirement is met.
For the feedback control execution structure, the characteristic of large bearing capacity micro-displacement output is required, the weight of the gravimeter is borne, namely the bearing of more than 100N, the stroke is more than 1mm, the output execution precision is less than 0.1 μm, and according to the performance characteristics of the existing execution structure, as shown in the following table, an electrothermal telescopic micro-displacement execution mechanism is selected as an execution machine of an inclined feedback control system, namely a thermal drive micro-displacement execution mechanism.
TABLE 2 micro-displacement actuator Performance comparison
Step S40, determining a PID feedback control logic diagram, and performing tilt feedback control on the gravimeter:
tilt control for gravimeters including tilt angle θXAnd thetaYCannot simultaneously realize the inclination angle theta through single-channel PID controlXAnd thetaYThe control of the two-channel PID control system is needed, because the arrangement mode of the support structure and the inclinometer of the gravimeter mounting platform are not completely decoupled and are mutually interfered, the two-channel PID control system is provided with mutually coupled parameter settings, different cross-coupling systems are arranged according to different arrangement modes in S20, a PID feedback control logic block diagram is shown in the following figure, and K in the figure11，K12，K21And K22Namely the 2 x 2 determinant in S20
Coefficient of (b) when K12And K21When the setting is 0, the two-channel PID control systems are independent. Tilt residual output Δ θXAnd Δ θYThat is, the time-varying inclination angle, i.e., the control accuracy, of the feedback control system of the gravimeter needs to satisfy the corresponding values in the table X initial deviation angle and the time-varying inclination angle comparison table.
According to a logic block diagram, a PID feedback control system is set up, an arrangement mode is adopted, the initial deviation angle is smaller than 1.41 mu rad, feedback control is carried out for 120 hours, the ground inclination change exceeds +/-5 mu rad, and after the PID feedback control system is stabilized, the inclination residual error of the gravimeter is output delta thetaXAnd Δ θYWithin + -0.5 μ rad, i.e., the requirement that the time-varying deviation angle is less than 3.28 μ rad is satisfied.
The technical solution of the present invention is further described below with reference to specific simulation experiments.
Two axis tilt feedback control
Feedback control principle and simulink simulation
The supporting structure of the Dewar and the placing mode of the inclinometer are selected, namely a bottom three-point supporting mode is adopted, three supporting legs are distributed in a regular triangle shape, and the sensitive axes of the inclinometer are orthogonally and symmetrically distributed and are respectively aligned with two right-angle sides of the isosceles right triangle. Three heat-driven fixing supports are fastened on the marble platform through bolts, and the three heat-driven fixing supports are uniformly distributed along the circumference of the Dewar in a regular triangle shape, as shown by red dotted lines in the figure. The fixed end heat drive corresponds to a point A of the medium-side triangle, the control end heat drive-X corresponds to a point B of the medium-side triangle, and the control end heat drive-Y corresponds to a point C of the medium-side triangle. The inclinometer-X and the inclinometer-Y are placed on two right-angle sides of an isosceles right triangle shown by blue dotted lines in the figure, and the installation positions of the two inclinometers are determined by positioning holes machined on the plane of the upper flange of the Dewar.
Set value X0And Y0Setting the position of the working point for the X-axis and Y-axis respectively in two-axis control, K11、K12、K21、K22The coefficients corresponding to the coupling matrix are respectively shown, and the red dotted line box represents the part controlled by LabVIEW software. Taking the control loop of the X axis as an example, the analog signal of the inclinometer-X enters LabVIEW control software after the A/D conversion acquisition of an AI channel, and is subjected to low pass filtering processing of 1Hz in the software, and then is compared with the set value X of the X axis0And after the difference is made, the residual error delta X is sent to the operation link of the coupling relation. Wherein K11Representing the effect of the X-axis itself, K12Representing the effect of the Y-axis coupling effect. The residual error is sent to a PID control link after the operation of the coupling effect, a voltage signal output by a PID operation module enters a power amplifier after the D/A conversion of an AO channel, corresponding power is introduced into an X-axis control end heat drive through the power amplifier, the constant power of the input X-axis control end heat drive and the output displacement of the heat drive are in a linear relation, the ratio of the output displacement to the effective arm length of a support frame is an output inclination angle, and the inclination change of the X-axis of the Dewar is further influenced. The control loop of the Y axis and the control loop of the X axis are the same, and the inclination signals of the two axes jointly reflect the inclination state of the flange plane on the Dewar. Similar to the single-axis feedback control principle block diagram, when the coupling matrix is an identity matrix, the control loops of the X axis and the Y axis synchronously operate at the same time, and the control rates of the two loops need to be kept consistent in order to ensure the long-term stability of the system operation.
Similar to the functional block diagram of the single-axis tilt feedback control system, the functional block diagram of the two-axis tilt feedback control system is added with a coupling coefficient operation link before signals enter the PID controller. In the tilt feedback control system, the power value is changed by controlling the voltage input into the thermal drive, and because the input power and the output displacement are in a linear relation, the input voltage and the output displacement are in a second-order relation. In order to make the whole control loop operate stably, bias voltage with constant magnitude is respectively introduced into the forward paths of the X axis and the Y axis, and the power value of the bias voltage corresponds to 1/2 displacement of the thermal drive-X and the thermal drive-Y respectively. Because the input constant voltage value is far larger than the output voltage fluctuation value of the control system in a stable state, Taylor series expansion can be carried out at the bias voltage, and the linear relation between the voltage output delta U (V) of the control system and the thermal drive displacement change delta L (mm) can be obtained by neglecting higher-order terms of more than two orders. And because the ratio of the thermal drive displacement to the effective arm length of the frame is the dip angle of the Dewar, a linear relationship between the voltage output delta U (V) and the dip angle delta theta (rad) of the Dewar can be obtained.
(4) The axial displacement h of the control end thermal drive-X and the control end thermal drive-Y is obtainedB、hCMeasuring angle theta with inclinometer-X and inclinometer-Y1、θ2And then differential operation is carried out to obtain the power change delta P introduced into the control end thermal drive-X and the control end thermal drive-Y1(W)、ΔP2(W) and the measured angle change Delta theta1(rad)、Δθ2(rad), i.e.:
it is thus possible to obtain,
the power is expressed by a voltage resistor, and the high-order terms with more than two orders are expanded and omitted at the bias voltage, and the power can be obtained by arranging the following steps:
wherein U is1、U2The bias voltage values added in the X-axis control loop and the Y-axis control loop respectively are the voltage values corresponding to the displacement of the initially set working point. The transfer functions of each item are respectively as follows:
R1-X-axis angular input/rad, R2-Y-axis angular input/rad;
G1inverse of X-axis calibration factor/V rad-1，G2Inverse of-Y-axis calibration factor/V rad-1；
H1-X-axis PID operation, H2-Y-axis PID calculation;
N1-bias voltage on X axis/V, N2-Y-axis bias voltage/V;
F1-X-axis calibration factor/rad.V-1，F2-Y-axis calibration factor/rad.V-1；
C1-X-axis angular output/rad, C2-Y-axis angular output/rad;
K11、K12、K21、K22respectively, the corresponding coefficients in the coupling matrix in equation (19).
R1、R2Two sections of data with large fluctuation influenced by temperature vibration of an air conditioner and the like are respectively selected, the fluctuation of the data is about +/-30 mu rad, the data sampling rate is 100, and the data are not subjected to filtering treatment. The time domain stable data of the two axes can reach the time domain control index provided by the inclination error model at the working point of +/-2.5 mu rad.
5.2LabVIEW control software
The two-axis inclination feedback control software is compiled based on LabVIEW, and can be selectively set to be in a manual mode or an automatic mode according to experimental requirements. In the manual mode, the feedback control system works in an open loop state, namely, the two paths of PID feedback loops are disconnected. The manual mode is based on two considerations: on one hand, in a manual mode, constant power can be introduced to the two control ends for the two control ends to reach a stable state; on the other hand, after the thermal drive reaches a stable state, the initial working point of the thermal drive can be finely adjusted by finely adjusting the power of the thermal drive introduced into the control end, so that the requirement of posture fine adjustment in the installation process of the gravimeter is met. After the adjustment is completed in the manual mode, the automatic mode is turned on. In the automatic mode, the feedback control system works in a closed loop state, namely two paths of PID feedback loops are closed. After setting relevant parameters such as PID, the system is in an automatic feedback control stage, and the power introduced into the control end thermal drive in an automatic mode is determined by the output of the PID controller.
The front panel of the two-axis tilt feedback control software is divided into a main interface and a parameter setting interface. The main interface mainly comprises a data display frame, a file storage option and a basic operation button. According to the specific requirements of the experiment, four data display frames are arranged on the main interface, so that the data collected and output by the NI acquisition card can be displayed in real time. The data display frame displays output data of an X axis and a Y axis of the inclinometer within 1min in real time, and real-time changes of the inclination angles of the X axis and the Y axis can be seen according to the inclinometer data within a short time, so that PID parameters can be adjusted conveniently. And the data display frame displays output signals of the two PID circuits in real time, the data display frame displays voltages added to the X-axis control end heat drive and the Y-axis control end heat drive within 24h in real time, and the output signals of the PID circuits and the voltages added to the heat drives are in a linear relation. And a data display frame (IV) displays the output data of the X axis and the Y axis of the inclinometer within 24h, and the control effect of the two-axis inclination feedback control system can be evaluated according to the data change of the X axis and the Y axis of the inclinometer within a long time.
Setting up an experimental device:
the construction of the two-axis inclination feedback control experiment device mainly comprises three links of mechanical assembly, circuit connection and software testing, wherein the mechanical assembly is an important link for the construction of the experiment device. Before the two-axis inclination feedback control experiment device is built, the Dewar is weighed and weighted. Because the mass of the flange arranged above the dewar, the L-shaped supporting plate uniformly arranged at the bottom end along the circumference and the stainless steel bolt used for fixing all need to be counted into the total device, the dewar provided with the connector is weighed, and the mass of the dewar provided with the connector is 60.6 kg. In the actual operation phase of the superconducting gravimeter, the total mass of the dewar and its mounting assembly is about 90kg, so it should be weighted about 29.4 kg. The Dewar used in the experiment was 1.12m high, with an outside diameter of 0.43m and a total internal volume of the Dewar (including the neck) of 40L. In order to make the device more stable, the gravity center of the device needs to be reduced as far as possible, so a mode of injecting water into the inner cavity of the Dewar is adopted in the counterweight link. In order to prevent the cavity inside the Dewar from being rusted, a polyethylene tubular membrane with good waterproofness and flexibility is sleeved in the Dewar cavity, so that direct contact between water and the cavity is avoided.
The two-axis tilt feedback control system consists of a thermal drive micro-displacement actuating mechanism, a supporting frame, an inclinometer and a control circuit.
The bottom ends of the three thermal drive fixing supports are fixed on the marble platform through bolts, and the thermal drive top-end object carrying platform is matched with the hemispherical brass connector. Three plane bosses are uniformly welded on the lower part of the Dewar along the cylindrical surface, and each boss is provided with a threaded hole for positioning and installation. One side of the L-shaped supporting plate is fastened with the boss of the welding plane through a bolt, and the other side of the L-shaped supporting plate is tightly nested with the hemispherical brass connector through the hemispherical groove. The friction coefficient of brass and stainless steel in a lubricating state is about 0.03, the bearing capacity of each heat driver is about 300N, the component of the resistance caused by sliding friction in the axial direction of the heat driver is less than 10N, and the component accounts for about 3% of the total bearing capacity, so that the stress change caused by friction is negligible. The three heat drives are fixedly connected in the same mode, so that the three heat drives can support the whole Dewar, two of the three heat drives are used for inclination feedback control, and the other heat drive is of a stainless steel structure and only plays a role in fixing and supporting. The distance between the bottom of the dewar and the upper plane of the marble platform in the initial leveling state is about 4 cm.
In order to reduce the plane deformation of the upper flange after the upper flange is fixedly installed with the Dewar, the flange is processed by using 304 stainless steel with the thickness of 15 mm. The upper flange made of stainless steel is fastened at the neck of the Dewar, and a series of mounting positioning holes are processed on the upper plane of the flange and used for fixing and mounting the inclinometer-X and the inclinometer-Y. Two single-axis inclinometers are placed on the marble platform, and the sensitive axis directions of the two inclinometers are respectively parallel to the directions of the flange inclinometer-X and the inclinometer-Y on the Dewar and are respectively marked as an X axis and a Y axis. Two inclinometers placed on the marble platform and two inclinometers placed above the flange on the dewar can play a role in comparison, so that the experimental effect of two-axis inclination feedback control is explained.
The circuit connection mainly comprises a whole loop from an NI acquisition card AI channel to an AO channel, and a circuit device mainly connected in series in the feedback loop is a power amplifier. The No. 1 and No. 2 power amplifiers are respectively connected with the rear ends of the two PID outputs and used for amplifying the power of the output signals of the AO channel. The output ends of the No. 1 and No. 2 power amplifiers are directly connected with the control end heat drive-X and the control end heat drive-Y to play a role in power output. The power amplifier selects a high-voltage source meter of the precision company of Songtian Japan, and the two power amplifiers adopt a voltage amplification mode in a two-axis inclined feedback control experiment principle block diagram, wherein the voltage amplification factor is 6 times. After the power amplifier is introduced, in order to not change the original transfer function of the two-axis inclined feedback control system, the two PID output ends are respectively multiplied by the reciprocal of the voltage amplification factor in the software control module, so that the transfer function of the whole feedback control system cannot be changed. In addition, the two control end heat drives are internally and respectively packaged with PtAnd (3) 100 thermometers, wherein 10 muA of test current is respectively introduced into the current source meter, and the output voltage is collected through an NI acquisition card, so that the temperature change condition in the thermal drive can be obtained. P placed in an experimental environmentt100 thermometers were used to monitor and record the change in room temperature during the experiment.
After the mechanical assembly and the circuit connection are completed, the whole control loop needs to be communicated for software testing. Software testing includes testing of the software itself as well as testing of mechanical assemblies and circuit connections. Whether the software has a bug in the running process and whether the parameter setting is proper when the software is matched with hardware can be checked through operations such as highlight running in LabVIEW software. And switching to a manual mode in LabVIEW control software, respectively and sequentially introducing constant power with different sizes into the control end thermal drive-X and the control end thermal drive-Y, and comparing the outputs of the inclinometer-X and the inclinometer-Y under a stable state for many times to check whether the mechanical assembly has problems.
Control experiments and results analysis
The two-axis tilt feedback control experiment needs to evaluate the steady-state performance and the dynamic performance of the system, and in an automatic control system, the control accuracy of the system is generally represented by a steady-state error. For the two-axis tilt feedback control system, the steady-state performance needs to be analyzed from the time domain through long-term control experiments because the ground tilt changes slowly. First, the two thermal drives need to be adjusted to a specified operating point. And starting a manual mode in LabVIEW control software, wherein two feedback loops of the two-axis tilt feedback control system are disconnected at the moment, and the system works in an open-loop state. When the initial working points of the two thermal drives are located at 1/2 of the total stroke of the corrugated pipe, the effective adjusting range of the system is maximum. The power at 1/2 (i.e., 0.5mm) for control side heat drive-X and control side heat drive-Y range is 9.5W and 9.1W, respectively, based on the measured heat drive power-displacement transfer function. Inputting corresponding power information on a control software parameter setting interface, respectively introducing 9.5W and 9.1W power to a control end heat drive-X and a control end heat drive-Y, enabling the displacement of the two heat drives to be stable within about 4h, enabling the displacement to rise to the position of an expected working point, and recording the numerical values of a flange inclinometer-X and an inclinometer-Y on the Dewar at the moment. And starting an automatic control mode, wherein two feedback loops of the two-axis inclination feedback control system are closed at the moment, and the system works in a closed loop state. And respectively taking the values of the inclinometer-X and the inclinometer-Y recorded in the manual mode as the positions of the working points of the two loops of the control system. And inputting PID (proportion integration differentiation) parameters, control rates, coupling coefficients and other information of the two loops into a control software parameter setting interface, and starting an automatic control mode. In the process of switching between the automatic mode and the manual mode, in order to reduce the influence of parameter setting gaps on the stable state of the system as much as possible, the system is always set and operated in the manual mode before the automatic mode is confirmed and started.
The two-axis tilt feedback control experiment shows 120h of experimental data, including control processes in a manual mode and an automatic mode. Wherein the black line represents Dewar X-axis tilt/. mu.rad, the red line represents Dewar Y-axis tilt/. mu.rad, the blue line represents Marble X-axis tilt/. mu.rad, and the pink line represents Marble Y-axis tilt/. mu.rad. And (3) corresponding to the working point adjusting process in the manual mode for 0-4 h, wherein the control end thermal drive-X and the control end thermal drive-Y are subjected to displacement rise under constant power and tend to be stable. In the stage, the inclination angles of the X axis and the Y axis of the plane of the flange on the Dewar rise, but the change trends of the Dewar X axis inclination and the Dewar Y axis inclination on the image are opposite. This is because the upper flange plane inclinometer-Y of the dewar is axially reversed during installation and has been corrected in the automatic mode by taking the negative PI parameter. After 4h, the adjustment process in the automatic control mode is corresponded. The device was subjected to large fluctuations in external impact at about 10 hours, and the system tended to stabilize after about 13 hours. Within a period of about 110 hours after the two-axis tilt feedback control system is stabilized, the total tilt variation of the X/Y axis of the inclinometer placed on the marble table surface is about 4 mu rad, and the tilt variation of the X/Y axis of the flange on the Dewar is maintained at the working point +/-0.3 mu rad, so that the steady-state performance of the two-axis tilt feedback control system is reflected.
In the display of the 80h control data with the minimum system steady-state error, the inclination changes of the X axis and the Y axis of the 80h Dewar are stabilized at the working point +/-0.25 mu rad, which indicates that the steady-state performance index of the two-axis inclination feedback control system meets the design requirement. The slope profiles of the dewar's X and Y axes are synchronized at each peak and valley, which is caused by the coupling effect of the two-axis adjustment. From the time domain curve analysis of the two-axis tilt feedback control system, the steady state performance of the system reaches the design index.
In the invention, through linear expansion at the bias voltage, a relational expression of the input voltage and the output angle is obtained through sorting. Two-axis tilt feedback control simulation based on simulink is completed, tilt fluctuation of the two loops is +/-30 mu rad data, and the time domain control effect is +/-2.5 mu rad at a working point.
According to the invention, software is set into a manual mode and an automatic mode switching mode according to experimental requirements, the working point can be adjusted in the manual mode, and the two-axis inclination can be automatically controlled in the automatic mode.
The invention designs and constructs a two-axis tilt feedback control experimental device, and completes mechanical assembly, circuit connection and software test. A two-axis tilt feedback control experiment is carried out, and stable control data of about 110h show that the time domain control effect of the X axis and the Y axis reaches a tilt control index within +/-0.3 mu rad of a working point.
On the basis of analyzing the current situation, the invention completes the scheme design of each part of the inclination control system aiming at the characteristics of high requirements on the control precision and the long-term stability of the inclination compensation system of the superconducting gravimeter. A single-shaft and two-shaft inclination feedback experimental device is designed and built, an inclination feedback control experiment is carried out, and the performance of the system is evaluated. The invention has the following effects:
and establishing a tilt error model, and calculating and analyzing to obtain a time domain control index of the tilt feedback control system, namely stabilizing the time domain control index at the working point +/-2.5 mu rad for a long time. The inclination feedback control system for the superconducting gravimeter consists of a support frame, an inclinometer, a micro-displacement actuator and a control circuit, and the scheme of each part is determined on the basis of investigation and selection and analysis calculation, namely a support structure with an orthorhombic bottom triangle for supporting and an inclinometer for being orthogonally placed, a thermal drive micro-displacement actuator and a PID control circuit based on LabVIEW are selected.
According to the requirement of an actuator of the tilt feedback control system, a thermally-driven micro-displacement actuator is designed in a model selection manner, so that large-range manual coarse tuning and small-range automatic precise fine tuning can be realized, the fine tuning range is 1mm, and the tuning precision is 0.05 μm. The input of the thermal drive is power output which is displacement, a measurement experiment of a thermal drive power-displacement transfer function is carried out according to the requirement of a control system, the correlation coefficient of a power-displacement fitting straight line is 0.98, and the actually measured total stroke reaches the design index of 1 mm.
Simulations based on simulink were completed with input data fluctuating by 30 μ rad and output residual of about 2.5 μ rad. LabVIEW-based tilt feedback control software is compiled, single-axis and two-axis tilt feedback control experiments are respectively carried out, the steady-state error of time domain stable data of a single-axis tilt control system is less than +/-2.5 mu rad, and the adjusting time of a 30 mu rad step impact system is less than 2 h. The operation of the two-axis tilt feedback control system is stable, and the stable control data of about 80h shows that the time domain control effect of the X axis and the Y axis reaches the tilt control index within +/-0.3 mu rad of a working point.
The above description is only for the purpose of illustrating the present invention and the appended claims are not to be construed as limiting the scope of the invention, which is intended to cover all modifications, equivalents and improvements that are within the spirit and scope of the invention as defined by the appended claims.
Claims (10)
1. A tilt feedback control method for a gravimeter, the tilt feedback control method for a gravimeter comprising:
establishing a deviation model of the direction of a sensitive axis of a gravimeter and the gravity direction, and determining the inclination feedback control precision;
determining a gravity meter supporting mode and a cross coupling coefficient; selecting key components according to control requirements;
and step three, determining a PID feedback control logic diagram, building a PID feedback control system, and performing tilt feedback control on the gravimeter.
2. The tilt feedback control method for a gravimeter according to claim 1, wherein said modeling the deviation of the orientation of the sensitive axis of the gravimeter from the orientation of gravity, and determining the accuracy of the tilt feedback control comprises:
the control accuracy for obtaining the initial deviation angle and the time-varying inclination angle by determining the absolute deviation and the relative deviation of the gravity measurement value is as follows:
wherein g represents gravity, θ0Representing an initial deviation angle of the gravity meter installation, and theta represents a time-varying inclination angle; Δ g represents the relative gravity measurement error.
3. The tilt feedback control method for a gravimeter according to claim 1, wherein in step two, the gravimeter is supported in the following manner:
an equilateral triangle structure is adopted as a gravity meter supporting structure, and the correlation is as follows:
4. the tilt feedback control method for a gravimeter according to claim 1, characterized in that said coupling coefficient is:
5. the tilt feedback control method for a gravimeter according to claim 1, characterized in that said critical components comprise: inclinometer and feedback control execution structure.
6. The tilt feedback control method for a gravimeter according to claim 5, characterized in that the inclinometer is a Jewell-755 series inclinometer.
7. The tilt feedback control method for a gravimeter according to claim 5, characterized in that the feedback control actuator is an electro-thermo-retractable micro-displacement actuator, i.e. a thermally driven micro-displacement actuator.
8. The tilt feedback control method for a gravimeter according to claim 1, wherein the PID feedback control system is a two-channel PID control system for simultaneously controlling the tilt angle θXAnd thetaY；
And mutually coupled parameters are set in the two-channel PID control system.
9. A program storage medium receiving a user input, the stored computer program causing an electronic device to execute the tilt feedback control method for a gravimeter according to any of claims 1-8, comprising the steps of:
establishing a deviation model of the direction of a sensitive axis of a gravimeter and the gravity direction, and determining the inclination feedback control precision;
determining a gravity meter supporting mode and a cross coupling coefficient; selecting key components according to control requirements;
and step three, determining a PID feedback control logic diagram, building a PID feedback control system, and performing tilt feedback control on the gravimeter.
10. An information data processing terminal, characterized in that the information data processing terminal comprises a memory and a processor, the memory storing a computer program which, when executed by the processor, causes the processor to execute the tilt feedback control method for a gravimeter according to any one of claims 1 to 8.
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