Control method and device for vibration isolation system of marine atom gravimeter

Abstract

The invention belongs to the technical field of gravity measurement, and particularly discloses a control method and device for a vibration isolation system of a marine atom gravimeter. According to the application, the data fusion technology is utilized to perform signal fusion processing on the obtained vibration signals generated when the vibration isolation platform in the marine atom gravimeter vibration isolation system is interfered by external vibration, the first signal containing rich vibration information is obtained, and the first signal acts on the actuator in the marine atom gravimeter vibration isolation system. The actuator is controlled to generate more accurate vibration force to offset vibration generated at the vibration isolation platform, the vibration isolation effect and performance of the vibration isolation system of the marine atom gravimeter can be effectively improved, interference of external vibration on the marine atom gravimeter is reduced, and a better measurement environment is provided for the marine atom gravimeter.

Description

Technical Field

[0001] The present application belongs to the field of gravity measurement technology, and more specifically, to a control method and device for a vibration isolation system of an ocean atomic gravimeter. Background Art

[0002] The ocean occupies more than 70% of the earth's surface. Ocean gravity measurement is crucial to earth science research, seabed resource exploration, ensuring the hit rate of strategic weapons and geodesy. Since the ocean does not have solid rocks like land, gravity measurement can only be carried out through satellite measurements or by carrying gravimeters on mobile platforms such as aircraft and ships.

[0003] The marine atomic gravimeter is a high-precision absolute gravimeter based on atomic interferometer. It has the characteristics of high stability, high measurement accuracy and high repeatability. It has broad application potential in inertial navigation, geological exploration, global gravity field monitoring and other fields.

[0004] Shipborne absolute gravity measurement is a new and effective means to obtain high-precision and high-frequency ocean gravity field information. It is suitable for deep-water measurements in wide seas and can also be used for measurements in coastal and sea areas around islands and reefs where the accuracy of gravity field inversion by satellite altimetry technology is low. However, external interference such as medium- and high-frequency mechanical noise generated by engine vibration of the measurement ship and low-frequency disturbances caused by waves hitting the hull are the core factors affecting the stable operation of shipborne ocean atomic gravimeters.

[0005] The current research on the vibration isolation system of the marine atomic gravimeter has found that the vibration signal data generated by external vibration interference is too single and the data accuracy is low. It cannot effectively reflect the state of vibration noise in complex environments, resulting in unsatisfactory vibration isolation effect and performance of the entire system, and cannot effectively assist the atomic gravimeter in performing precise measurements. Summary of the invention

[0006] In view of the defects of the prior art, the purpose of this application is to provide a control method and device for a marine atomic gravimeter vibration isolation system, aiming to solve the problem that the vibration isolation effect and performance of the existing marine atomic gravimeter vibration isolation system are not ideal and cannot effectively assist the marine atomic gravimeter to perform precise measurements.

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

[0008] Performing signal fusion processing on a vibration signal generated when a vibration isolation platform in a vibration isolation system of an ocean atomic gravimeter is disturbed by external vibration to obtain a first signal;

[0009] Based on the first signal, an actuator in the vibration isolation system of the marine atomic gravimeter is controlled to generate a vibration force to offset the vibration of the vibration isolation platform.

[0010] In some embodiments, signal fusion processing is performed on the vibration signal generated when the vibration isolation platform in the marine atomic gravimeter vibration isolation system is disturbed by external vibration to obtain the first signal, which includes:

[0011] Inputting the vibration signal into a low-pass filter to obtain a second signal;

[0012] Inputting the second signal into a lead-lag compensator to obtain a third signal;

[0013] Inputting the third signal into the virtual sensor to obtain a fourth signal;

[0014] inputting the fourth signal into a high pass filter to obtain a fifth signal;

[0015] The second signal and the fifth signal are subjected to signal fusion processing based on the lead-lag compensator to obtain the first signal.

[0016] In some embodiments, the acquisition method of the virtual sensor includes:

[0017] Obtain the differential equations of the dynamic model corresponding to the vibration isolation system of the marine atomic gravimeter;

[0018] According to the differential equation, the virtual sensor is determined.

[0019] In some embodiments, the method further comprises:

[0020] determining a radius of an uncertainty disk based on a preset lead-lag compensator, a virtual sensor, a preset weighted transfer function, and a preset low-pass filter;

[0021] Based on the radius, determine the loop gain Nyquist plot at all frequencies for the uncertainty disk;

[0022] When the uncertainty disk is not completely within the stable limit region, adjusting the preset lead-lag compensator, the preset weighted transfer function and the preset low-pass filter until the uncertainty disk is completely within the stable limit region;

[0023] The lead-lag compensator, the weighted transfer function and the low-pass filter are determined based on the preset lead-lag compensator, the preset weighted transfer function and the preset low-pass filter when the uncertainty disk is completely within the stable limit region.

[0024] In some embodiments, the stability limit area is determined according to an area corresponding to a circle with a center as the origin and a radius of 1.

[0025] In some embodiments, the preset lead-lag compensator is obtained according to a preset lead compensator and a preset lag compensator connected in cascade.

[0026] In a second aspect, the present application provides a control device for a marine atomic gravimeter vibration isolation system, comprising:

[0027] A signal fusion module, used for performing signal fusion processing on a vibration signal generated when a vibration isolation platform in a vibration isolation system of an ocean atomic gravimeter is disturbed by external vibration, to obtain a first signal;

[0028] The processing module is used to control the actuator in the vibration isolation system of the marine atomic gravimeter to generate vibration force based on the first signal to offset the vibration of the vibration isolation platform.

[0029] 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 programs stored in the memory are executed, the processor is used to execute the method described in the first aspect or any embodiments of the first aspect.

[0030] 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 embodiments of the first aspect.

[0031] 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 embodiments of the first aspect.

[0032] In general, the above technical solutions conceived by this application have the following beneficial effects compared with the prior art:

[0033] The control method and device of the vibration isolation system of the marine atomic gravimeter provided in the present application perform signal fusion processing on the vibration signal generated when the vibration isolation platform in the marine atomic gravimeter vibration isolation system is disturbed by external vibration by using data fusion technology, so as to obtain a first signal containing rich vibration information, and apply the first signal to the actuator in the marine atomic gravimeter vibration isolation system to control the actuator to generate more precise vibration force to offset the vibration generated at the vibration isolation platform. The vibration isolation effect and performance of the marine atomic gravimeter vibration isolation system can be effectively improved, the interference of external vibration on the marine atomic gravimeter can be reduced, and a better measurement environment can be provided for the marine atomic gravimeter. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 It is a schematic diagram of the equivalent control principle of the vibration isolation system of the marine atomic gravimeter provided by the prior art;

[0035] Figure 2 It is a flow chart of a control method of a vibration isolation system of an ocean atomic gravimeter provided in an embodiment of the present application;

[0036] Figure 3 It is one of the structural schematic diagrams of the marine atomic gravimeter vibration isolation system provided in the embodiment of the present application;

[0037] Figure 4 It is a schematic diagram of the equivalent control principle of the marine atomic gravimeter vibration isolation system provided in the embodiment of the present application;

[0038] Figure 5 This is the second structural schematic diagram of the marine atomic gravimeter vibration isolation system provided in the embodiment of the present application;

[0039] Figure 6 This is a schematic diagram of robust stability analysis provided by an embodiment of the present application;

[0040] Figure 7 It is a structural schematic diagram of a control device of a vibration isolation system of an ocean atomic gravimeter provided in an embodiment of the present application;

[0041] Figure 8 It is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0042] 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.

[0043] The term "and / or" in this article is a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. The symbol " / " in this article indicates that the associated objects are in an or relationship, for example, A / B means A or B.

[0044] The terms "first" and "second" in the specification and claims herein are used to distinguish different objects rather than to describe a specific order of objects. For example, a first signal and a second signal are used to distinguish different signals rather than to describe a specific order of signals.

[0045] 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.

[0046] In the description of the embodiments of the present application, unless otherwise specified, "multiple" means two or more than two. For example, multiple processing units refer to two or more processing units, etc.; multiple elements refer to two or more elements, etc.

[0047] In the related art, in active vibration isolation systems, high-performance control requires high loop gain and large control bandwidth. However, the stray resonances that occur at higher frequencies limit this performance. This shortcoming can be overcome by using sensor fusion technology. In sensor fusion technology, two or more sensors work together to achieve good performance at lower frequencies while ensuring the robustness of the system at higher frequencies.

[0048] Traditional sensor fusion involves the fusion of measurement data from different sensors. The sensors are actually mounted on both sides of the vibration isolation platform and fused using complementary filters. Figure 1 A classic example of sensor fusion for a single degree of freedom system is shown. In the figure, m is the total mass of the load, k is the stiffness coefficient of the elastic element, c is the damping coefficient of the elastic element, x is the ground vibration excitation displacement, y is the vibration displacement forced by the total mass of the load m, u is the control input, and H H and H L Respectively represent high-pass filter and low-pass filter, K is the control element, x1, x2 correspond to the vibration signal output by the sensor. A high-pass filter H with complementary form is used. H and low pass filter H L It is used to fuse x1 and x2. The fused measurement signal is sent to the control element K for evaluating the control input u to the actuator. Finally, the actuator generates a force to offset the vibration, achieving the effect of vibration isolation, thereby improving the vibration isolation performance of the active vibration isolation system. The embodiment of the present application is described below in conjunction with the drawings in the embodiment of the present application.

[0049] See also Figure 2 An embodiment of the present application provides a control method for a marine atomic gravimeter vibration isolation system, including: step 110 and step 120.

[0050] Step 110 performs signal fusion processing on the vibration signal generated when the vibration isolation platform in the marine atomic gravimeter vibration isolation system is disturbed by external vibration to obtain a first signal;

[0051] In step 120 , based on the first signal, an actuator in the vibration isolation system of the marine atomic gravimeter is controlled to generate a vibration force to offset the vibration of the vibration isolation platform.

[0052] Please see further Figure 3The marine atomic gravimeter vibration isolation system provided in the embodiment of the present application may include a horizontal holding device 1, a vibration isolation platform 2, a bracket 4 for fixing the marine atomic gravimeter 3, multiple vibration sensors 5, an actuator 6 and a control module 7.

[0053] The bracket 4 , the vibration sensor 5 and the actuator 6 are all arranged in the central area of ​​the vibration isolation platform 2 ; the vibration sensor 5 and the actuator 6 are both connected to the control module 7 .

[0054] The level maintaining device 1 can be used to maintain the vibration isolation platform 2 in a horizontal state.

[0055] The vibration sensor 5 can be used to collect vibration signals generated when the vibration isolation platform 2 is disturbed by external vibration.

[0056] In the embodiment of the present application, the vibration sensor 5 may be a seismometer, a displacement sensor, and an accelerometer. The actuator 6 may be a motor.

[0057] The control module 7 is used to execute step 110 and step 120, specifically:

[0058] After the vibration sensor 5 collects the vibration signal generated when the vibration isolation platform 2 is disturbed by external vibration, the vibration signal is transmitted to the control module 7. The control module 7 uses the data fusion algorithm preset therein to perform signal fusion processing on the received vibration signal to obtain a fused signal, i.e., a first signal. The first signal obtained after fusion 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.

[0059] Combined with the feedback control loop, the control module 7 can use the obtained first signal to implement feedback control to control the actuator 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 marine atomic gravimeter 3 fixedly installed on the bracket 4, and assisting the atomic gravimeter 3 to perform precise measurements in a complex measurement environment.

[0060] The control method of the vibration isolation system of the marine atomic gravimeter provided in the embodiment of the present application uses data fusion technology to perform signal fusion processing on the vibration signal generated when the vibration isolation platform in the marine atomic gravimeter vibration isolation system is disturbed by external vibration, so as to obtain a first signal containing rich vibration information, and the first signal is applied to the actuator in the marine atomic gravimeter vibration isolation system to control the actuator to generate more precise vibration force to offset the vibration generated at the vibration isolation platform. The vibration isolation effect and performance of the marine atomic gravimeter vibration isolation system can be effectively improved, the interference of external vibration on the marine atomic gravimeter can be reduced, and a better measurement environment can be provided for the marine atomic gravimeter.

[0061] Further, in some embodiments, in step 110, the vibration signal generated when the vibration isolation platform in the marine atomic gravimeter vibration isolation system is disturbed by external vibration is subjected to signal fusion processing to obtain the first signal, including:

[0062] Inputting the vibration signal into a low-pass filter to obtain a second signal;

[0063] Inputting the second signal into a lead-lag compensator to obtain a third signal;

[0064] Inputting the third signal into the virtual sensor to obtain a fourth signal;

[0065] inputting the fourth signal into a high pass filter to obtain a fifth signal;

[0066] The second signal and the fifth signal are subjected to signal fusion processing based on the lead-lag compensator to obtain the first signal.

[0067] Please continue to see Figure 3 In the embodiment of the present application, only one vibration sensor 5 is actually installed on the active vibration isolation system (i.e., the vibration isolation platform 2), while the other is a virtual sensor Gv selected according to the high-frequency response required by the marine atomic gravimeter vibration isolation system. The results show that it has good isolation performance at lower frequencies and is robust to system uncertainties (stray resonances) at higher frequencies, and can be effectively used for high-precision control of active vibration isolation systems.

[0068] Please see further Figure 4 , in the case of virtual sensor fusion, the low-pass filter H L The vibration signal collected by the vibration sensor 5 (a seismometer is used in this embodiment) is filtered, and the high-pass filter H H The signal generated by the virtual sensor Gv is filtered. The measurement signal (i.e., the first signal) obtained after the fusion of the two is sent to the control element K for evaluating the control input u to the actuator.

[0069] Specifically, the vibration signal collected by the vibration sensor 5 is input to the low-pass filter H L After that, the low-pass filter H L Filter out the signal above the cutoff frequency in the vibration signal, the low-pass filter H L The output signal is the second signal.

[0070] The second signal is transmitted to the control element K. In the embodiment of the present application, the control element K adopts a lead-lag compensator. The lead-lag compensator compensates the second signal and outputs a third signal.

[0071] In the embodiment of the present application, the lead-lag compensator is obtained by cascading a lead compensator and a lag compensator.

[0072] At higher frequencies, the lead compensator can provide phase lead. It moves the root point of the system to the left half plane, thereby improving the stability and response speed of the system. The lag compensator introduces phase lag at lower frequencies to reduce steady-state errors. The lag compensator ensures sufficient phase margin at lower crossover frequencies, while the lead compensator ensures sufficient phase margin at higher crossover frequencies. A lead-lag compensator is designed for the marine atomic gravimeter vibration isolation system, so that the marine atomic gravimeter vibration isolation system ensures high gain at low frequencies and sufficient margin at high frequencies.

[0073] After the third signal is transmitted to the virtual sensor Gv, the virtual sensor Gv processes the third signal, and the output signal is the fourth signal.

[0074] The fourth signal is transmitted to the high pass filter H H , by the high-pass filter H H The signal below the cutoff frequency in the fourth signal is filtered out, and a fifth signal is output.

[0075] It should be noted that in the embodiment of the present application, the low-pass filter H L and high pass filter H H It is a pair of intercommunication filters. Usually a 2nd or 3rd order filter is selected as the low-pass filter H L and high pass filter H H .

[0076] The fifth signal and the low-pass filter H L The output second signal is transmitted to the lead-lag filter, and the lead-lag filter is used to perform signal fusion processing on the fifth signal and the second signal to obtain a fused first signal.

[0077] For example, the marine atomic gravimeter vibration isolation system provided in the embodiment of the present application is as follows: Figure 5 As shown, the marine atomic gravimeter vibration isolation system includes a vibration isolation platform 2, a vibration sensor 5, a control module 7 and an actuator 6 (a voice coil motor is used in this embodiment).

[0078] The vibration isolation platform 2 is mainly composed of springs, and the vibration sensor 5 is used to measure the vibration signal of the vibration isolation platform 2 .

[0079] In the control method of the marine atomic gravimeter vibration isolation system provided in the embodiment of the present application, in the classic sensor fusion, the dynamics of the sensor passing through the high-pass filter is fixed, which depends on the physical design of the sensor. However, in the case of virtual sensor fusion, the dynamics of the virtual sensor can be adjusted according to the high-frequency response required by the marine atomic gravimeter vibration isolation system, which can make the marine atomic gravimeter vibration isolation system have good isolation performance at lower frequencies and better robustness to stray resonance at higher frequencies, thus overcoming the influence of high-frequency stray resonance on the performance of the marine atomic gravimeter vibration isolation system. It is also applicable to situations where multiple sensors cannot be installed on the structure due to space limitations.

[0080] Furthermore, in some embodiments, the method of acquiring the virtual sensor includes:

[0081] Obtain the differential equations of the dynamic model corresponding to the vibration isolation system of the marine atomic gravimeter;

[0082] According to the differential equation, the virtual sensor is determined.

[0083] In the embodiment of the present application, the device that needs vibration isolation of the marine atomic gravimeter will be excited by the vibration of the ground to produce forced vibration. Assume that x is the displacement of ground vibration excitation, y is the forced vibration displacement of the total mass of the load m, k is the stiffness coefficient of the elastic element, and c is the damping coefficient of the elastic element. The differential equation of the dynamics corresponding to the vibration isolation system of the marine atomic gravimeter is as follows:

[0084] By performing Laplace transform on the above differential equation, the transfer function equation G of the marine atomic gravimeter vibration isolation system is obtained, as follows:

[0085]

[0086] In the formula, is the resonant angular frequency of the elastic element, and ξ0=c / 2mω0 is a unitless damping constant.

[0087] In the embodiment of the present application, it is assumed that the virtual sensor is a reduced-order model of the marine atomic gravimeter vibration isolation system, which is obtained by reducing the order of the transfer function equation G and ignoring the sensor dynamics, that is:

[0088]

[0089] Furthermore, in some embodiments, the above method further includes:

[0090] determining a radius of an uncertainty disk based on a preset lead-lag compensator, a virtual sensor, a preset weighted transfer function, and a preset low-pass filter;

[0091] Based on the radius, determine the loop gain Nyquist plot at all frequencies for the uncertainty disk;

[0092] When the uncertainty disk is not completely within the stable limit region, adjusting the preset lead-lag compensator, the preset weighted transfer function and the preset low-pass filter until the uncertainty disk is completely within the stable limit region;

[0093] The lead-lag compensator, the weighted transfer function and the low-pass filter are determined based on the preset lead-lag compensator, the preset weighted transfer function and the preset low-pass filter when the uncertainty disk is completely within the stable limit region.

[0094] In the embodiment of the present application, the robust stability analysis of the marine atomic gravimeter vibration isolation system can be represented graphically on the complex plane. The graphical representation of the robust stability analysis of virtual sensor fusion is as follows: Figure 6 The blue line in the figure corresponds to the loop gain (L n =KGv). Each point on the blue line corresponds to L at a specific frequency (s=jω). n The complex frequency response of .

[0095] The critical point in the Nyquist plot is -1 because the closed-loop system becomes unstable when the loop gain equals -1. The point closest to the critical point determines the gain and phase margin of the marine atomic gravimeter vibration isolation system.

[0096] Furthermore, in some embodiments, the stable boundary area is determined according to an area corresponding to a circle with a center as the origin and a radius of 1.

[0097] In the embodiment of the present application, the area corresponding to the circle with the origin as the center and 1 as the radius is taken as the stable boundary area, such as Figure 6 The area corresponding to the red circle with a radius of 1. The perturbation model loop gain (i.e., the radius of the uncertainty disk) U r The uncertainty of is related to the frequency. Assume that K0 represents the preset lead-lag compensator and represents the preset low-pass filter, and W(S) represents the preset weighted transfer function, then:

[0098]

[0099] The points that satisfy this amplitude criterion are transformed into a circle on the complex plane, represented by the black dashed circle. Each circle corresponds to the uncertainty disk at a specific frequency, and its radius is equal to U r The stability margin is the minimum angle between the intersection of the uncertainty disk and the unit radius circle centered at the origin on the Nyquist diagram and the real axis. It can be seen that even if there is uncertainty, the stability margin of the marine atomic gravimeter vibration isolation system will not be greatly affected.

[0100] When the uncertainty dial is not completely within the stability limit region, adjust the preset lead-lag compensator K0, the preset weighted transfer function W(S) and the preset low-pass filter Until the uncertainty disk is completely within the stability limit area.

[0101] The preset lead-lag compensator when the uncertainty dial is completely within the stable limit region is used as the lead-lag compensator used in the embodiment of the present application, the preset weighted transfer function when the uncertainty dial is completely within the stable limit region is used as the weighted transfer function used in the embodiment of the present application, and the preset low-pass filter when the uncertainty dial is completely within the stable limit region is used as the low-pass filter used in the embodiment of the present application.

[0102] In the embodiment of the present application, a pair of complementary high-pass filters and low-pass filters are used to fuse the signals of the vibration sensor and the virtual sensor, so that information of the entire frequency band can be obtained and retained. The design points of the complementary high-pass filter and low-pass filter are as follows:

[0103] (1) The filter band should be as steep as possible; (2) The cutoff frequency of the complementary preset high-pass filter and the preset low-pass filter is initially set to 10 Hz.

[0104] If you only pursue the minimum noise value, you only need to superimpose the vibration signal collected by the vibration sensor below 10Hz with the signal of the virtual sensor above 10Hz, that is, completely cut off the signals of the two sensors at the cutoff frequency of 10Hz. However, this result is impossible to achieve. This is because in actual scenarios, it is impossible to design a filter with a completely cutoff property. It can only be obtained by increasing the order of the filter (initially, the order of the designed low-pass filter and high-pass filter can be 2nd or 3rd order) in exchange for a larger attenuation characteristic, but too high an order will introduce the problem of excessive calculation. Therefore, the filter design needs to take into account the two characteristics of providing sufficient attenuation of sensor noise and convenience of calculation. In an embodiment of the present application, the transfer functions corresponding to the designed high and low pass filters are:

[0105]

[0106] In the formula, and They are the transfer functions corresponding to the preset high-pass and low-pass filters respectively.

[0107] Further, in some embodiments, the preset lead-lag compensator is obtained according to a preset lead compensator and a preset lag compensator connected in cascade.

[0108] In the embodiment of the present application, a preset lead compensator and a preset lag compensator are cascade-connected to obtain a preset lead-lag compensator.

[0109] Combining the advantages of the lead compensator and the lag compensator described above, the typical transfer function corresponding to the lead-lag compensator designed in the embodiment of the present application is:

[0110]

[0111] Wherein, K0(s) is the transfer function corresponding to the preset lead-lag compensator, z1 and z2 are the zeros of the preset lead-lag compensator and the preset lead-lag compensator, respectively, and p1 and p2 are the poles of the preset lead-lag compensator and the preset lead-lag compensator, respectively.

[0112] In the embodiment of the present application, a weighted stable transfer function is selected to verify the robust stability of virtual sensor fusion. Gu is represented as the disturbance of the virtual sensor Gv. That is, the high-frequency peak of Gu can be regarded as the stray resonance introduced in the system due to the sensor dynamics. The system Gv is mathematically operated using a multiplicative uncertainty model, and the formula is:

[0113]

[0114] in, is the disturbed system model; Δ(s) is a variable and stable transfer function that satisfies ||Δ|| ∞ ≤1.

[0115] The choice of weighted transfer function should cover all unmodeled system dynamics. At low frequencies, model errors are usually negligible. These errors tend to increase with increasing frequency. Therefore, the obvious choice of weighted function is a high-pass filter. In the active vibration isolation system in the embodiment of the present application, if the system actually produces a stray resonance at 500Hz, then the cutoff frequency of the preset weighted transfer function can be considered to be set to 400Hz (less than 500Hz). Adjust the amplitude of the preset weighted transfer function to cover all unmodeled dynamics. Therefore, the preset weighted transfer function is selected as:

[0116]

[0117] In an embodiment of the present application, the adjustment of the preset low-pass filter and the preset high-pass filter can be achieved by adjusting their cutoff frequencies and the order of the filters; the adjustment of the preset lead-lag compensator can be achieved by adjusting the zero points and poles of the preset lead compensator and the preset lag compensator; the preset weighted transfer function is adjusted according to the frequency of the stray resonance generated by the active vibration isolation system.

[0118] The control device of the marine atomic gravimeter vibration isolation system provided in the present application is described below. The control device of the marine atomic gravimeter vibration isolation system described below and the control method of the marine atomic gravimeter vibration isolation system described above can be referenced to each other.

[0119] See also Figure 7 An embodiment of the present application provides a control device for a marine atomic gravimeter vibration isolation system, including: a signal fusion module 710 and a processing module 720.

[0120] A signal fusion module, used for performing signal fusion processing on a vibration signal generated when a vibration isolation platform in a vibration isolation system of an ocean atomic gravimeter is disturbed by external vibration, to obtain a first signal;

[0121] The processing module is used to control the actuator in the vibration isolation system of the marine atomic gravimeter to generate vibration force based on the first signal to offset the vibration of the vibration isolation platform.

[0122] The control device of the vibration isolation system of the marine atomic gravimeter provided in the embodiment of the present application uses data fusion technology to perform signal fusion processing on the vibration signal generated when the vibration isolation platform in the marine atomic gravimeter vibration isolation system is disturbed by external vibration, so as to obtain a first signal containing rich vibration information, and the first signal is applied to the actuator in the marine atomic gravimeter vibration isolation system to control the actuator to generate more precise vibration force to offset the vibration generated at the vibration isolation platform. The vibration isolation effect and performance of the marine atomic gravimeter vibration isolation system can be effectively improved, the interference of external vibration on the marine atomic gravimeter can be reduced, and a better measurement environment can be provided for the marine atomic gravimeter.

[0123] It can be understood that the detailed functional implementation of each of the above-mentioned units / modules can be found in the introduction of the aforementioned method embodiment, and will not be repeated here.

[0124] It should be understood that the above-mentioned device is used to execute the method in the above-mentioned embodiment. The implementation principle and technical effect of the corresponding program module in the device are similar to those described in the above-mentioned method. The working process of the device can refer to the corresponding process in the above-mentioned method, which will not be repeated here.

[0125] Based on the method in the above embodiment, the present application embodiment provides an electronic device, see Figure 8 The electronic device may include: a processor (Processor) 810, a communication interface (CommunicationsInterface) 820, a memory (Memory) 830 and a communication bus 840, wherein the processor 810, the communication interface 820, and the memory 830 communicate with each other through the communication bus 840. The processor 810 may call the logic instructions in the memory 830 to execute the method in the above embodiment.

[0126] In addition, the logic instructions in the above-mentioned memory 830 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is 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.

[0127] 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.

[0128] 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.

[0129] 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.

[0130] 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.

[0131] 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.

[0132] 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.

[0133] It will be easily understood by those skilled in the art that the above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. A control method for a marine atomic gravimeter vibration isolation system, characterized in that: include: Performing signal fusion processing on a vibration signal generated when a vibration isolation platform in a vibration isolation system of an ocean atomic gravimeter is disturbed by external vibration to obtain a first signal; Based on the first signal, an actuator in the vibration isolation system of the marine atomic gravimeter is controlled to generate a vibration force to offset the vibration of the vibration isolation platform.

2. The control method of the marine atomic gravimeter vibration isolation system according to claim 1, characterized in that: The signal fusion processing is performed on the vibration signal generated when the vibration isolation platform in the marine atomic gravimeter vibration isolation system is disturbed by external vibration to obtain the first signal, which includes: Inputting the vibration signal into a low-pass filter to obtain a second signal; Inputting the second signal into a lead-lag compensator to obtain a third signal; Inputting the third signal into a virtual sensor to obtain a fourth signal; Inputting the fourth signal into a high-pass filter to obtain a fifth signal; Based on the lead-lag compensator, signal fusion processing is performed on the second signal and the fifth signal to obtain the first signal.

3. The control method of the marine atomic gravimeter vibration isolation system according to claim 2, characterized in that: The method of obtaining the virtual sensor includes: Obtaining a differential equation of a dynamic model corresponding to the vibration isolation system of the ocean atomic gravimeter; The virtual sensor is determined according to the differential equation.

4. The control method of the marine atomic gravimeter vibration isolation system according to claim 2, characterized in that: The method further comprises: determining a radius of an uncertainty disk based on a preset lead-lag compensator, the virtual sensor, a preset weighted transfer function, and a preset low-pass filter; determining a loop gain Nyquist plot of the uncertainty disk at all frequencies based on the radius; In the case where the uncertainty disk is not completely within the stability limit region, adjusting the preset lead-lag compensator, the preset weighted transfer function and the preset low-pass filter until the uncertainty disk is completely within the stability limit region; The lead-lag compensator, the weighted transfer function and the low-pass filter are determined according to the preset lead-lag compensator, the preset weighted transfer function and the preset low-pass filter when the uncertainty disk is completely within the stability limit region.

5. The control method of the marine atomic gravimeter vibration isolation system according to claim 4, characterized in that: The stability limit area is determined according to the area corresponding to a circle whose center is the origin and whose radius is 1.

6. The control method of the marine atomic gravimeter vibration isolation system according to claim 4, characterized in that: The preset lead-lag compensator is obtained according to a preset lead compensator and a preset lag compensator connected in cascade.

7. A control device for a vibration isolation system of a marine atomic gravimeter, characterized in that: include: A signal fusion module, used for performing signal fusion processing on a vibration signal generated when a vibration isolation platform in a vibration isolation system of an ocean atomic gravimeter is disturbed by external vibration, to obtain a first signal; The processing module is used to control the actuator in the vibration isolation system of the marine atomic gravimeter to generate vibration force based on the first signal to offset the vibration of the vibration isolation platform.

8. 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 1 to 6.

9. 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 1 to 6.

10. A computer program product, characterized in that When the computer program product runs on a processor, the processor is caused to execute the method according to any one of claims 1 to 6.

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