Atomic gravimeter vibration isolation system and control method thereof

Abstract

The invention belongs to the technical field of gravity measurement auxiliary equipment, and particularly discloses an atom gravimeter vibration isolation system and a control method thereof.The system comprises a horizontal keeping device, a vibration isolation platform, a support used for fixing an atom gravimeter, a plurality of vibration sensors, a vibration motor and a control unit; the bracket, the plurality of vibration sensors and the vibration motor are all arranged in a central position area on the vibration isolation platform; the plurality of vibration sensors and the vibration motor are connected with the control unit; the horizontal keeping device is used for keeping the vibration isolation platform in a horizontal state; the plurality of vibration sensors are used for collecting multiple paths of vibration signals generated when the vibration isolation platform is interfered by external vibration; the control unit is used for conducting signal fusion processing based on the received multiple vibration signals and controlling the vibration motor to output vibration force based on the obtained fusion signals so as to offset vibration of the vibration isolation platform. According to the invention, the data precision of the obtained vibration signal can be effectively improved, and the vibration isolation effect and performance of the active vibration isolation system are improved.

Description

Technical Field

[0001] The present application belongs to the technical field of gravity measurement auxiliary equipment, and more specifically, relates to an atomic gravimeter vibration isolation system and a control method thereof. Background Art

[0002] Atomic gravimeters are high-precision instruments used to directly measure gravitational acceleration, with the advantages of high sensitivity, high accuracy and easy portability. With the increasing demand for the application of atomic gravimeters in field mobile gravity observations and marine and aviation gravity measurements, the measurement environment of atomic gravimeters has become increasingly complex, which has brought challenges to the measurement accuracy of atomic gravimeters in complex environments.

[0003] In actual measurement, the accuracy of atomic gravimeter measurement is mainly affected by ground vibration noise, Raman optical phase noise and detection noise, among which vibration noise is the most important influencing factor. In the prior art, the natural frequency of the traditional commercial passive vibration isolation platform can be adjusted to a minimum of 0.5Hz, which is used to isolate the impact of ground vibration above 10Hz on the atomic gravimeter. However, the atomic gravimeter is more sensitive to 0.1-10Hz vibration. Therefore, the traditional method of relying solely on the passive vibration isolation platform cannot meet the vibration isolation requirements of the atomic gravimeter measurement.

[0004] At present, although there have been studies on relevant active vibration isolation systems, the structures of these systems are usually relatively simple, the vibration signal data collected and processed are too single, the data accuracy is low, and they cannot effectively reflect the state of vibration noise in complex environments, resulting in unsatisfactory vibration isolation effects and performance of the entire system, and thus cannot effectively assist the atomic gravimeter in performing precise measurements.

[0005] Therefore, how to better improve the vibration isolation effect of the atomic gravimeter vibration isolation system has become a technical problem that needs to be solved urgently in the industry. Summary of the invention

[0006] In view of the defects of the prior art, the purpose of this application is to better improve the vibration isolation effect of the atomic gravimeter vibration isolation system, aiming to solve the problem that the vibration isolation effect and performance of the existing atomic gravimeter active vibration isolation system are not ideal and cannot effectively assist the atomic gravimeter to perform precise measurements.

[0007] To achieve the above objectives, in a first aspect, the present application provides an atomic gravimeter vibration isolation system, comprising:

[0008] A level holding device, a vibration isolation platform, a bracket for fixing an atomic gravimeter, a plurality of vibration sensors, a vibration motor and a control unit;

[0009] The bracket, the multiple vibration sensors and the vibration motor are all arranged in the central position area of ​​the vibration isolation platform; the multiple vibration sensors and the vibration motor are all connected to the control unit;

[0010] The horizontal maintaining device is used to maintain the vibration isolation platform in a horizontal state;

[0011] The multiple vibration sensors are used to collect multi-path vibration signals generated when the vibration isolation platform is disturbed by external vibration;

[0012] The control unit is used to perform signal fusion processing based on the received multiple vibration signals, and control the vibration motor to output vibration force based on the obtained fusion signal to offset the vibration of the vibration isolation platform.

[0013] Optionally, the vibration isolation platform includes a top plate, a bottom plate, a plurality of shock absorbing devices and a rigid rod;

[0014] The top plate and the bottom plate are arranged in parallel, and the central axes of the top plate and the bottom plate coincide with each other; the plurality of shock absorbing devices are evenly arranged between the top plate and the bottom plate, and are used to connect the top plate and the bottom plate; the rigid rod is fixed at the center position of the bottom plate; the vibration motor is fixed on the top of the rigid rod and is connected to the lower surface of the top plate.

[0015] Optionally, the control unit includes an amplifier, an analog-to-digital converter, a signal feedback controller, a digital-to-analog converter and a voltage-controlled current source connected in sequence; the multiple vibration sensors are all connected to the amplifier, and the voltage-controlled current source is connected to the vibration motor;

[0016] The amplifier is used to amplify the received vibration signals of each channel;

[0017] The analog-to-digital converter is used to perform analog-to-digital conversion on each amplified vibration signal to generate multiple vibration digital signals;

[0018] The signal feedback controller is used to perform signal fusion and feedback operation on each channel of the vibration digital signal to generate a control force signal;

[0019] The digital-to-analog converter is used to convert the control force signal into a corresponding analog voltage signal;

[0020] The voltage-controlled current source is used to output a driving current signal based on the input analog voltage signal to control the vibration motor to output a vibration force.

[0021] Optionally, the horizontal maintaining device is an inertial stabilization platform, and the top plate and the bottom plate are fixedly connected to a crossbeam of the inertial stabilization platform via a plurality of connecting rods, so that the top plate and the bottom plate are both in a horizontal state.

[0022] Optionally, the system further includes: a counterweight and an anti-slip rubber pad; the counterweight is disposed on the vibration isolation platform to maintain the balance of the table surface of the vibration isolation platform; the anti-slip rubber pad is disposed at the bottom of the vibration isolation platform to maintain the stability of the vibration isolation platform.

[0023] In a second aspect, the present application further provides a control method for an atomic gravimeter vibration isolation system as described in any one of the above, comprising:

[0024] When the vibration isolation platform is disturbed by external vibration, obtaining multi-channel vibration signals collected by the multiple vibration sensors;

[0025] Signal fusion processing is performed based on the multiple vibration signals, and the vibration motor is controlled to output vibration force based on the obtained fusion signal to offset the vibration of the vibration isolation platform.

[0026] Optionally, performing signal fusion processing based on the multiple vibration signals, and controlling the vibration motor to output vibration force based on the obtained fusion signal to offset the vibration of the vibration isolation platform includes:

[0027] Amplifying the vibration signals of each channel;

[0028] Perform analog-to-digital conversion on each amplified vibration signal to generate multiple vibration digital signals;

[0029] Performing signal fusion and feedback operation on the vibration digital signals of each channel to generate a control force signal;

[0030] Converting the control force signal into a corresponding analog voltage signal;

[0031] Based on the analog voltage signal, a driving current signal is output to control the vibration motor to output a vibration force.

[0032] Optionally, performing signal fusion and feedback operation on each channel of the vibration digital signal to generate a control force signal includes:

[0033] Determining the information entropy of each vibration signal;

[0034] Determine a fusion weight corresponding to each vibration signal based on the information entropy of each vibration signal;

[0035] generating the fusion signal based on each vibration signal and the corresponding fusion weight;

[0036] The control force signal is generated based on the fusion signal and a preset feedback coefficient of the signal feedback controller.

[0037] In a third aspect, the present application provides an electronic device comprising: at least one memory for storing programs; and at least one processor for executing the programs stored in the memory. When the program stored in the memory is executed, the processor is used to execute the method described in the first aspect or any possible implementation of the first aspect.

[0038] In a fourth aspect, the present application provides a computer-readable storage medium, which stores a computer program. When the computer program runs on a processor, the processor executes the method described in the first aspect or any possible implementation of the first aspect.

[0039] In a fifth aspect, the present application provides a computer program product. When the computer program product runs on a processor, the processor executes the method described in the first aspect or any possible implementation of the first aspect.

[0040] In general, the above technical solutions conceived by this application have the following beneficial effects compared with the prior art:

[0041] The present application provides an atomic gravimeter vibration isolation system and a control method thereof. The vibration isolation system includes a horizontal holding device, a vibration isolation platform, a bracket for fixing the atomic gravimeter, multiple vibration sensors, a vibration motor and a control unit. By using multiple measurement sensors arranged around the atomic gravimeter to simultaneously obtain residual vibration signals on the vibration isolation platform, the vibration state data of the vibration isolation platform can be captured from multiple directions, and the multi-channel vibration signal data is fused and processed using data fusion technology to obtain a fused signal containing rich vibration information. The fused signal is then used for feedback control of the control unit loop driven by the motor to provide it with load vibration information with a fuller frequency band and lower noise, so as to control the vibration motor to output a more precise vibration force to offset the vibration generated at the atomic gravimeter of the vibration isolation platform. The data accuracy of the acquired vibration signal can be effectively improved, the vibration isolation effect and performance of the active vibration isolation system can be improved, and a better measurement environment can be provided for the atomic gravimeter. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 It is one of the structural schematic diagrams of the atomic gravimeter vibration isolation system provided in the embodiment of the present application;

[0043] Figure 2 This is the second structural schematic diagram of the atomic gravimeter vibration isolation system provided in the embodiment of the present application;

[0044] Figure 3 It is a structural schematic diagram of a control unit in an atomic gravimeter vibration isolation system provided in an embodiment of the present application;

[0045] Figure 4It is a flow chart of a control method of an atomic gravimeter vibration isolation system provided in an embodiment of the present application;

[0046] Figure 5 It is a flowchart of a weighted multi-channel data fusion method provided in an embodiment of the present application;

[0047] Figure 6 It is a schematic diagram of the equivalent control principle of the atomic gravimeter vibration isolation system provided in the embodiment of the present application;

[0048] Figure 7 It is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0049] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0050] In the embodiments of the present application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a specific way.

[0051] In the description of the embodiments of the present application, unless otherwise specified, “plurality” means two or more than two. For example, “plurality of vibration sensors” means two or more than two vibration sensors.

[0052] The embodiments of the present application are described below in conjunction with the drawings in the embodiments of the present application.

[0053] Figure 1 is one of the structural schematic diagrams of the atomic gravimeter vibration isolation system provided in the embodiment of the present application, such as Figure 1 As shown, including:

[0054] A horizontal holding device 1, a vibration isolation platform 2, a bracket 4 for fixing an atomic gravimeter 3, a plurality of vibration sensors 5, a vibration motor 6 and a control unit 7;

[0055] The bracket 4, the plurality of vibration sensors 5 and the vibration motor 6 are all arranged in the central area of ​​the vibration isolation platform 2; the plurality of vibration sensors 5 and the vibration motor 6 are all connected to the control unit 7;

[0056] The level maintaining device 1 is used to maintain the vibration isolation platform 2 in a horizontal state;

[0057] The plurality of vibration sensors 5 are used to collect multi-channel vibration signals generated when the vibration isolation platform 2 is disturbed by external vibration;

[0058] The control unit 7 is used to perform signal fusion processing based on the received multi-channel vibration signals, and control the vibration motor 6 to output vibration force based on the obtained fusion signal to offset the vibration of the vibration isolation platform 2.

[0059] Specifically, the horizontal maintaining device described in the embodiment of the present application refers to a device for maintaining the vibration isolation platform in a horizontal state, which can specifically adopt an inertial stabilization platform to maintain the vibration isolation platform in a horizontal state through a mechanical linkage structure; it can also adopt an optical platform to maintain the vibration isolation platform in a horizontal state through optical measurement and control technology.

[0060] Optionally, in an embodiment of the present application, the horizontal maintaining device 1 can also limit the horizontal displacement of the vibration isolation platform 2 so that the entire system is only in vertical motion.

[0061] The bracket described in the embodiment of the present application is used to install and fix the atomic gravimeter to maintain the stability of the atomic gravimeter. Specifically, it can be made into a structure with a hollow bottom for placing various vibration sensors to collect data around the atomic gravimeter.

[0062] In an embodiment of the present application, before using multiple vibration sensors 5 to simultaneously acquire vibration signals, the bracket 4, multiple vibration sensors 5 and vibration motor 6 are all arranged in the central position area on the vibration isolation platform 2 and fixed on the vibration isolation platform 2.

[0063] In the embodiment of the present application, the vibration sensor is used to collect the vibration signal generated when the vibration isolation platform 2 is disturbed by external vibration, and it can specifically include one or more of an accelerometer, a seismometer, and a displacement sensor. It should be noted that the number of the multiple vibration sensors can be two or more sensors, and the present application does not specifically limit this.

[0064] It should also be noted that in the embodiment of the present application, the combination types of multiple vibration sensors 5 can be diverse. For example, it can be a combination of multiple sensors of the same type, such as multiple displacement sensors, multiple seismometers, or multiple accelerometers; it can also be a combination of multiple sensors of different types, such as a combination of a seismometer and an accelerometer, a displacement sensor and an accelerometer, or a seismometer and a displacement sensor.

[0065] More specifically, in the embodiment of the present application, the bracket 4 can be fixed to the central position area on the vibration isolation platform 2 by bolt connection, so as to fix the installation and carry the atomic gravimeter 3. Furthermore, by arranging multiple vibration sensors 5 in the central position area on the vibration isolation platform 2, around the atomic gravimeter 3, the multi-channel vibration signals generated when the vibration isolation platform 2 is disturbed by external vibration can be collected in real time, that is, the multiple vibration sensors 5 can continuously obtain the residual ground vibration signals of the vibration isolation platform 2 for a long time.

[0066] It can be understood that when the vibration isolation platform 2 is disturbed by external vibration, its internal passive vibration isolation part can buffer vibration signals of a part of the frequency band, and the remaining ground vibration signals can be collected by multiple vibration sensors.

[0067] Optionally, in an embodiment of the present application, a synchronous data acquisition card may be used to simultaneously acquire vibration signal data from each vibration sensor with the same sampling period.

[0068] Further, in the embodiment of the present application, after the multiple vibration sensors 5 collect the multiple vibration signals generated when the vibration isolation platform 2 is disturbed by external vibration, the multiple vibration signals are transmitted to the control unit 7. The received multiple vibration signals can be subjected to signal fusion processing through the preset data fusion algorithm of the control unit 7. The vibration signal fused by the multi-sensor signal contains rich vibration information, which can fully characterize the vibration state of the ground, and can mine richer vibration information with a more complete frequency band.

[0069] Finally, combined with the feedback control loop, the control unit 7 can use the obtained fusion signal to implement feedback control to control the vibration motor 6 to output a more precise vibration force to offset the vibration of the vibration isolation platform 2, thereby providing a more stable and better measurement environment for the atomic gravimeter 3 fixedly installed on the bracket 4, and assisting the atomic gravimeter 3 to perform precise measurements in a complex measurement environment.

[0070] The atomic gravimeter vibration isolation system of the embodiment of the present application includes a horizontal holding device, a vibration isolation platform, a bracket for fixing the atomic gravimeter, multiple vibration sensors, a vibration motor and a control unit. By using multiple measurement sensors arranged around the atomic gravimeter to simultaneously obtain residual vibration signals on the vibration isolation platform, the vibration state data of the vibration isolation platform can be captured from multiple directions, and the multi-channel vibration signal data is fused and processed using data fusion technology to obtain a fused signal containing rich vibration information, and then the fused signal is used for feedback control of the control unit loop of the motor drive to provide it with load vibration information with a fuller frequency band and lower noise, so as to control the vibration motor to output a more precise vibration force to offset the vibration generated at the atomic gravimeter of the vibration isolation platform. The data accuracy of the acquired vibration signal can be effectively improved, the vibration isolation effect and performance of the active vibration isolation system can be improved, and a better measurement environment can be provided for the atomic gravimeter.

[0071] Figure 2 2 is a structural schematic diagram of the atomic gravimeter vibration isolation system provided in the embodiment of the present application. As an optional embodiment, the vibration isolation platform 2 includes a top plate 21, a bottom plate 22, a plurality of shock absorbing devices 23 and a rigid rod 24;

[0072] The top plate 21 and the bottom plate 22 are arranged in parallel, and the central axes of the top plate 21 and the bottom plate 22 coincide with each other; a plurality of shock absorbing devices 23 are evenly arranged between the top plate 21 and the bottom plate 22 for connecting the top plate 21 and the bottom plate 22; a rigid rod 24 is fixed at the center position of the bottom plate 22; a vibration motor 6 is fixed at the top of the rigid rod 24 and connected to the lower surface of the top plate 21.

[0073] Specifically, in the embodiment of the present application, the vibration isolation platform 2 is constructed in the form of a passive vibration isolation system, including an upper top plate, a lower bottom plate, and a plurality of shock absorbing devices 23 and rigid rods 24 arranged between the top plate and the bottom plate.

[0074] The damping device 23 may be a damping spring or a combination of a damping spring and a damping cylinder. It is understandable that the use of a damping spring alone is suitable for a measurement environment with weak vibration interference, while the combination of a damping spring and a damping cylinder is suitable for a measurement environment with relatively stronger vibration interference.

[0075] Optionally, a plurality of shock absorbing devices 23 may be connected between the top plate 21 and the bottom plate 22 in a square uniform distribution manner. When a combination of shock absorbing springs and damping cylinders is used, a cross arrangement may be adopted so that the damping cylinders are also arranged in a square uniform distribution manner, and each shock absorbing spring is located between two adjacent damping cylinders.

[0076] In the embodiment of the present application, the rigid rod 24 is fixed at the center of the bottom plate 22, and the top of the rigid rod 24 is used to fix the vibration motor 6 and connect the vibration motor 6 to the lower surface of the top plate 21 to control the movement of the top plate.

[0077] In this way, the vibration motor 6 is fixedly installed between the top plate 21 and the bottom plate 22 of the vibration isolation platform 2. Under the premise of ensuring that vibration force can be provided, this structural method can effectively reduce the space occupied by the entire system, effectively achieve a good vibration isolation effect, and at the same time, it also contributes to the miniaturization design of the entire vibration isolation system, further improving the portability and applicability of the vibration isolation system.

[0078] Continue to refer to Figure 2 Based on the contents of the above embodiments, as an optional embodiment, the horizontal maintaining device 1 is an inertial stabilization platform, and the bottom plate 22 is fixedly connected to the crossbeam 12 of the inertial stabilization platform through multiple connecting rods 11 so that the top plate 21 and the bottom plate 22 are both in a horizontal state.

[0079] Specifically, in the embodiment of the present application, the leveling device 1 adopts the structural form of an inertial stabilization platform, and the bottom plate 22 is fixedly connected to the crossbeam 12 of the inertial stabilization platform through a plurality of connecting rods 11. When the vibration isolation platform receives external interference, the bottom plate 22 can always be kept in a horizontal state through the sensing and control of the inertial stabilization platform, thereby maintaining the horizontal state of the top plate 21.

[0080] It should be noted that the inertial stabilization platform is a device that uses the characteristics of the gyroscope to maintain the stability of the platform's orientation. It uses the gyroscope's fixed axis and precession to sense and resist external interference torques, so that the platform body remains stable relative to the inertial space. When the load deviates from its original orientation due to the interference torque, the gyroscope sensitively measures the changed attitude angle or angular velocity of the axis, and feeds it back to the motor after passing through the control system. The motor generates a compensation torque to compensate for the interference torque, so that the load always remains horizontal and stable.

[0081] The system of the embodiment of the present application adopts an inertial stabilization platform to construct a horizontal maintaining device, and utilizes the high-precision and high-stability control of the inertial stabilization platform to effectively maintain the entire vibration isolation system in a horizontally stable state, which is beneficial to improving the stability of the vibration isolation system.

[0082] Continue to refer to Figure 2 Based on the contents of the above embodiments, as an optional embodiment, the system further includes: a counterweight 8 and an anti-slip rubber pad 9; the counterweight 8 is arranged on the vibration isolation platform 2 to maintain the balance of the table surface of the vibration isolation platform 2; the anti-slip rubber pad 9 is arranged at the bottom of the vibration isolation platform 2 to maintain the stability of the vibration isolation platform 2.

[0083] Specifically, in the embodiment of the present application, the atomic gravimeter vibration isolation system can also be added with a counterweight 8 and an anti-slip rubber pad 9. The counterweight 8 can be fixed at a suitable position on the vibration isolation platform 2 according to actual test requirements to assist in maintaining the balance of the vibration isolation platform 2.

[0084] In the embodiment of the present application, by adding an anti-slip rubber pad 9 and setting it at the bottom of the vibration isolation platform 2, the vibration isolation platform 2 is fixedly connected to the anti-slip rubber pad 9, which can maintain the stability of the vibration isolation platform 2 and further improve the stability of the vibration isolation system.

[0085] The system of the embodiment of the present application can further strengthen and improve the stability of the vibration isolation system by introducing counterweights and anti-slip rubber pads to adapt to complex measurement environments with strong vibration interference.

[0086] Figure 3 is a schematic diagram of the structure of a control unit in the atomic gravimeter vibration isolation system provided in an embodiment of the present application, such as Figure 3 As shown, as an optional embodiment, the control unit 7 includes an amplifier 71, an analog-to-digital converter 72, a signal feedback controller 73, a digital-to-analog converter 74 and a voltage-controlled current source 75 connected in sequence; multiple vibration sensors 5 are connected to the amplifier 71, and the voltage-controlled current source 75 is connected to the vibration motor 6;

[0087] The amplifier 71 is used to amplify the received vibration signals;

[0088] The analog-to-digital converter 72 is used to perform analog-to-digital conversion on each amplified vibration signal to generate multiple vibration digital signals;

[0089] The signal feedback controller 73 is used to perform signal fusion and feedback operation on each vibration digital signal to generate a control force signal;

[0090] The digital-to-analog converter 74 is used to convert the control force signal into a corresponding analog voltage signal;

[0091] The voltage-controlled current source 75 is used to output a driving current signal based on the input analog voltage signal to control the vibration motor 6 to output a vibration force.

[0092] Specifically, the control force signal described in the embodiment of the present application refers to a feedback control signal generated by signal data fused through multi-channel sensor data, which is used to control the state and size of the vibration force output by the vibration motor.

[0093] In the embodiment of the present application, after the control unit 7 receives the multiple vibration signals transmitted by the multiple vibration sensors 5, the amplifier 71 is first used to amplify the received vibration signals, and then the amplified vibration signals are transmitted to the analog-to-digital converter 72, and multiple vibration digital signals are generated after analog-to-digital conversion. Then, the multiple vibration digital signals are further transmitted to the signal feedback controller 73, and the signal feedback controller 73 performs signal fusion on the vibration digital signals through the internal preset data fusion algorithm, and performs feedback operation through the feedback control loop, and generates a control force signal according to the fusion signal.

[0094] Furthermore, in the embodiment of the present application, the signal feedback controller 73 transmits the generated control force signal to the digital-to-analog converter 74 for digital-to-analog conversion to obtain a corresponding analog voltage signal. Then, the analog voltage signal flows through the voltage-controlled current source 75, and after conversion by the voltage-controlled current source 75, the output drive current signal is transmitted to the vibration motor, thereby controlling the vibration motor 6 to output the corresponding vibration force, which acts on the top plate 22 on the stable platform 2 to offset the force of the ground vibration transmitted to the atomic gravimeter 3 through the vibration isolation system top plate 22, thereby ensuring the stable state of the atomic gravimeter 3.

[0095] The system of the embodiment of the present application constructs a control unit by utilizing an amplifier, an analog-to-digital converter, a signal feedback controller, a digital-to-analog converter, and a voltage-controlled current source connected in sequence, and performs signal preprocessing, signal fusion, and feedback operations on each vibration signal. This can effectively achieve precise feedback control of the vibration motor, improve the accuracy of the system's vibration isolation control, and further improve the vibration isolation effect and performance of the vibration isolation system.

[0096] The control method of the atomic gravimeter vibration isolation system provided by the present invention is described below. The control method of the atomic gravimeter vibration isolation system described below and the atomic gravimeter vibration isolation system described above can be referred to each other.

[0097] Figure 4 is a flow chart of a control method of an atomic gravimeter vibration isolation system provided in an embodiment of the present application. It can be understood that it can be applied to any of the aforementioned atomic gravimeter vibration isolation systems, such as Figure 4 As shown, the method includes:

[0098] Step S1, when the vibration isolation platform is disturbed by external vibration, obtaining multi-channel vibration signals collected by multiple vibration sensors;

[0099] Step S2, performing signal fusion processing based on the multi-channel vibration signals, and controlling the vibration motor to output vibration force based on the obtained fusion signal to offset the vibration of the vibration isolation platform.

[0100] It can be understood that the detailed implementation of each step of the above method can be found in the introduction of the above system embodiment, and will not be repeated here.

[0101] It should be understood that the above method can be applied to the atomic gravimeter vibration isolation system in the above embodiment. The corresponding implementation details, implementation principles and technical effects of the method are similar to those described in the above system embodiment. Please refer to the corresponding process in the above system and will not be repeated here.

[0102] The control method of the atomic gravimeter vibration isolation system of the embodiment of the present application can capture the vibration state data of the vibration isolation platform from multiple directions by using multiple measurement sensors arranged around the atomic gravimeter to simultaneously obtain the residual vibration signals on the vibration isolation platform, and use data fusion technology to fuse the multi-channel vibration signal data to obtain a fusion signal containing rich vibration information, and then use the fusion signal to feedback control the control unit loop of the motor drive to provide it with load vibration information with a fuller frequency band and lower noise, so as to control the vibration motor to output a more precise vibration force to offset the vibration generated at the atomic gravimeter of the vibration isolation platform, which can effectively improve the data accuracy of the acquired vibration signal, enhance the vibration isolation effect and performance of the active vibration isolation system, and provide a better measurement environment for the atomic gravimeter.

[0103] Based on the content of the above embodiment, as an optional embodiment, step S2, performing signal fusion processing based on multiple vibration signals, and controlling the vibration motor to output vibration force based on the obtained fusion signal to offset the vibration of the vibration isolation platform, includes:

[0104] Amplify each vibration signal;

[0105] Perform analog-to-digital conversion on each amplified vibration signal to generate multiple vibration digital signals;

[0106] Perform signal fusion and feedback operation on each vibration digital signal to generate a control force signal;

[0107] Convert the control force signal into a corresponding analog voltage signal;

[0108] Based on the analog voltage signal, a driving current signal is output to control the vibration motor to output the vibration force.

[0109] Specifically, in the embodiment of the present application, after obtaining the multi-channel vibration signals collected by the multiple vibration sensors, the amplifier is used to amplify the received vibration signals, and then the amplified vibration signals are converted into corresponding multi-channel vibration digital signals by using an analog-to-digital converter. Then, the multi-channel vibration digital signals are further transmitted to the signal feedback controller for signal fusion processing and feedback operation, and finally the control force signal is generated according to the fusion signal.

[0110] Based on the content of the above embodiment, as an optional embodiment, signal fusion and feedback operation are performed on each vibration digital signal to generate a control force signal, including:

[0111] Determine the information entropy of each vibration signal;

[0112] Based on the information entropy of each vibration signal, determine the fusion weight corresponding to each vibration signal;

[0113] Generate a fusion signal based on each vibration signal and the corresponding fusion weight;

[0114] A control force signal is generated based on the fused signal and a preset feedback coefficient of the signal feedback controller.

[0115] Specifically, in the embodiment of the present application, a weighted data fusion method is used to perform data fusion on the vibration signal data measured by multiple vibration sensors. Figure 5 As shown in Figure 2, the process of weighted multi-channel data fusion is as follows:

[0116] Step 1, perform multi-channel condition monitoring data acquisition, which can be expressed as:

[0117]

[0118] In the formula, B represents the vibration signal data collected by multiple vibration sensors; n represents the number of signal acquisition channels or the number of vibration sensors, where one vibration sensor corresponds to one acquisition channel; l represents the number of signal samples collected by the vibration sensor; B ln Represents the lth signal sample collected by the nth vibration sensor.

[0119] Step 2, calculate the information entropy of each channel to determine the information entropy of each vibration signal. The process can be expressed as:

[0120]

[0121] In the formula, (S j ) represents the information entropy of the jth channel.

[0122] Step 3: Calculate the fusion weight of each channel to determine the fusion weight corresponding to each vibration signal. The process can be expressed as follows:

[0123]

[0124] W1+W2+…+W n =1;

[0125] In the formula, (W j ) represents the data fusion weight of the j-th channel.

[0126] Step 4, determine the sampling starting point of each channel. The process can be expressed as follows:

[0127]

[0128] v=1,2,…,l;

[0129] In the formula, Indicates the sampling starting point of the vth sample of the uth channel; randi() is used to generate a pseudo-random integer that obeys uniform distribution; TL u Indicates the total length of the u-th channel monitoring data; SL u Indicates the length of each sampling of the u-th channel monitoring data.

[0130] Step 5, determine the sampling end point of each channel, the process can be expressed as follows:

[0131]

[0132] In the formula, Indicates the sampling end point of the vth sample of the uth channel.

[0133] Step 6, determine the post-sampling samples of each channel, the process can be expressed as follows:

[0134]

[0135] In the formula, represents the vth sample of the uth channel; X u Represents all data of the u-th channel.

[0136] Step 7, determine the weighted multi-channel fusion data:

[0137]

[0138] In the formula, X represents the fusion signal obtained after weighted multi-channel data fusion, and its dimension can be expressed as P×M×n. The dimension of can be expressed as P×M dimensions.

[0139] Further, in an embodiment of the present application, a feedback operation is performed on the fusion signal based on the fusion signal and the preset feedback coefficient of the signal feedback controller to generate a control force signal. In this embodiment, it is assumed that the fusion signal X output by the multi-sensor signal fusion is selected as a speed signal. When the control force signal is proportional to the load speed signal, the control force signal can be expressed as:

[0140] F = -KX;

[0141] Wherein, K represents the preset feedback coefficient of the signal feedback controller, which can be an empirical value obtained by multiple debugging through actual test data in advance. It can be understood that the specific form of the control force signal F is determined by the output signal type of the vibration sensor.

[0142] It should be noted that when the multi-sensor signal fusion signal is selected as the velocity signal, if the multi-vibration sensor includes an accelerometer or a displacement sensor, an integrator must be connected behind the accelerometer to convert the acceleration signal collected by the accelerometer into a velocity signal; similarly, a differentiator must be connected behind the displacement sensor to convert the displacement signal collected by the displacement sensor into a velocity signal.

[0143] The method of the embodiment of the present application can identify more valuable vibration signal data for fusion and improve the quality of data fusion by utilizing the information entropy of each vibration signal to perform weighted fusion on the vibration signals. At the same time, it can also more quickly identify key information and patterns in multi-channel vibration signal data, thereby accelerating the data fusion process, improving data fusion efficiency and reliability, and providing reliable source data for subsequent feedback control, so as to improve the accuracy of system vibration isolation control.

[0144] Furthermore, in the embodiments of the present application, the transmission performance of the entire vibration isolation system can also be analyzed. Figure 6 As shown, it is a schematic diagram of the equivalent control principle of the entire vibration isolation system. The motion differential equation of the entire system can be expressed as:

[0145]

[0146] Where m represents the total mass of the load; z g represents ground displacement; z m represents load displacement; k represents the stiffness coefficient of the elastic element; c represents the damping coefficient of the elastic element.

[0147] Furthermore, Laplace transform of the above system motion differential equation can be obtained:

[0148]

[0149] Among them, the above F=-KX can also be written as:

[0150]

[0151] Then the transfer function of the entire vibration isolation system can be expressed as:

[0152]

[0153] Furthermore, in the embodiment of the present application, the signal feedback controller is used to transmit the control force signal generated above to the digital-to-analog converter for digital-to-analog conversion to obtain a corresponding analog voltage signal. Then, the analog voltage signal can be converted by the voltage-controlled current source to output a driving current signal to transmit to the vibration motor, and finally control the vibration motor to output the corresponding vibration force to offset the force transmitted to the atomic gravimeter by the ground vibration through the top plate of the vibration isolation platform, so as to maintain the stability of the atomic gravimeter.

[0154] The method of the embodiment of the present application can effectively realize precise feedback control of the vibration motor on the vibration isolation platform by performing signal preprocessing, signal fusion and feedback operation on each vibration signal, thereby improving the accuracy of the system vibration isolation control and further improving the vibration isolation effect and performance of the vibration isolation system.

[0155] Based on the method in the above embodiment, the embodiment of the present application provides an electronic device, such as Figure 7 As shown, the electronic device may include: a processor (Processor) 710, a communication interface (CommunicationsInterface) 720, a memory (Memory) 730 and a communication bus 740, wherein the processor 710, the communication interface 720, and the memory 730 communicate with each other through the communication bus 740. The processor 710 may call the logic instructions in the memory 730 to execute the method in the above embodiment.

[0156] In addition, the logic instructions in the above-mentioned memory 730 can be implemented in the form of software functional units and can be stored in a computer-readable storage medium when sold or used as an independent product. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product, which is stored in a storage medium and includes a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application.

[0157] Based on the method in the above embodiment, an embodiment of the present application provides a computer-readable storage medium, which stores a computer program. When the computer program runs on a processor, the processor executes the method in the above embodiment.

[0158] Based on the method in the above embodiment, an embodiment of the present application provides a computer program product. When the computer program product runs on a processor, the processor executes the method in the above embodiment.

[0159] It is understandable that the processor in the embodiment of the present application may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field programmable gate arrays (FPGA) or other programmable logic devices, transistor logic devices, hardware components or any combination thereof. The general-purpose processor may be a microprocessor or any conventional processor.

[0160] The method steps in the embodiments of the present application can be implemented by hardware or by a processor executing software instructions. The software instructions can be composed of corresponding software modules, and the software modules can be stored in random access memory (RAM), flash memory, read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), registers, hard disks, mobile hard disks, CD-ROMs, or any other form of storage medium known in the art. An exemplary storage medium is coupled to a processor so that the processor can read information from the storage medium and write information to the storage medium. Of course, the storage medium can also be a component of the processor. The processor and the storage medium can be located in an ASIC.

[0161] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium or transmitted through the computer-readable storage medium. The computer instructions may be transmitted from a website site, a computer, a server or a data center to another website site, a computer, a server or a data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium may be any available medium that a computer can access or a data storage device such as a server or a data center that includes one or more available media integrated. The available medium may be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid-state drive (SSD)), etc.

[0162] It should be understood that the various numerical numbers involved in the embodiments of the present application are only used for the convenience of description and are not used to limit the scope of the embodiments of the present application.

[0163] It should be understood that expressions such as "including" and "may include" that may be used in the present application indicate the existence of the disclosed functions, operations, or constituent elements, and do not limit one or more additional functions, operations, and constituent elements. In the present application, terms such as "including" and / or "having" may be interpreted as indicating specific characteristics, numbers, operations, constituent elements, components, or combinations thereof, but may not be interpreted as excluding the existence or possibility of adding one or more other characteristics, numbers, operations, constituent elements, components, or combinations thereof.

[0164] In the description of the embodiments of the present application, it should be noted that, unless otherwise clearly specified and limited, the term "connection" should be understood in a broad sense. For example, "connection" can be a detachable connection or a non-detachable connection; it can be a direct connection or an indirect connection through an intermediate medium. Among them, "fixed connection" means that the relative position relationship after connection remains unchanged. "Rotational connection" means that the two are connected to each other and can rotate relative to each other after connection. "Sliding connection" means that the two are connected to each other and can slide relative to each other after connection. The directional terms mentioned in the embodiments of the present application, such as "top", "bottom", "inside", "outside", "left", "right", etc., are only reference directions of the accompanying drawings. Therefore, the directional terms used are for better and clearer explanation and understanding of the embodiments of the present application, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the embodiments of the present application.

[0165] In addition, in the embodiments of the present application, the mathematical concepts mentioned, such as symmetry, equality, parallelism, and perpendicularity, are all limited to the current technological level, rather than being absolutely strict definitions in the mathematical sense, and a small amount of deviation is allowed, such as approximately symmetry, approximately equality, approximately parallelism, and approximately perpendicularity.

[0166] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. An atomic gravimeter vibration isolation system, characterized in that: include: A level holding device, a vibration isolation platform, a bracket for fixing an atomic gravimeter, a plurality of vibration sensors, a vibration motor and a control unit; The bracket, the multiple vibration sensors and the vibration motor are all arranged in the central position area of ​​the vibration isolation platform; the multiple vibration sensors and the vibration motor are all connected to the control unit; The horizontal maintaining device is used to maintain the vibration isolation platform in a horizontal state; The multiple vibration sensors are used to collect multi-path vibration signals generated when the vibration isolation platform is disturbed by external vibration; The control unit is used to perform signal fusion processing based on the received multiple vibration signals, and control the vibration motor to output vibration force based on the obtained fusion signal to offset the vibration of the vibration isolation platform.

2. The atomic gravimeter vibration isolation system according to claim 1, characterized in that: The vibration isolation platform includes a top plate, a bottom plate, a plurality of shock absorbing devices and a rigid rod; The top plate and the bottom plate are arranged in parallel, and the central axes of the top plate and the bottom plate coincide with each other; The plurality of shock absorbing devices are evenly arranged between the top plate and the bottom plate for connecting the top plate and the bottom plate; the rigid rod is fixed at the center position of the bottom plate; the vibration motor is fixed on the top of the rigid rod and connected to the lower surface of the top plate.

3. The atomic gravimeter vibration isolation system according to claim 2, characterized in that: The control unit comprises an amplifier, an analog-to-digital converter, a signal feedback controller, a digital-to-analog converter and a voltage-controlled current source connected in sequence; the multiple vibration sensors are all connected to the amplifier, and the voltage-controlled current source is connected to the vibration motor; The amplifier is used to amplify the received vibration signals of each channel; The analog-to-digital converter is used to perform analog-to-digital conversion on each amplified vibration signal to generate multiple vibration digital signals; The signal feedback controller is used to perform signal fusion and feedback operation on each channel of the vibration digital signal to generate a control force signal; The digital-to-analog converter is used to convert the control force signal into a corresponding analog voltage signal; The voltage-controlled current source is used to output a driving current signal based on the input analog voltage signal to control the vibration motor to output a vibration force.

4. The atomic gravimeter vibration isolation system according to claim 2, characterized in that: The horizontal maintaining device is an inertial stabilization platform, and the bottom plate is fixedly connected to the cross beam of the inertial stabilization platform through a plurality of connecting rods, so that the top plate and the bottom plate are both in a horizontal state.

5. The atomic gravimeter vibration isolation system according to any one of claims 1 to 4, characterized in that: Also includes: Counterweight and anti-skid rubber pad; the counterweight is arranged on the vibration isolation platform to keep the table top of the vibration isolation platform balanced; the anti-skid rubber pad is arranged at the bottom of the vibration isolation platform to keep the stability of the vibration isolation platform.

6. A control method for the atomic gravimeter vibration isolation system according to any one of claims 1 to 5, characterized in that: include: When the vibration isolation platform is disturbed by external vibration, obtaining multi-channel vibration signals collected by the multiple vibration sensors; Signal fusion processing is performed based on the multiple vibration signals, and the vibration motor is controlled to output vibration force based on the obtained fusion signal to offset the vibration of the vibration isolation platform.

7. The control method according to claim 6, characterized in that: The signal fusion processing is performed based on the multiple vibration signals, and the vibration motor is controlled to output the vibration force based on the obtained fusion signal to offset the vibration of the vibration isolation platform, including: Amplifying the vibration signals of each channel; Perform analog-to-digital conversion on each amplified vibration signal to generate multiple vibration digital signals; Performing signal fusion and feedback operation on the vibration digital signals of each channel to generate a control force signal; Converting the control force signal into a corresponding analog voltage signal; Based on the analog voltage signal, a driving current signal is output to control the vibration motor to output a vibration force.

8. The control method according to claim 7, characterized in that: The step of performing signal fusion and feedback operation on the vibration digital signals of each channel to generate a control force signal includes: Determining the information entropy of each vibration signal; Determine a fusion weight corresponding to each vibration signal based on the information entropy of each vibration signal; generating the fusion signal based on each vibration signal and the corresponding fusion weight; The control force signal is generated based on the fusion signal and a preset feedback coefficient of the signal feedback controller.

9. An electronic device, characterized in that: include: at least one memory for storing a computer program; At least one processor is used to execute the program stored in the memory. When the program stored in the memory is executed, the processor is used to execute the method according to any one of claims 6 to 8.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program runs on a processor, the processor is caused to execute the method according to any one of claims 6 to 8.

Images