CN115728677A - Full-automatic active magnetic compensation method for magnetic shielding cabin based on sequential compensation algorithm - Google Patents
Full-automatic active magnetic compensation method for magnetic shielding cabin based on sequential compensation algorithm Download PDFInfo
- Publication number
- CN115728677A CN115728677A CN202211230391.7A CN202211230391A CN115728677A CN 115728677 A CN115728677 A CN 115728677A CN 202211230391 A CN202211230391 A CN 202211230391A CN 115728677 A CN115728677 A CN 115728677A
- Authority
- CN
- China
- Prior art keywords
- compensation
- magnetic field
- axis
- coil
- magnetic
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Landscapes
- Measuring Magnetic Variables (AREA)
Abstract
The invention relates to a full-automatic active magnetic compensation method for a magnetic shielding cabin based on a sequential compensation algorithm. The method can carry out magnetic field compensation in three axes automatically and sequentially, firstly, the three-axis fluxgate sensor measures the residual magnetic field in the three axes in the magnetic shielding cabin, firstly, the magnetic field compensation is carried out in the direction of the maximum residual magnetic field, the control module controls the compensation coil in the direction to generate a compensation magnetic field with equal size and opposite direction according to the residual magnetic field in the direction and the coil constant of the compensation coil, after the direction compensation, the magnetic fields in the other two directions are sequentially compensated in the same mode, the compensation effect is judged after the compensation in the three directions is finished, if the residual magnetic field in the magnetic shielding cabin is in an ideal range, the three-axis coil outputs stable compensation current, and if the residual magnetic field after the compensation is not in the ideal range, the steps are repeated until the residual magnetic field in the magnetic shielding cabin meets the ideal requirement. The method can solve the problems of low compensation precision, complex operation, long adjustment time and the like of manual compensation.
Description
Technical Field
The invention belongs to the field of active magnetic compensation in a magnetic shielding cabin, and particularly relates to a full-automatic active magnetic compensation method for the magnetic shielding cabin based on a sequential compensation algorithm.
Background
There are many physical quantities in life, of which magnetic field is one of the important ones, and magnetic field has wide application in geophysical, material science, life medicine, production and life, etc., of which central magnetism and brain magnetism are one of the important applications. The sizes of the magnetocardiogram and the magnetoencephalography are dozens of femtoliters, so that an extremely low magnetic field environment is required for measurement, and the magnetic field size is fifty thousand nano-meters in a common geomagnetic environment and is six orders of magnitude higher than the sizes of the magnetocardiogram and the magnetoencephalography. In the environment, a plurality of interference magnetic fields exist, the magnitude of the interference magnetic fields is higher than that of the magnetocardiogram and the magnetocardiogram by several orders of magnitude, and therefore the magnetocardiogram and the magnetocardiogram are required to be measured in a common magnetic shielding cabin.
However, in a general magnetic shielding chamber, the magnitude of the residual magnetic field after shielding is tens of nt, which is far less than the measuring environment of the magnetocardiogram and the magnetoencephalography, and thus active magnetic field compensation is required in the magnetic shielding chamber. The traditional magnetic compensation method adopts a cross modulation triaxial magnetic compensation method to carry out manual magnetic compensation, the method needs three signal generators as a basis, an oscilloscope is used for observing magnetic field information output by a triaxial fluxgate sensor to judge whether a residual magnetic field in a magnetic shielding cabin is compensated to be zero, if the compensated residual magnetic field is not zero, a stepping amount is given according to the size of the residual magnetic field through experience to adjust the output current of the signal generator so as to compensate the residual magnetic field in the magnetic shielding cabin to be zero. Therefore, it is of great significance to research a method capable of fully automatically, accurately and rapidly compensating the magnetic field.
Disclosure of Invention
In order to solve the problems that the output of a magnetism measuring sensor needs to be observed through instruments such as a signal generator and an oscilloscope, and the magnetic field of a compensation shaft is adjusted by a stepping amount through experience, so that the operation is complicated, the compensation time is long, and the precision is low in the conventional manual magnetic compensation method for the magnetic shielding cabin, the invention provides a full-automatic active magnetic compensation method for the magnetic shielding cabin based on a sequential compensation algorithm, which can quickly compensate the residual magnetic field in the magnetic shielding cabin to a zero magnetic state in a full-automatic mode, and provides a near-zero magnetic environment for the subsequent work.
In order to achieve the purpose, the invention adopts the technical scheme that:
a full-automatic active magnetic compensation method for a magnetic shielding cabin based on a sequential compensation algorithm comprises the following steps:
step (1): firstly, the magnitude of a magnetic field in three-axis directions in the magnetic shielding cabin is judged by using a three-axis fluxgate sensor, the direction with the largest magnitude of the magnetic field is found and recorded as the X-axis direction, and the rest two directions are recorded as the Y-axis direction and the Z-axis direction.
Step (2): and (3) according to the size of the magnetic field in the X-axis direction obtained in the step (1) and the coil constant of the X-axis compensation coil, generating an opposite compensation current by the X-axis compensation coil to perform magnetic field compensation in the X-axis direction. Then magnetic compensation in the Y-axis direction is entered.
And (3): and (3) according to the size of the magnetic field in the Y-axis direction obtained in the step (1) and the coil constant of the Y-axis compensation coil, generating an opposite compensation current by the Y-axis compensation coil to perform magnetic field compensation in the Y-axis direction. Then enters the magnetic compensation in the Z-axis direction.
And (4): and (3) according to the magnitude of the magnetic field in the Z-axis direction obtained in the step (1) and the coil constant of the Z-axis compensation coil, generating an opposite compensation current by the Z-axis compensation coil to perform magnetic field compensation in the Z-axis direction.
And (5): judging whether the residual magnetic field size B after magnetic compensation in the magnetic shielding cabin is smaller than or equal to B0 or not, wherein B0 is the ideal residual magnetic field size in the magnetic shielding cabin;
wherein Bx is the magnitude of the residual magnetic field after the compensation in the X-axis direction in the step (2), by is the magnitude of the residual magnetic field after the compensation in the Y-axis direction in the step (3), and Bz is the magnitude of the residual magnetic field after the compensation in the X-axis direction in the step (4); if B is less than or equal to B0, the X-axis compensation coil, the Y-axis compensation coil and the Z-axis compensation coil output stable compensation currents, and if B is greater than B0, the step (2), the step (3) and the step (4) are repeated until B is less than or equal to B0.
Through the five steps, the magnetic shielding cabin is subjected to rapid full-automatic three-axis sequential magnetic compensation.
Further, in the steps (2), (3) and (4), the current magnitude corresponding to the magnetic field generated by the compensation coil is written into the system control part according to the coil constant of the compensation coil.
Further, in the step (5), the size of the B0 setting depends on the usage environment in the magnetic shielding cabin.
Compared with the prior art, the invention has the advantages that: compared with the traditional manual compensation method that the output residual magnetism of the magnetism measuring sensor is observed through an oscilloscope, rough estimation is carried out, and the magnetic field of the compensation shaft is adjusted by giving a stepping amount according to experience, the full-automatic active magnetism compensation method for the magnetic shielding cabin based on the sequence compensation algorithm greatly reduces the labor cost, accelerates the compensation speed, improves the compensation precision, does not need to use a signal generator, an oscilloscope and other instruments, reduces the system volume, ensures that the compensated data are more accurate, and reduces the artificial reading error.
Drawings
The invention itself, however, as well as the attendant advantages thereof, will be best understood by reference to the following detailed description when considered in conjunction with the accompanying drawings, which are included to provide a further understanding of the invention and constitute a part of this specification, wherein:
FIG. 1 is a system schematic diagram of a fully automatic active magnetic compensation method of a magnetic shielding cabin based on a sequential compensation algorithm according to the invention;
FIG. 2 is a hardware system block diagram of the magnetic shielding cabin full-automatic active magnetic compensation method based on the sequential compensation algorithm;
FIG. 3 is an algorithm flow chart of the magnetic shielding cabin full-automatic active magnetic compensation method based on the sequential compensation algorithm.
Detailed description of the invention
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, rather than all embodiments, and all other embodiments obtained by a person skilled in the art based on the embodiments of the present invention belong to the protection scope of the present invention without creative efforts.
The full-automatic active magnetic compensation method of the magnetic shielding cabin based on the sequential compensation algorithm does not need to use a signal generator, an oscilloscope and other instruments, and carries out the triaxial magnetic compensation in a full-automatic sequential manner based on a hardware system comprising a triaxial fluxgate sensor, an amplification filtering module, an A/D data acquisition module, a DSP control module, a D/A data output module, a power amplification module, a current source module and a triaxial compensation coil. The method comprises the steps that firstly, a residual magnetic field in the three-axis direction in a magnetic shielding cabin is measured by a three-axis fluxgate sensor, the direction of the maximum residual magnetic field is judged, magnetic field compensation is carried out on the direction of the maximum residual magnetic field, a control module controls a compensation coil in the direction to generate compensation magnetic fields with the same size and opposite directions according to the size of the residual magnetic field in the direction and a coil constant of the compensation coil, after the compensation in the direction is finished, the residual magnetic fields in the two remaining directions are sequentially compensated in the same mode, the compensation effect is judged after the compensation in the three directions is finished, if the compensated residual magnetic field is in an ideal range, the three-axis coil outputs stable compensation current, and if the compensated residual magnetic field does not meet ideal requirements, the steps are repeated until the residual magnetic field in the magnetic shielding cabin meets the ideal requirements. The invention realizes the full-automatic three-axis sequential magnetic field compensation, greatly reduces the labor cost compared with the traditional manual magnetic compensation, and has the advantages of higher compensation speed, simple operation and small hardware equipment volume.
As shown in FIG. 1, the fully automatic active magnetic compensation method for the magnetic shielding capsule based on the sequential compensation algorithm firstly defines three-axis coil directions as X, Y and Z axes according to the magnitude of the residual magnetic field of the magnetic shielding capsule. The hardware system for realizing the invention comprises a magnetic shielding cabin 1, an X-axis compensating coil 2, a Y-axis compensating coil 3, a Z-axis compensating coil 4, a three-axis fluxgate sensor 5 and a hardware system control processing part 6; the X-axis compensation coil 2, the Y-axis compensation coil 3 and the Z-axis compensation coil 4 are located on the inner wall of the magnetic shielding cabin 1, a pair of coil winding directions of the X-axis compensation coil 2 are clockwise or anticlockwise, a pair of coil winding directions of the Y-axis compensation coil 3 are clockwise or anticlockwise, a pair of coil winding directions of the Z-axis compensation coil 4 are clockwise or anticlockwise, the three-axis fluxgate sensor 5 is located in the center of the magnetic shielding cabin 1, the hardware system control processing part 6 is located outside the magnetic shielding cabin 1 and connected with the three-axis fluxgate sensor 5 and the X-axis compensation coil 2 at the center of the magnetic shielding cabin 1, the Y-axis compensation coil 3 and the Z-axis compensation coil 4. The magnetic shielding cabin 1 is of a cuboid structure.
As shown in fig. 2, the hardware system control processing part includes a three-axis fluxgate sensor part, an amplification and filtering module, an a/D data acquisition module, a DSP control module, a D/a data output module, a power amplification module, a current source module, and a three-axis compensation coil part, and is used to replace a signal generator, an oscilloscope, and other instruments used for manually compensating a magnetic field. Firstly, the residual magnetic field in the magnetic shielding cabin 1 is measured by the triaxial fluxgate sensor 5, the residual magnetic field is transmitted into the DSP control module through the amplifying and filtering module and the A/D data acquisition module, the DSP control module outputs a compensation voltage according to the size of the residual magnetic field and the coil constant of the compensation coil, the compensation voltage enters the current source module through the D/A data output module and the power amplification module, the current source module outputs a compensation current to the triaxial compensation coil according to the compensation voltage, the compensation magnetic field is generated by the triaxial compensation coil, and the residual magnetic field in the magnetic shielding cabin 1 is measured again by the triaxial fluxgate sensor 5.
As shown in fig. 3, a fully automatic active magnetic compensation method for a magnetic shielding compartment based on a sequential compensation algorithm according to the present invention includes the following steps:
step (1): firstly, measuring the direction with the maximum residual magnetic field in the three-axis direction in the magnetic shielding cabin 1 by using a three-axis fluxgate sensor 5, marking the direction as the X-axis direction, and marking the remaining two directions as the Y-axis direction and the Z-axis direction, wherein the residual magnetic field in the Y-axis direction is larger than the residual magnetic field in the Z-axis direction; and initializing the DSP control module, and writing the coil constant relation corresponding to the X-axis compensation coil 2, the Y-axis compensation coil 3 and the Z-axis compensation coil 4 into the DSP control module.
Step (2): and then, firstly, carrying out magnetic field compensation in the X-axis direction, measuring the residual magnetic field in the X-axis direction in the magnetic shielding cabin 1 by using the three-axis fluxgate sensor 5, and passing through the amplifying and filtering module and the A/D data acquisition module. The residual magnetic field is transmitted into the DSP control module, the DSP control module outputs a compensation voltage according to the residual magnetic field and the relationship between the magnetic field and the voltage set according to the coil constant of the X-axis compensation coil, the compensation voltage enters the current source module through the D/A data output module and the power amplification module, and the current source module outputs a compensation current to the X-axis compensation coil 2 according to the input compensation voltage to compensate the residual magnetic field in the X-axis direction and then enters the Y-axis direction for magnetic field compensation.
And (3): the residual magnetic field in the Y-axis direction in the magnetic shielding cabin 1 is measured by the three-axis fluxgate sensor 5 and passes through the amplifying and filtering module and the A/D data acquisition module. The residual magnetic field is transmitted into a DSP control module, the DSP control module outputs a compensation voltage according to the residual magnetic field and the relationship between the magnetic field and the voltage set according to the coil constant of the Y-axis compensation coil, the compensation voltage enters a current source module through a D/A data output module and a power amplification module, the current source module outputs a compensation current to a Y-axis compensation coil 3 according to the input compensation voltage to compensate the residual magnetic field in the Y-axis direction, and then the compensation current enters the Z-axis direction magnetic field.
And (4): the residual magnetic field in the Z-axis direction in the magnetic shielding cabin 1 is measured by the three-axis fluxgate sensor 5 and passes through the amplifying and filtering module and the A/D data acquisition module. The residual magnetic field is transmitted into the DSP control module, the DSP control module outputs a compensation voltage according to the residual magnetic field and the relationship between the magnetic field and the voltage set according to the coil constant of the Z-axis compensation coil, the compensation voltage enters the current source module through the D/A data output module and the power amplification module, and the current source module outputs a compensation current to the Z-axis compensation coil 3 according to the input compensation voltage to compensate the residual magnetic field in the Z-axis direction.
And (5): after the compensation of the residual magnetic field in the X-axis, Y-axis and Z-axis directions is finished, the DSP control module judges the compensation effect, the DSP control module calculates whether the residual magnetic field size B is less than or equal to B0, wherein B0 is the ideal residual magnetic field size in the magnetic shielding cabin, the size of the residual magnetic field is determined according to the use environment in the magnetic shielding cabin,
wherein Bx is the magnitude of the residual magnetic field after the compensation in the X-axis direction in the step (2), by is the magnitude of the residual magnetic field after the compensation in the Y-axis direction in the step (3), and Bz is the magnitude of the residual magnetic field after the compensation in the X-axis direction in the step (4); if B is less than or equal to B0, the X-axis compensating coil 2, the Y-axis compensating coil 3 and the Z-axis compensating coil 4 output stable compensating current, and if B is greater than B0, the steps (2), (3) and (4) are repeated until B is less than or equal to B0.
Those skilled in the art will appreciate that the invention may be practiced without these specific details.
It will be understood by those skilled in the art that the foregoing is only an exemplary embodiment of the present invention, and is not intended to limit the invention to the particular forms disclosed, since various modifications, substitutions and improvements within the spirit and scope of the invention are possible and within the scope of the appended claims.
Claims (2)
1. A full-automatic active magnetic compensation method for a magnetic shielding cabin based on a sequential compensation algorithm is characterized by comprising the following steps:
step (1): firstly, judging the magnitude of a magnetic field in three-axis directions in a magnetic shielding cabin by using a three-axis fluxgate sensor, finding out the direction with the maximum magnitude of the magnetic field, recording the direction as the X-axis direction, recording the remaining two directions as the Y-axis direction and the Z-axis direction, initializing a DSP control system, and writing the coil constant relation corresponding to an X-axis compensation coil, a Y-axis compensation coil and a Z-axis compensation coil into the DSP control system.
Step (2): according to the size of the magnetic field in the X-axis direction obtained in the step (1) and the coil constant of the X-axis compensation coil, the X-axis compensation coil generates an opposite compensation current to perform magnetic field compensation in the X-axis direction; then entering magnetic compensation in the Y-axis direction;
and (3): according to the size of the magnetic field in the Y-axis direction obtained in the step (1) and the coil constant of the Y-axis compensation coil, the Y-axis compensation coil generates an opposite compensation current to perform magnetic field compensation in the Y-axis direction; then entering magnetic compensation in the Z-axis direction;
and (4): according to the magnitude of the magnetic field in the Z-axis direction obtained in the step (1) and the coil constant of the Z-axis compensation coil, the Z-axis compensation coil generates an opposite compensation current to perform magnetic field compensation in the Z-axis direction;
and (5): judging whether the residual magnetic field size B after magnetic compensation in the magnetic shielding cabin is smaller than or equal to B0, wherein B0 is the ideal residual magnetic field size in the magnetic shielding cabin;
wherein Bx is the residual magnetic field size after the X-axis direction compensation in the step (2), by is the residual magnetic field size after the Y-axis direction compensation in the step (3), and Bz is the residual magnetic field size after the X-axis direction compensation in the step (4); if B is less than or equal to B0, the X-axis compensation coil, the Y-axis compensation coil and the Z-axis compensation coil output stable compensation currents, and if B is greater than B0, the step (2), the step (3) and the step (4) are repeated until B is less than or equal to B0.
2. The fully automatic active magnetic compensation method for magnetic shielding cabin based on sequential compensation algorithm as claimed in claim 1, wherein in said step (5), the B0 setting is determined according to the usage environment in the magnetic shielding cabin.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211230391.7A CN115728677A (en) | 2022-09-30 | 2022-09-30 | Full-automatic active magnetic compensation method for magnetic shielding cabin based on sequential compensation algorithm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211230391.7A CN115728677A (en) | 2022-09-30 | 2022-09-30 | Full-automatic active magnetic compensation method for magnetic shielding cabin based on sequential compensation algorithm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115728677A true CN115728677A (en) | 2023-03-03 |
Family
ID=85293489
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211230391.7A Pending CN115728677A (en) | 2022-09-30 | 2022-09-30 | Full-automatic active magnetic compensation method for magnetic shielding cabin based on sequential compensation algorithm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115728677A (en) |
-
2022
- 2022-09-30 CN CN202211230391.7A patent/CN115728677A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108267701B (en) | Active environmental magnetic interference compensation system for magnetic field reproduction coil | |
| CN110426651B (en) | Three-dimensional in-situ magnetic coil calibration experimental device and method based on SERF magnetometer | |
| US10001530B2 (en) | Reading circuit with automatic offset compensation for a magnetic-field sensor, and related reading method with automatic offset compensation | |
| US9013175B2 (en) | Reading circuit for a magnetic field sensor with sensitivity calibration, and related reading method | |
| CN105277995B (en) | The interference compensation method and device of geomagnetic sensor | |
| CN113325353B (en) | Magnetometer spatial attitude calibration method and system | |
| CN108267157A (en) | The calibration method and calibrating installation of geomagnetic sensor | |
| CN109870662A (en) | A kind of exchange magnetometer survey range and linearity calibration method and device | |
| JP2019215322A (en) | Magnetic field measurement device, magnetic field measurement method, and magnetic field measurement program | |
| CN115728677A (en) | Full-automatic active magnetic compensation method for magnetic shielding cabin based on sequential compensation algorithm | |
| CN113156354A (en) | Non-orthogonal error measurement method for triaxial Helmholtz coil in unshielded environment | |
| CN103675744A (en) | Calibration device and calibration method for superconducting quantum interference sensor | |
| CN109932670B (en) | Closed-loop TMR magnetic field measuring device based on power-on position | |
| Wang et al. | Optimal design of planar coils with reverse current distribution for atomic devices | |
| JP2020148760A (en) | measuring device | |
| CN114236452B (en) | MWD guiding probe tube single-shaft constant magnetic calibration method | |
| Wu et al. | Algorithm Research on the Conductor Eccentricity of a Circular Dot Matrix Hall High Current Sensor for ITER | |
| Petrucha et al. | Cross-field effect in a triaxial AMR magnetometer with vector and individual compensation of a measured magnetic field | |
| KR100555668B1 (en) | Fluxgate sensor for calibrating azimuth at slope and calibration method thereof | |
| CN108896945B (en) | Sensitivity index calibration method of high-sensitivity atomic magnetometer | |
| Forslund | Designing a miniaturized fluxgate magnetometer | |
| CN115524653A (en) | Magnetic shielding cabin full-automatic magnetic compensation method based on Monte Carlo algorithm | |
| CN111624531A (en) | Component calculation method for TMR three-axis integrated magnetic sensor | |
| CN115407247A (en) | Magnetic shielding cabin closed-loop magnetic compensation method based on combination of PID (proportion integration differentiation) and Monte Carlo algorithm | |
| Li et al. | High-Precision Magnetic Field Control of Active Magnetic Compensation System Based on MFAC-RBFNN |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |