Quick-response wide-range high-precision automatic inclination control device and method

Abstract

The invention discloses a quick-response wide-range high-precision automatic inclination control device and method and relates to the field of inclination control, and the control device comprises a supporting ball head, a supporting foot shell, a hydraulic cylinder, a heating assembly, an air outlet pipe, an air outlet valve, a liquid inlet pipe, a liquid inlet valve, an electric cylinder, a controller, a supporting foot base, a ball head supporting rod and a hydraulic cylinder supporting rod; the supporting ball head is located at the uppermost end of the whole device and used for supporting a platform needing inclination adjustment. The electric cylinder is located on the lower portion of the hydraulic cylinder and used for wide-range inclination adjustment. The hydraulic cylinder is located on the upper portion of the electric cylinder and used for small-range high-precision adjustment and control. The air outlet pipe is located at the uppermost end of the hydraulic cylinder and used for emptying air in the hydraulic cylinder. The liquid inlet pipe is used for injecting liquid into the hydraulic cylinder; the controller is used for automatically controlling output of the electric cylinder and the hydraulic cylinder according to the inclination signals, and the platform is always kept in the horizontal position. According to the invention, quick-response wide-range high-precision automatic inclination control of the platform can be realized, the operation is simple, and the implementation is convenient.

Description

Technical Field

[0001] This invention relates to the field of tilt control technology, specifically to a fast-response, large-range, high-precision automatic tilt control device and method. Background Technology

[0002] Based on the zero resistance and Meissner effect of superconductors at extremely low temperatures, a constant magnetic field with a negative gradient is generated using a superconducting coil. Due to the Meissner effect, the superconductor in this field generates an electromagnetic force opposite to the direction of gravity. When the electromagnetic force equals the gravitational force, the superconductor achieves stable levitation. When the gravitational field changes slightly, the superconductor will move upwards or downwards within the negative gradient constant magnetic field. A high-precision displacement sensor can measure this displacement, thus enabling high-precision gravity measurement. The superconducting gravimeter is currently the most accurate gravity measuring instrument, capable of resolving gravity signal changes as small as 1 nGal. Since gravity is vertically downwards, changes in external temperature or platform tilt angle can cause deviations in the direction of gravity signal measurement, affecting accuracy. Therefore, a high-precision automatic tilt control device is crucial for achieving high-precision gravity signal measurement. The method involves placing stainless steel support legs in an oil tank. The temperature of the heated oil is then conducted to the stainless steel support legs, and the tilt adjustment is achieved on the order of urads through the thermal expansion and contraction of the support legs. However, this method relies on a slow heat transfer mechanism, where heat is first transferred from the heating wire to the oil and then to the stainless steel support legs. This heat transfer is slow and has a significant lag, which is detrimental to the rapid response of tilt control. Secondly, the limited thermal expansion coefficient of stainless steel only allows for expansion and contraction on the order of micrometers, which is insufficient for large-range tilt adjustment. Furthermore, calculating the support leg displacement based on the tilt angle and controlling the displacement of the two support legs to achieve tilt control is not a direct control of the tilt signal. This introduces additional errors during the control process, resulting in suboptimal control performance. Summary of the Invention

[0003] To solve the above-mentioned technical problems, the present invention adopts the following technical solution: a fast-response, large-range, high-precision automatic tilt control device, comprising: a support ball head, a support foot housing, a hydraulic cylinder, a heating component, an air outlet pipe, an air outlet valve, a liquid inlet pipe, a liquid inlet valve, an electric cylinder, a controller, a support foot base, a ball head support rod, and a hydraulic cylinder support rod; wherein, the hydraulic cylinder, heating component, electric cylinder, and hydraulic cylinder support rod are located inside the support foot housing, the support ball head protrudes from the top of the support foot housing through the ball head support rod, the hydraulic cylinder and the electric cylinder are connected through the hydraulic cylinder support rod, the support ball head is located at the uppermost end of the entire device, used to support the platform requiring tilt adjustment; the electric cylinder is located below the hydraulic cylinder, used for large-range tilt adjustment; the hydraulic cylinder is located above the electric cylinder, used for small-range high-precision adjustment and control; the air outlet pipe is located at the uppermost end of the hydraulic cylinder, used to vent air from the hydraulic cylinder; the liquid inlet pipe is used to inject liquid into the hydraulic cylinder; the controller is used to automatically control the output of the electric cylinder and the hydraulic cylinder according to the magnitude of the tilt signal, keeping the platform in a horizontal position.

[0004] A fast-response, large-range, high-precision automatic tilt control method includes the following steps:

[0005] (1) Fix two automatic tilt control devices to two vertices A and B of the triangular platform, and install a fixing rod at the other vertex C. The three support points A, B and C on the platform form an equilateral triangle structure. Electrically connect the control devices to the controller.

[0006] (2) Take the line connecting the vertices B and C of the platform as the x-axis for tilt control, and take the line connecting point A to the midpoint of B and C as the y-axis for tilt control. The initial tilt level of the platform is (x0, y0).

[0007] (3) Set the final tilt level control point of the platform to (x1, y1) and input it to the controller through electrical connection;

[0008] (4) The controller tilts the platform according to the final tilt signal. First, the x-axis is adjusted. By adjusting the support at point B, the platform tilt is adjusted to (x1, y01).

[0009] (5) After the x-axis adjustment is completed, the y-axis adjustment is performed. By adjusting the support at point A, the platform is tilted horizontally to (x1, y1). Since the y-axis adjustment is completely decoupled from the x-axis, the x-axis will not change during the y-axis adjustment process.

[0010] (6) If the final tilt control signal differs from the initial tilt signal by more than mrad, the controller first uses the electric cylinder to achieve rapid adjustment of a large range. When the adjustment is close to the final tilt control signal, the controller powers the heating component in the electric cylinder to heat it. Through the change of pressure in the hydraulic cylinder, the adjustment and control can be achieved at the μrad or even nrad level.

[0011] The present invention has the following beneficial effects:

[0012] This invention proposes a fast-response, large-range, high-precision automatic tilt control device that eliminates the tilt control lag effect caused by the heat conduction process of different materials, achieving rapid response to external tilt changes. It utilizes an electric cylinder to achieve a large-range tilt adjustment on the order of mrad, and a hydraulic cylinder to achieve a tilt adjustment on the order of nrad. A controller performs PID automatic adjustment and control on both the electric and hydraulic cylinders, enabling rapid tilt adjustment response and large-range, high-precision automatic tilt control. This effectively suppresses the impact of large-scale tilt changes caused by external temperature and platform vibration on the measurement noise of high-precision superconducting gravimeters. Compared to other tilt control methods, this invention offers a large tilt adjustment range, high precision, fast tilt control response, simple structure, and convenient automatic control operation. Attached Figure Description

[0013] Figure 1 This is a schematic diagram of the internal structure of a fast-response, large-range, high-precision automatic tilt control device of the present invention. 1-Support ball head, 2-Support foot housing, 3-Hydraulic cylinder, 4-Heating component, 5-Air outlet pipe, 6-Air outlet valve, 7-Liquid inlet pipe, 8-Liquid inlet valve, 9-Electric cylinder, 10-Controller, 11-Support foot base, 12-Ball head support rod, 13-Hydraulic cylinder support rod;

[0014] Figure 2 This is a schematic diagram of the support structure connecting the support leg and the platform of the present invention, where 14 is the groove of the support ball and 15 is the threaded rod;

[0015] Figure 3 This is a schematic diagram of the actual connection structure of the fast-response, large-range, high-precision automatic tilt control device of the present invention for controlling the platform;

[0016] Figure 4 Here is a detailed structural diagram of hydraulic cylinder 3, 16 - metal bellows;

[0017] Figure 5 This is a structural diagram of a metal bellows. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention. Furthermore, the technical features involved in the various embodiments of this invention described below can be combined with each other as long as they do not conflict with each other.

[0019] like Figure 1 and Figure 2 As shown in the figure, an embodiment of the present invention provides a fast-response, large-range, high-precision automatic tilt control device, comprising: a support ball head 1, a support foot housing 2, a hydraulic cylinder 3, a heating component 4, an air outlet pipe 5, an air outlet valve 6, an inlet pipe 7, an inlet valve 8, an electric cylinder 9, a controller 10, a support foot base 11, a ball head support rod 12, a hydraulic cylinder support rod 13, a support ball head groove 14, and a threaded rod 15. The hydraulic cylinder 3, heating component 4, electric cylinder 9, and hydraulic cylinder support rod 13 are located inside the support foot housing 2, and the support ball head 1 protrudes from the top of the support foot housing 2 through the ball head support rod 12. The support ball head 1 is located at the top of the entire device and is used to support the platform that needs to be tilted. The electric cylinder 9 is located below the hydraulic cylinder 3 and is used for large-range tilt adjustment. The hydraulic cylinder 3 is located above the electric cylinder 9 and is used for small-range high-precision adjustment and control. The air outlet pipe 5 is located at the top of the hydraulic cylinder 3 and is used to vent the air inside the hydraulic cylinder 3. The liquid inlet pipe 7 is used to inject liquid into the hydraulic cylinder 3. The controller 10 is used to automatically control the output of the electric cylinder 9 and the hydraulic cylinder 3 according to the magnitude of the tilt signal, so as to always keep the platform in a horizontal position.

[0020] like Figure 1 As shown, the control device consists of a support ball head 1, a hydraulic cylinder 3, an electric cylinder 9, and a support base 11 from top to bottom. The support ball head 1 and the hydraulic cylinder 3 are connected by a ball head support rod 12, and the hydraulic cylinder 3 and the electric cylinder 9 are connected by a hydraulic cylinder support rod 13. The electric cylinder 9 is fixed to the support base 11 with screws.

[0021] like Figure 1 As shown, the hydraulic cylinder 3 is equipped with a heating component 4 and filled with an insulating liquid with a certain pressure. The heating component 4 is wrapped around the outer surface of the hydraulic cylinder support rod 13. The hydraulic cylinder 3 is equipped with an inlet pipe 7 and an outlet pipe 5. The inlet pipe 7 is located on the side wall of the hydraulic cylinder 3, and the outlet pipe 5 is located on the top of the hydraulic cylinder 3. An inlet valve 8 is provided on the inlet pipe 7, and an outlet valve 6 is provided on the outlet pipe 5.

[0022] like Figure 4 As shown, the hydraulic cylinder 3 has an inner cavity filled with liquid. To accommodate the thermal expansion and contraction of the liquid and achieve tilting adjustment, a metal bellows 16 is added to the cylinder body of the hydraulic cylinder 3. The metal bellows 16 can be a single-layer or multi-layer bellows. Figure 4The example shows a double-layer metal bellows structure, such as the metal bellows 16 structure. Figure 5 As shown, the bellows has an outer diameter Do of 6.00 mm, an inner diameter Di of 5.44 mm, and a wall thickness t of 0.28 mm, allowing for frequent expansion and contraction or small-radius bending. The metal bellows 16 is made of metal tubing and is welded to the straight section of the hydraulic cylinder 3 for sealing. It is also filled internally with a pressurized insulating liquid.

[0023] like Figure 1 As shown, the controller 10 is connected to the electric cylinder 9 and the heating component 4 via cables. According to the tilt signal, the controller 10 outputs control to the electric cylinder 9 and the heating component 4 respectively. The electric cylinder 9 can realize tilt control in the range of mrad to rad, and the hydraulic cylinder 3 can realize tilt control in the range of μrad to nrad.

[0024] like Figure 2 As shown, the control device is connected to the platform support structure, which includes a support ball groove 14 and a threaded rod 15, with the threaded rod 15 located on the upper part of the support ball groove 14.

[0025] like Figure 1 and Figure 2 As shown, the hemispherical convex structure of the supporting ball head 1 and the hemispherical concave structure in the supporting ball head groove 14 are connected by a tight fit.

[0026] like Figure 3 As shown, the actual connection structure of the fast-response, large-range, high-precision automatic tilt control device for controlling the platform has three support legs located at positions A, B, and C below the platform. Positions A and B are the control devices described in this invention, and position C is a fixed support leg. Three through holes are provided on the platform, and screws are provided at the upper ends of the three support legs and fixed with nuts. The three support legs are distributed in an equilateral triangle.

[0027] The present invention also provides a fast-response, large-range, high-precision automatic tilt control method, the method being applied to the aforementioned fast-response, large-range, high-precision automatic tilt control device, comprising:

[0028] (1) Fix two automatic tilt control devices to two vertices A and B of the triangular platform, and install a fixing rod at the other vertex C. The three support points A, B and C on the platform form an equilateral triangle structure. Electrically connect the control devices to the controller.

[0029] (2) Take the line connecting the vertices B and C of the platform as the x-axis for tilt control, and take the line connecting point A to the midpoint of B and C as the y-axis for tilt control. The initial tilt level of the platform is (x0, y0).

[0030] (3) Set the final tilt level control point of the platform to (x1, y1) and input it to the controller through electrical connection;

[0031] (4) The controller tilts the platform according to the final tilt signal. First, the x-axis is adjusted. By adjusting the support at point B, the platform tilt is adjusted to (x1, y01).

[0032] (5) After the x-axis adjustment is completed, the y-axis adjustment is performed. By adjusting the support at point A, the platform is tilted horizontally to (x1, y1). Since the y-axis adjustment is completely decoupled from the x-axis, the x-axis will not change during the y-axis adjustment process.

[0033] (6) If the final tilt control signal differs from the initial tilt signal by more than mrad, the controller first uses the electric cylinder to achieve rapid adjustment of a large range. When the adjustment is close to the final tilt control signal, the controller powers the heating component in the electric cylinder to heat it. Through the change of pressure in the hydraulic cylinder, the adjustment and control can be achieved at the μrad or even nrad level.

[0034] The above description is merely an embodiment of the present invention and does not limit the scope of protection of the present invention. Any equivalent structural or procedural transformations made based on the content of the present invention specification and drawings, or direct or indirect applications in other related system fields, are similarly included within the scope of protection of the present invention.

Claims

1. A fast-response, large-range, high-precision automatic tilt control device, characterized in that, include: The system comprises a support ball joint, outrigger housing, hydraulic cylinder, heating element, vent pipe, vent valve, inlet pipe, inlet valve, electric cylinder, controller, outrigger base, ball joint support rod, and hydraulic cylinder support rod. The hydraulic cylinder, heating element, electric cylinder, and hydraulic cylinder support rod are located inside the outrigger housing. The support ball joint protrudes from the top of the outrigger housing via the ball joint support rod. The hydraulic cylinder and electric cylinder are connected via the hydraulic cylinder support rod. The support ball joint is located at the top of the entire device and is used to support the platform requiring tilt adjustment. The electric cylinder is located below the hydraulic cylinder and is used for large-range tilt adjustment. The hydraulic cylinder is located above the electric cylinder and is used for small-range, high-precision adjustment and control. The vent pipe is located at the top of the hydraulic cylinder and is used to vent air from inside the hydraulic cylinder. The inlet pipe is used to inject liquid into the hydraulic cylinder. The controller automatically controls the output of the electric and hydraulic cylinders based on the tilt signal magnitude to keep the platform in a horizontal position.

2. The fast-response, large-range, high-precision automatic tilt control device according to claim 1, characterized in that, The hydraulic cylinder has an inner cavity that is filled with liquid. A metal bellows is installed on the cylinder body, and the metal bellows structure can be single-layered or multi-layered.

3. The fast-response, large-range, high-precision automatic tilt control device according to claim 1, characterized in that, The hydraulic cylinder is equipped with a heating element and filled with an insulating liquid under a certain pressure. The heating element is wrapped around the outer surface of the hydraulic cylinder support rod.

4. The fast-response, large-range, high-precision automatic tilt control device according to claim 2, characterized in that, The metal bellows is made of metal pipe and is welded to the straight pipe section of the hydraulic cylinder for sealing. It is filled with an insulating liquid under a certain pressure.

5. The fast-response, large-range, high-precision automatic tilt control device according to claim 1, characterized in that, The controller is connected to the electric cylinder and the heating assembly. Based on the tilt signal, the controller outputs control to the electric cylinder and the heating assembly respectively. The electric cylinder can achieve tilt control in the range of mrad to rad, while the hydraulic cylinder can achieve tilt control in the range of μrad to nrad.

6. The fast-response, large-range, high-precision automatic tilt control device according to claim 1, characterized in that, The control device is connected to the platform support structure, which includes a support ball head groove and a threaded rod, with the threaded rod located above the support ball head groove.

7. The fast-response, large-range, high-precision automatic tilt control device according to claim 6, characterized in that, The hemispherical convex structure supporting the ball head and the hemispherical concave structure in the groove of the supporting ball head are connected by a tight fit.

8. The fast-response, large-range, high-precision automatic tilt control device according to claim 7, characterized in that, The hydraulic cylinder is equipped with an inlet pipe and an outlet pipe on its exterior. The inlet pipe is located on the side wall of the hydraulic cylinder, and the outlet pipe is located on the top of the hydraulic cylinder. An inlet valve is installed on the inlet pipe, and an outlet valve is installed on the outlet pipe.

9. A fast-response, large-range, high-precision automatic tilt control device according to claim 7, characterized in that, Secure the electric cylinder to the support base using screws.

10. A fast-response, large-range, high-precision automatic tilt control method, used in the fast-response, large-range, high-precision automatic tilt control device as described in any one of claims 1 to 9, characterized in that, Includes the following steps: (1) Fix two automatic tilt control devices to two vertices A and B of the triangular platform, and install a fixing rod at the other vertex C. The three support points A, B and C on the platform form an equilateral triangle structure. Electrically connect the control devices to the controller. (2) Take the line connecting the vertices B and C of the platform as the x-axis for tilt control, and take the line connecting point A to the midpoint of B and C as the y-axis for tilt control. The initial tilt level of the platform is (x0, y0). (3) Set the final tilt level control point of the platform to (x1, y1) and input it to the controller through electrical connection; (4) The controller tilts the platform according to the final tilt signal. First, the x-axis is adjusted. By adjusting the support at point B, the platform tilt is adjusted to (x1, y01). (5) After the x-axis adjustment is completed, the y-axis adjustment is performed. By adjusting the support at point A, the platform is tilted horizontally to (x1, y1). Since the y-axis adjustment is completely decoupled from the x-axis, the x-axis will not change during the y-axis adjustment process. (6) If the final tilt control signal differs from the initial tilt signal by more than mrad, the controller first uses the electric cylinder to achieve rapid adjustment of a large range. When the adjustment is close to the final tilt control signal, the controller powers the heating component in the electric cylinder to heat it. Through the change of pressure in the hydraulic cylinder, the adjustment and control can be achieved at the μrad or even nrad level.

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