CN115079740A - Magnetic suspension type inertially stabilized platform - Google Patents
Magnetic suspension type inertially stabilized platform Download PDFInfo
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- CN115079740A CN115079740A CN202210591851.2A CN202210591851A CN115079740A CN 115079740 A CN115079740 A CN 115079740A CN 202210591851 A CN202210591851 A CN 202210591851A CN 115079740 A CN115079740 A CN 115079740A
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- 239000000725 suspension Substances 0.000 title claims abstract description 118
- 238000005259 measurement Methods 0.000 claims abstract description 13
- 239000000523 sample Substances 0.000 claims description 21
- 230000005484 gravity Effects 0.000 claims description 14
- 206010034719 Personality change Diseases 0.000 claims description 13
- 230000001133 acceleration Effects 0.000 claims description 9
- 230000033001 locomotion Effects 0.000 claims description 6
- 238000004891 communication Methods 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims description 3
- 238000000034 method Methods 0.000 claims description 3
- 238000005339 levitation Methods 0.000 claims 1
- 230000006641 stabilisation Effects 0.000 abstract description 8
- 238000011105 stabilization Methods 0.000 abstract description 8
- 238000002955 isolation Methods 0.000 description 16
- 238000005516 engineering process Methods 0.000 description 5
- 230000002411 adverse Effects 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 238000005096 rolling process Methods 0.000 description 3
- 238000005299 abrasion Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 230000005764 inhibitory process Effects 0.000 description 1
- 238000005461 lubrication Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
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- 238000007789 sealing Methods 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D19/00—Control of mechanical oscillations, e.g. of amplitude, of frequency, of phase
- G05D19/02—Control of mechanical oscillations, e.g. of amplitude, of frequency, of phase characterised by the use of electric means
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Abstract
The magnetic suspension type inertial stabilization platform comprises a base, an outer frame capable of rotating around a y axis, an inner frame capable of rotating around an x axis, a mounting surface arranged in the inner frame, two outer frame magnetic suspension bearings, two inner frame magnetic suspension bearings, an outer frame motor, an inner frame motor and an inertial sensor, wherein the mounting surface is based on a geodetic horizontal coordinate system; two ends of the outer frame along the y-axis direction are provided with outer frame rotating shafts, and the outer frame rotating shafts are connected with rotors of the outer frame magnetic suspension bearings; two ends of the inner frame along the x-axis direction are provided with an inner frame rotating shaft, and the inner frame rotating shaft is connected with a rotor of the inner frame magnetic suspension bearing; the mounting surface is fixedly connected in the inner frame, the platform is provided with an inertial sensor which is electrically connected with a platform control system, and the platform control system is electrically connected with the outer frame magnetic suspension bearing and the inner frame magnetic suspension bearing. The invention can realize high-precision real-time compensation for low-frequency and large-amplitude vibration, thereby realizing high-precision field dynamic measurement of the cold atom gravimeter.
Description
Technical Field
The invention relates to the technical field of high-precision active vibration isolation for field dynamic measurement of cold atom gravimeters, in particular to a magnetic suspension type inertially stabilized platform.
Background
At present, many active vibration isolation methods are reported at home and abroad, a common active vibration isolation platform measures vibration data in real time through a vibration sensor and feeds the data back to a controller, so that an actuator generates thrust in opposite directions to achieve the aim of isolating low-frequency vibration, but the active vibration isolation platform cannot compensate and inhibit low-frequency and large-amplitude vibration in real time generally and is commonly used in the field of optical measurement. Another commonly used active vibration isolation method is a traditional inertial stabilization platform, which generally adopts a two-axis or three-axis structure, a gyroscope, an accelerometer, an angular position sensor and the like are installed on a platform axis system, when the platform attitude changes due to vibration interference, the inertial stabilization platform measures the change of the attitude angle and the angular velocity of the platform through the sensor, and generates thrust in the opposite direction through calculation of a control algorithm so as to keep the platform attitude inertially stable.
The active vibration isolation method adopts a magnetic suspension vibration isolation platform, the principle of the active vibration isolation method is that a novel non-contact vibration isolation mode of variable damping force is obtained by changing the current intensity in an electromagnetic coil, and the active vibration isolation method is widely applied to the fields of hyperstatic platforms, precise manufacturing, precise positioning and the like. The structure of the magnetic suspension vibration isolation platform is generally composed of a stator, a floater, a cable and a Lorentz force actuator. The actuator comprises two groups of strip-shaped permanent magnets, rectangular hollow coils and magnetic yokes. When the stator is disturbed by the outside, the actuator generates Lorentz force which can counteract the outside disturbance by adjusting the magnitude and the direction of the current of the coil, thereby isolating vibration interference for the effective load on the floater. The disadvantage of this platform is that the stroke of the platform is very small, usually only in the order of millimeters, and therefore real-time compensation for low frequency and large amplitude vibrations is not possible. The cold atom gravimeter needs to work in a complex external environment, for example, the vibration amplitude caused by sea waves is generally very large during offshore measurement, and the magnetic suspension vibration isolation platform cannot meet the requirements of the low-frequency and large-amplitude vibration condition.
In summary, the current active vibration isolation technology at home and abroad is difficult to meet the requirement of field dynamic high-precision measurement of the cold atom gravimeter.
Disclosure of Invention
The invention provides a magnetic suspension type inertially stabilized platform aiming at the requirement of field dynamic high-precision measurement of a cold atom gravimeter. The platform can realize high-precision real-time compensation for low-frequency and large-amplitude vibration, so that high-precision field dynamic measurement of the cold atom gravimeter is realized, adverse effects of friction force are eliminated compared with a traditional mechanical bearing type inertially stabilized platform, and the precision of active vibration isolation can be further improved.
The technical scheme adopted by the invention is as follows: the magnetic suspension type inertial stabilization platform comprises a base, an outer frame capable of rotating around a y axis, an inner frame capable of rotating around an x axis, an installation surface arranged in the inner frame, two outer frame magnetic suspension bearings, two inner frame magnetic suspension bearings, an outer frame motor, an inner frame motor and an inertial sensor;
the upper surface of the mounting surface is used for bearing a gravity meter probe, the mounting surface is based on a geodetic horizontal coordinate system, and the mounting surface is always kept parallel relative to the geodetic horizontal plane through the inner frame and the outer frame; taking the center of the mounting surface as an original point, a transverse straight line passing through the original point as an x-axis, a longitudinal straight line passing through the original point as a y-axis, a plane formed by the x-axis and the y-axis is parallel to the ground geographical horizontal plane, and a straight line far away from the original point along the vertical direction is a z-axis;
the base comprises a base, and two ends of the base along the y-axis direction are oppositely provided with outer frame supporting frames which extend vertically upwards; one side of each of the two outer frame support frames facing the opposite side is provided with an outer frame magnetic suspension bearing; the outer frame is in a frame shape, two outer frame rotating shafts are respectively arranged at two ends of the outer side of the outer frame along the y-axis direction, one ends of the outer frame rotating shafts, which are far away from the original point, are respectively connected with the corresponding outer frame magnetic suspension bearings, and one end of one outer frame rotating shaft, which is close to the original point, is provided with an outer frame motor; two ends of the inner side of the outer frame along the x-axis direction are respectively provided with an inner frame magnetic suspension bearing; the inner frame is in a frame shape, two ends of the outer side of the inner frame along the x axis are respectively provided with an inner frame rotating shaft, one end of each inner frame rotating shaft, which is far away from the original point, is respectively connected with the corresponding inner frame magnetic suspension bearing, and one end of each inner frame rotating shaft, which is close to the original point, is provided with an inner frame motor;
the mounting surface is fixedly connected in the inner frame, the inertial sensor and the gravity meter probe are mounted on the mounting surface, the inertial sensor comprises three gyroscopes and three accelerometers, one of the gyroscopes is used for measuring the angular velocity in the x-axis direction, one of the gyroscopes is used for measuring the angular velocity in the y-axis direction, and the other gyroscope is used for measuring the angular velocity in the z-axis direction; one accelerometer measures the angular acceleration in the direction of an x axis, one accelerometer measures the angular acceleration in the direction of a y axis, and the other accelerometer measures the angular acceleration in the direction of a z axis;
the inertial sensor is connected with the input end of the platform control system through a communication line, and the control end of the platform control system is electrically connected with the outer frame motor and the inner frame motor; the inertial sensor measures attitude change data of the gravity meter probe relative to a local geographic coordinate system and transmits the attitude change data to the platform control system; the platform control system calculates and controls the outer frame motor and the inner frame motor to generate electromagnetic forces in opposite directions so that the outer frame and the inner frame return to the specified positions, the mounting surface and the local geographical horizontal plane are always kept parallel, the center line of the gravity meter probe is always vertically downward, and a foundation is provided for realizing dynamic high-precision measurement of the cold atom gravity meter;
the two outer frame magnetic suspension bearings, the two inner frame magnetic suspension bearings and the internal position sensor are electrically connected with a magnetic suspension control end of the platform control system, and detect shaft position signals of the rotor and transmit the shaft position signals to the platform control system;
the platform control system is electrically connected with the power amplifier, and the power amplifier is electrically connected with the two outer frame magnetic suspension bearings and the two inner frame magnetic suspension bearings; the platform control system calculates the shaft deviation signal and controls the current in the electromagnet through the power amplifier, thereby generating the change of the electromagnetic force to enable the rotor to be suspended at the specified position.
Furthermore, the gravimeter probe is arranged at the center of the mounting surface, and the platform control system comprises a magnetic suspension bearing drive, a controller and a power supply;
the power supply supplies power for the y-axis accelerometer, the z-axis accelerometer, the x-axis gyroscope, the y-axis gyroscope, the z-axis gyroscope, the magnetic suspension bearing drive and the controller;
the X-axis accelerometer, the Y-axis accelerometer, the Z-axis accelerometer, the X-axis gyroscope, the Y-axis gyroscope and the Z-axis gyroscope are respectively and electrically connected with the input end of the controller, the output end of the controller is electrically connected with the input end driven by the magnetic suspension bearings, and the output end driven by the magnetic suspension bearings is respectively and electrically connected with the input ends of the two outer frame magnetic suspension bearings and the two inner frame magnetic suspension bearings;
the controller processes motion data of the cold atom gravimeter probe monitored by the x-axis accelerometer, the y-axis accelerometer, the z-axis accelerometer, the x-axis gyroscope, the y-axis gyroscope and the z-axis gyroscope to obtain attitude change data of the cold atom gravimeter probe, and sends a control signal to the magnetic suspension bearing drive according to the attitude change data; the magnetic suspension bearings drive and control the two outer frame magnetic suspension bearings and the two inner frame magnetic suspension bearings to generate electromagnetic forces in opposite directions, so that the outer frame rotating shafts in the two outer frame magnetic suspension bearings and the inner frame rotating shafts in the two inner frame magnetic suspension bearings return to the specified positions.
Furthermore, the outer frame magnetic suspension bearing and the inner frame magnetic suspension bearing respectively comprise a magnetic suspension bearing stator and a rotor which is matched with the magnetic suspension bearing stator.
The invention has the beneficial effects that:
(1) the invention adopts the magnetic suspension bearing to replace the traditional bearing, combines the magnetic suspension technology with the inertial stabilization platform technology, realizes the inhibition and real-time compensation of the stabilization platform on the low-frequency vibration, and ensures that the attitude of the stabilization platform always keeps the inertial stability. The traditional inertially stabilized platform adopts a mechanical bearing, a shafting generally has non-negligible friction force, and the shafting can show obvious viscous characteristics, which often has adverse effect on the control precision of the stabilized platform. The magnetic suspension bearing is a high-performance bearing which suspends a rotor in the air without mechanical friction by utilizing magnetic field force, and compared with the traditional contact type bearing, the magnetic suspension bearing has the advantages of no friction, no abrasion, no need of lubrication and sealing, low cost, less loss, long service life and the like, so that the adverse effect of shafting friction force can be eliminated by the magnetic suspension type inertially stabilized platform compared with the traditional inertially stabilized platform, and the stabilizing precision is effectively improved. The cold atom absolute gravimeter is installed at the center of the magnetic suspension type inertially stabilized platform, and high-precision isolation of the magnetic suspension type inertially stabilized platform on low-frequency interference can be realized, so that high-precision dynamic gravity measurement of the cold atom absolute gravimeter under a complex external environment can be realized, and the cold atom absolute gravimeter has important application prospect and significance.
(2) The low-frequency disturbance to the carrier carried by the platform during movement is usually large-amplitude and low-frequency aperiodic vibration, namely low-frequency noise, such as terrain change, sea wave and the like, which causes the carrier to move in three degrees of freedom, namely pitching, rolling and yawing, and yawing has no influence on gravity measurement of the cold atom gravimeter, so that only the rolling and pitching angular motions of the carrier need to be isolated. The invention adopts a double-shaft inertia stable platform to respectively compensate the angular motion in the two directions of rolling and pitching in real time so as to achieve the aim of isolating low-frequency noise. The invention fully combines the biaxial inertially stabilized platform technology and the magnetic suspension bearing technology to design a magnetic suspension inertially stabilized platform. Can realize the real-time compensation of high accuracy to the vibration that low frequency and amplitude are big to realize the open-air dynamic measurement of high accuracy of cold atom gravimeter, compare the adverse effect that traditional mechanical bearing formula inertially stabilized platform had eliminated frictional force simultaneously, can further promote the precision of initiative vibration isolation.
Drawings
Fig. 1 is a schematic structural view of the present invention.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are only some embodiments, but not all embodiments, of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that the orientations or positional relationships indicated as the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., appear based on the orientations or positional relationships shown in the drawings only for the convenience of describing the present invention and simplifying the description, but not for indicating or implying that the referred devices or elements must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" as appearing herein are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless otherwise explicitly stated or limited, the terms "mounted," "connected," and "connected" should be interpreted broadly, e.g., as being fixed or detachable or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Referring to the attached drawings, the magnetic suspension type inertial stabilization platform comprises a base 1, an outer frame 2 capable of rotating around a y axis, an inner frame 3 capable of rotating around an x axis, a mounting surface arranged in the inner frame 3, two outer frame magnetic suspension bearings 4 and 16, two inner frame magnetic suspension bearings 5 and 17, an outer frame motor 18, an inner frame motor 19 and an inertial sensor;
the upper surface of the mounting surface is used for bearing a gravimeter probe 12, the mounting surface is based on a geodetic horizontal coordinate system and consists of an outer frame shaft system and an inner frame shaft system, and the mounting surface is always kept parallel relative to the geodetic horizontal plane through an inner frame 3 and an outer frame 2; taking the center of the mounting surface as an original point, a transverse straight line passing through the original point as an x-axis, a longitudinal straight line passing through the original point as a y-axis, a plane formed by the x-axis and the y-axis is parallel to the ground geographical horizontal plane, and a straight line far away from the original point along the vertical direction is a z-axis;
the base 1 comprises a base, and two ends of the base along the y-axis direction are oppositely provided with outer frame supporting frames which extend vertically upwards; the opposite sides of the two outer frame support frames are respectively provided with an outer frame magnetic suspension bearing 4, 16; the outer frame 2 is in a frame shape, two outer frame rotating shafts are respectively arranged at two ends of the outer side of the y-axis direction, one ends of the outer frame rotating shafts, which are far away from the original point, are respectively connected with the corresponding outer frame magnetic suspension bearings 4 and 16, and one end of one outer frame rotating shaft, which is close to the original point, is provided with an outer frame motor 18; two ends of the inner side of the outer frame 2 along the x-axis direction are respectively provided with an inner frame magnetic suspension bearing 5 and an inner frame magnetic suspension bearing 17; the inner frame 3 is in a frame shape, two ends of the outer side of the inner frame 3 along the x axis are respectively provided with an inner frame rotating shaft, one end of each inner frame rotating shaft, which is far away from the original point, is respectively connected with the corresponding inner frame magnetic suspension bearings 5 and 17, and one end of each inner frame rotating shaft, which is close to the original point, is provided with an inner frame motor 19;
the mounting surface is fixedly connected in the inner frame 3, the inertial sensor and the gravity meter probe are mounted on the mounting surface, the inertial sensor comprises three gyroscopes 9, 10 and 11 and three accelerometers 6, 7 and 8, wherein one gyroscope 9 measures the angular velocity in the x-axis direction, one gyroscope 10 measures the angular velocity in the y-axis direction, and the other gyroscope 11 measures the angular velocity in the z-axis direction; one of the accelerometers 6 measures the angular acceleration in the x-axis direction, one of the accelerometers 7 measures the angular acceleration in the y-axis direction, and the other accelerometer 8 measures the angular acceleration in the z-axis direction;
the inertial sensor is connected with the input end of the platform control system through a communication line, and the control end of the platform control system 14 is electrically connected with the outer frame motor 18 and the inner frame motor 19; the inertial sensor measures attitude change data of the gravimeter probe 12 relative to a local geographical coordinate system and transmits the attitude change data to the platform control system 14; the platform control system 14 calculates and controls the outer frame motor 18 and the inner frame motor 19 to generate electromagnetic force in opposite directions to enable the outer frame and the inner frame to return to the specified positions, so that the mounting surface and the local geographical horizontal plane are always kept parallel, the center line of a gravity meter probe is always vertically downward, and a foundation is provided for realizing dynamic high-precision measurement of the cold atom gravity meter;
the two outer frame magnetic suspension bearings 4 and 16 and the two inner frame magnetic suspension bearings 5 and 17 are electrically connected with a magnetic suspension control end of the platform control system 14, and position sensors in the two outer frame magnetic suspension bearings 4 and 16 and the two inner frame magnetic suspension bearings 5 and 17 detect shaft position signals of the rotor and transmit the shaft position signals to the platform control system;
the platform control system 14 is electrically connected with the power amplifier 13, and the power amplifier 13 is electrically connected with the two outer frame magnetic suspension bearings 4 and 16 and the two inner frame magnetic suspension bearings 5 and 17; the stage control system 14 calculates the axis deviation signal and controls the current in the electromagnets via the power amplifier 13, thereby generating a change in the electromagnetic force to levitate the rotor at a prescribed position.
In the embodiment of the invention, the gravimeter probe 12 is arranged at the center of the installation surface, and the platform control system comprises a magnetic suspension bearing drive 13, a controller 14 and a power supply 15;
the power supply 15 supplies power to the y-axis accelerometer 7, the z-axis accelerometer 8, the x-axis gyroscope 9, the y-axis gyroscope 10, the z-axis gyroscope 11, the magnetic suspension bearing drive 13 and the controller 14;
the X-axis accelerometer 6, the Y-axis accelerometer 7, the Z-axis accelerometer 8, the X-axis gyroscope 9, the Y-axis gyroscope 10 and the Z-axis gyroscope 11 are respectively and electrically connected with the input end of a controller 14, the output end of the controller 14 is electrically connected with the input end of a magnetic suspension bearing drive 13, and the output end of the magnetic suspension bearing drive 14 is respectively and electrically connected with the input ends of two outer frame magnetic suspension bearings 4 and 16 and two inner frame magnetic suspension bearings 5 and 17;
the controller 13 processes the motion data of the cold atom gravimeter probe 12 monitored by the x-axis accelerometer 6, the y-axis accelerometer 7, the z-axis accelerometer 8, the x-axis gyroscope 9, the y-axis gyroscope 10 and the z-axis gyroscope 11, acquires attitude change data of the cold atom gravimeter probe 12, and sends a control signal to the magnetic suspension bearing driver 14 according to the attitude change data; the magnetic suspension bearing drive 14 controls the two outer frame magnetic suspension bearings 4 and 16 and the two inner frame magnetic suspension bearings 5 and 17 to generate electromagnetic forces in opposite directions, so that the outer frame rotating shaft in the two outer frame magnetic suspension bearings 4 and 16 and the inner frame rotating shaft in the two inner frame magnetic suspension bearings 5 and 17 return to the specified positions. In the embodiment of the invention, the outer frame magnetic suspension bearings 4 and 16 and the inner frame magnetic suspension bearings 5 and 17 are magnetic suspension bearings, and comprise magnetic suspension bearing stators and rotors matched with the magnetic suspension bearing stators. The invention has no special limitation on the outer frame magnetic suspension bearing 4 and the inner frame magnetic suspension bearing, and the outer frame magnetic suspension bearing and the inner frame magnetic suspension bearing are magnetic suspension bearings well known by the technical personnel in the field.
The embodiments described in this specification are merely illustrative of implementations of the inventive concept and the scope of the present invention should not be considered limited to the specific forms set forth in the embodiments but rather by the equivalents thereof as may occur to those skilled in the art upon consideration of the present inventive concept.
Claims (3)
1. Magnetic suspension type inertially stabilized platform, its characterized in that: the platform comprises a base (1), an outer frame (2) capable of rotating around a y axis, an inner frame (3) capable of rotating around an x axis, a mounting surface arranged in the inner frame (3), two outer frame magnetic suspension bearings (4, 16), two inner frame magnetic suspension bearings (5, 17), an outer frame motor (18), an inner frame motor (19) and an inertial sensor;
the upper surface of the mounting surface is used for bearing a gravimeter probe (12), the mounting surface is based on a geodetic horizontal coordinate system, and the mounting surface is always kept parallel relative to the geodetic horizontal plane through the inner frame (3) and the outer frame (2); taking the center of the mounting surface as an original point, a transverse straight line passing through the original point as an x-axis, a longitudinal straight line passing through the original point as a y-axis, a plane formed by the x-axis and the y-axis is parallel to the ground geographical horizontal plane, and a straight line far away from the original point along the vertical direction is a z-axis;
the base (1) comprises a base, and two ends of the base along the y-axis direction are oppositely provided with outer frame supporting frames which extend vertically upwards; one outer frame magnetic suspension bearing (4, 16) is respectively arranged on one side of each of the two outer frame support frames facing to the opposite side; the outer frame (2) is in a frame shape, two outer frame rotating shafts are respectively arranged at two ends of the outer side of the y-axis direction, one end, far away from the original point, of each outer frame rotating shaft is respectively connected with the corresponding outer frame magnetic suspension bearings (4 and 16), and an outer frame motor (18) is installed at one end, close to the original point, of one outer frame rotating shaft; two ends of the inner side of the outer frame (2) along the x-axis direction are respectively provided with an inner frame magnetic suspension bearing (5, 17); the inner frame (3) is in a frame shape, two ends of the outer side of the inner frame (3) along the x axis are respectively provided with an inner frame rotating shaft, one end of each inner frame rotating shaft, which is far away from the original point, is respectively connected with the corresponding inner frame magnetic suspension bearings (5 and 17), and one end of each inner frame rotating shaft, which is close to the original point, is provided with an inner frame motor (19);
the mounting surface is fixedly connected in the inner frame (3), the inertial sensor and the gravity meter probe are mounted on the mounting surface, the inertial sensor comprises three gyroscopes (9, 10 and 11) and three accelerometers (6, 7 and 8), one gyroscope (9) measures the angular velocity in the x-axis direction, one gyroscope (10) measures the angular velocity in the y-axis direction, and the other gyroscope (11) measures the angular velocity in the z-axis direction; one accelerometer (6) measures angular acceleration in the x-axis direction, one accelerometer (7) measures angular acceleration in the y-axis direction, and the other accelerometer (8) measures angular acceleration in the z-axis direction;
the inertial sensor is connected with the input end of the platform control system through a communication line, and the control end of the platform control system (14) is electrically connected with the outer frame motor (18) and the inner frame motor (19); the inertial sensor measures attitude change data of the gravimeter probe (12) relative to a local geographical coordinate system and transmits the attitude change data to the platform control system (14); the platform control system (14) calculates and controls the outer frame motor (18) and the inner frame motor (19) to generate electromagnetic forces in opposite directions to enable the outer frame and the inner frame to return to the specified positions, so that the mounting surface and the local geographical horizontal plane are always kept parallel, the center line of the gravity meter probe is always vertically downward, and a foundation is provided for realizing dynamic high-precision measurement of the cold atom gravity meter;
the two outer frame magnetic suspension bearings (4, 16) and the two inner frame magnetic suspension bearings (5, 17) are electrically connected with a magnetic suspension control end of the platform control system (14), and position sensors in the two outer frame magnetic suspension bearings (4, 16) and the two inner frame magnetic suspension bearings (5, 17) detect shaft position signals of the rotor and transmit the shaft position signals to the platform control system;
the platform control system (14) is electrically connected with the power amplifier (13), and the power amplifier (13) is electrically connected with the two outer frame magnetic suspension bearings (4, 16) and the two inner frame magnetic suspension bearings (5, 17); the stage control system (14) calculates the shaft deviation signal and controls the current in the electromagnet through a power amplifier (13), thereby generating the change of the electromagnetic force to enable the rotor to be suspended at the specified position.
2. The magnetically suspended inertially stabilized platform of claim 1, wherein: the gravity meter probe (12) is arranged at the center of the installation surface, and the platform control system comprises a magnetic suspension bearing drive (13), a controller (14) and a power supply (15);
the power supply (15) supplies power to the y-axis accelerometer (7), the z-axis accelerometer (8), the x-axis gyroscope (9), the y-axis gyroscope (10), the z-axis gyroscope (11), the magnetic suspension bearing drive (13) and the controller (14);
the X-axis accelerometer (6), the Y-axis accelerometer (7), the Z-axis accelerometer (8), the X-axis gyroscope (9), the Y-axis gyroscope (10) and the Z-axis gyroscope (11) are respectively and electrically connected with the input end of the controller (14), the output end of the controller (14) is electrically connected with the input end of the magnetic suspension bearing driver (13), and the output end of the magnetic suspension bearing driver (14) is respectively and electrically connected with the input ends of the two outer frame magnetic suspension bearings (4, 16) and the two inner frame magnetic suspension bearings (5, 17);
the controller (13) processes motion data of the cold atom gravimeter probe (12) monitored by the x-axis accelerometer (6), the y-axis accelerometer (7), the z-axis accelerometer (8), the x-axis gyroscope (9), the y-axis gyroscope (10) and the z-axis gyroscope (11), acquires attitude change data of the cold atom gravimeter probe (12), and sends a control signal to the magnetic suspension bearing driver (14) according to the attitude change data; the magnetic suspension bearing drive (14) controls the two outer frame magnetic suspension bearings (4, 16) and the two inner frame magnetic suspension bearings (5, 17) to generate electromagnetic forces in opposite directions, so that the outer frame rotating shaft in the two outer frame magnetic suspension bearings (4, 16) and the inner frame rotating shaft in the two inner frame magnetic suspension bearings (5, 17) return to the specified positions.
3. A novel magnetic levitation inertially-stabilized platform as recited in claim 1, wherein: the outer frame magnetic suspension bearings (4, 16) and the inner frame magnetic suspension bearings (5, 17) respectively comprise a magnetic suspension bearing stator and a rotor which is matched with the magnetic suspension bearing stator.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116164997B (en) * | 2023-04-26 | 2023-06-23 | 中国石油大学(华东) | Ground testing device of rotary steering drilling tool stabilizing platform |
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