A measurement unit stabilizing method, system, electronic device, and storage medium

Abstract

The application relates to the technical field of electromagnetic measurement, and discloses a measurement unit stabilizing method, system, electronic equipment and storage medium, which comprises three-dimensional displacement trajectory data acquired in real time, a motion error compensation model containing a mechanical vibration direction vector and a phase offset is established; based on asymmetric magnetic pole distribution, the phase difference between a magnetic circuit gradient direction vector and the mechanical vibration direction vector is solved, a closed-loop annular current orthogonal to the mechanical vibration direction vector is generated at an interface to realize gradient isolation; based on a multi-branch common-mode rejection mechanism, through the magnetic core impedance matching characteristics combined with the eddy current effect, the interference signal reaches a predetermined attenuation amplitude before the loop is closed; based on displacement parameters and electromagnetic interference attenuation results, dynamic matching is performed, the magnetic pole inclination is adjusted in real time, and a closed-loop control path of magnetic field gradient compensation and mechanical vibration suppression is formed. The application can improve the stability and anti-interference ability of the measurement unit under harsh working conditions.

Description

Technical Field

[0001] This invention belongs to the field of electromagnetic measurement technology, and in particular relates to a method, system, electronic device and storage medium for stabilizing a measurement unit. Background Technology

[0002] Currently, traditional measurement units adopt a symmetrical magnetic pole distribution design. When the measurement unit is subjected to multi-axis mechanical vibration, the magnetic circuit intensity gradient direction is not orthogonal to the vibration direction, resulting in magnetic field distribution distortion.

[0003] Existing electromagnetic shielding structures are mostly single-layer homogeneous materials, which cannot provide gradient isolation against internal and external electromagnetic interference sources. High-frequency interference signals can easily couple to the sensor core through the transmission path.

[0004] When the existing grounding network adopts a star topology, it lacks a branch common-mode rejection mechanism, which results in high-frequency interference signals not being effectively attenuated before the loop is closed.

[0005] Traditional methods fail to achieve real-time dynamic matching between the mechanical vibration phase difference and the magnetic pole distribution parameters, resulting in error compensation lagging behind changes in environmental parameters.

[0006] Therefore, this application provides a measurement unit stabilization method to solve the above-mentioned technical problems. Summary of the Invention

[0007] The purpose of this invention is to provide a measurement unit stabilization method, system, electronic device, and storage medium to solve the technical problems of poor stability and weak anti-interference ability of measurement units under harsh working conditions in the prior art.

[0008] To address the aforementioned technical problems, this invention provides a method for stabilizing a measurement unit, comprising:

[0009] In response to the real-time acquired three-dimensional displacement trajectory data, the three-dimensional displacement trajectory data is mapped to the measurement unit coordinate system based on the spatial coordinate transformation algorithm, and a motion error compensation model including mechanical vibration direction vector and phase offset is established.

[0010] Based on the asymmetric magnetic pole distribution, the geometric characteristics of the magnetic poles are dynamically adjusted to make the spacing between adjacent magnetic poles decrease nonlinearly along the direction vector of mechanical vibration. The phase difference between the magnetic circuit gradient direction vector and the mechanical vibration direction vector is calculated, and magnetic pole spacing correction is triggered when the orthogonality deviates from the preset angle threshold.

[0011] Based on the asymmetric magnetic pole distribution, a double-layer shielding structure is adopted to suppress eddy current diffusion through gap compression, while generating a closed-loop current at the interface that is orthogonal to the direction vector of the mechanical vibration to achieve gradient isolation.

[0012] Based on the multi-branch common-mode suppression mechanism, the interference signal is reduced to a predetermined attenuation level before the loop is closed by combining the magnetic core impedance matching characteristics with the eddy current effect.

[0013] The displacement parameters output by the motion error compensation model are dynamically matched with the electromagnetic interference attenuation results output by the multi-branch common-mode suppression mechanism, and the magnetic pole tilt angle is adjusted in real time to form a closed-loop control path for magnetic field gradient compensation and mechanical vibration suppression.

[0014] In some specific embodiments, in response to the real-time acquired three-dimensional displacement trajectory data, the three-dimensional displacement trajectory data is mapped to the measurement unit coordinate system based on a spatial coordinate transformation algorithm, and a motion error compensation model including the mechanical vibration direction vector and phase offset is established, further including:

[0015] Simultaneously acquire three-dimensional displacement trajectory data, as well as vibration frequency and vibration direction information;

[0016] The three-dimensional displacement trajectory data is mapped to the coordinate system of the measurement unit through quaternion rotation operations;

[0017] Mechanical vibration direction vector and phase offset are extracted from the mapped 3D displacement trajectory data.

[0018] Construct and output a motion error compensation model that includes the mechanical vibration direction vector and phase offset.

[0019] In some specific embodiments, based on asymmetric magnetic pole distribution, the geometric characteristics of the magnetic poles are dynamically adjusted to make the spacing between adjacent magnetic poles decrease non-linearly along the mechanical vibration direction vector. Combined with the phase difference calculation between the magnetic circuit gradient direction vector and the mechanical vibration direction vector, magnetic pole spacing correction is triggered when the orthogonality deviates from a preset angle threshold. This further includes:

[0020] Calculate the real-time deviation angle between the magnetic circuit gradient direction vector and the mechanical vibration direction vector;

[0021] When the difference between the deviation angle and the orthogonal reference angle exceeds a preset angle threshold, a magnetic pole spacing correction amount is generated according to a nonlinear law;

[0022] The position is adjusted so that the distance between the magnetic poles is distributed in a gradient along the direction vector of mechanical vibration.

[0023] In some specific embodiments, based on the asymmetric magnetic pole distribution, a double-layer shielding structure is adopted to suppress eddy current diffusion through gap compression, while a closed-loop annular current orthogonal to the mechanical vibration direction vector is generated at the interface to achieve gradient isolation, further including:

[0024] The double-layer shielding structure uses a high-permeability alloy for the inner layer to absorb low-frequency magnetic field interference, and a high-conductivity alloy for the outer layer to suppress high-frequency eddy currents by combining gap compression.

[0025] A closed-loop current orthogonal to the direction vector of mechanical vibration is generated at the shielding interface, and the electromagnetic interference source is gradient isolated through the synergistic effect of the current gradient and material properties.

[0026] In some specific embodiments, based on a multi-branch common-mode suppression mechanism, the interference signal is attenuated to a predetermined amplitude before the loop is closed by combining the magnetic core impedance matching characteristics with the eddy current effect. Further, it includes:

[0027] Ferrite cores with conductive layers coated on the parallel surfaces of branches in a star network;

[0028] A layered winding structure is used to achieve broadband interference suppression, with the inner core focusing on low-frequency blocking and the outer core increasing high-frequency eddy current density.

[0029] Calculation of high-frequency interference attenuation amplitude based on core material properties;

[0030] The magnetic core connection mode is dynamically switched according to the interference frequency band to achieve the predetermined attenuation level.

[0031] In some specific embodiments, the displacement parameters output by the motion error compensation model are dynamically matched with the electromagnetic interference attenuation results output by the multi-branch common-mode suppression mechanism, and the magnetic pole tilt angle is adjusted in real time to form a closed-loop control path for magnetic field gradient compensation and mechanical vibration suppression, further including:

[0032] The displacement error component of the displacement parameter output by the motion error compensation model is correlated with the interference spectrum characteristics of the electromagnetic interference attenuation result output by the multi-branch common-mode suppression mechanism.

[0033] Establish closed-loop control relationships using transfer function models;

[0034] An optimization algorithm is used to solve for the combination of magnetic pole tilt angles that minimizes the magnetic field distortion and displacement error components, and the magnetic pole tilt angles are adjusted in real time to eliminate mechanical transmission backlash.

[0035] In some specific embodiments, an optimization algorithm is used to solve for the combination of magnetic pole tilt angles that minimizes the magnetic field distortion and displacement error components, and the magnetic pole tilt angles are adjusted in real time to eliminate mechanical transmission backlash. This further includes:

[0036] The gain parameters are dynamically controlled based on the vibration frequency.

[0037] Switch to strong damping mode when the error exceeds the limit;

[0038] Implement a mechanism for verifying adjustment results and rolling back in case of anomalies.

[0039] Implement a core temperature monitoring and heat dissipation protection strategy, including monitoring the core temperature and triggering heat dissipation protection and branch switching.

[0040] Based on the same concept, the present invention also provides a measurement unit stabilization system, comprising:

[0041] The compensation model generation module is configured to respond to the real-time acquired three-dimensional displacement trajectory data, and map the three-dimensional displacement trajectory data to the measurement unit coordinate system based on the spatial coordinate transformation algorithm to establish a motion error compensation model that includes mechanical vibration direction vector and phase offset.

[0042] The magnetic pole spacing correction module is configured to be based on asymmetric magnetic pole distribution. By dynamically adjusting the geometric characteristics of the magnetic poles, the spacing between adjacent magnetic poles is made to decrease nonlinearly along the direction vector of mechanical vibration. The module is combined with the phase difference between the magnetic circuit gradient direction vector and the mechanical vibration direction vector. When the orthogonality deviates from the preset angle threshold, the magnetic pole spacing correction is triggered.

[0043] The gradient isolation module is configured to be based on the asymmetric magnetic pole distribution, adopting a double-layer shielding structure, suppressing eddy current diffusion through gap compression, and generating a closed-loop current at the interface that is orthogonal to the direction vector of the mechanical vibration to achieve gradient isolation;

[0044] The attenuation amplitude control module is configured to be based on a multi-branch common-mode suppression mechanism, which uses the magnetic core impedance matching characteristics combined with the eddy current effect to make the interference signal reach a predetermined attenuation amplitude before the loop is closed.

[0045] The closed-loop control path module is configured to dynamically match the displacement parameters output by the motion error compensation model with the electromagnetic interference attenuation results output by the multi-branch common-mode suppression mechanism, and adjust the magnetic pole tilt angle in real time to form a closed-loop control path for magnetic field gradient compensation and mechanical vibration suppression.

[0046] Based on the same concept, the present invention also provides an electronic device, including: a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other through the communication bus; the memory stores a computer program, and when the computer program is executed by the processor, the processor performs the steps of a measurement unit stabilization method.

[0047] Based on the same concept, the present invention also provides a computer-readable storage medium storing a computer program executable by an electronic device, which, when run on the electronic device, causes the electronic device to perform the steps of a measurement unit stabilization method.

[0048] Compared with existing technologies, its advantages are as follows:

[0049] This invention discloses a measurement unit stabilization method, system, electronic device, and storage medium. By orthogonally matching the magnetic circuit gradient direction with the mechanical vibration direction, the magnetic field distortion error caused by mechanical vibration is significantly reduced. The double-layer gradient shielding structure greatly improves the isolation efficiency of internal and external electromagnetic interference sources, and high-frequency interference signals are effectively suppressed in the transmission path through the magnetic core eddy current effect. The closed-loop control path based on phase difference calculation can dynamically adjust the magnetic pole distribution parameters and shielding structure characteristics in real time, significantly shortening the system response time and adapting to the measurement stability requirements of high acceleration, wide-frequency vibration, and complex electromagnetic environments. It can adapt to scenarios with stringent requirements for measurement accuracy and anti-interference capabilities. Attached Figure Description

[0050] Other features, objects, and advantages of this application will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0051] Figure 1 This is a flowchart illustrating some specific embodiments of a measurement unit stabilization method of the present invention;

[0052] Figure 2 This is a schematic diagram of the structure of a measurement unit stabilization system according to some specific embodiments of the present invention;

[0053] Figure 3 This is a schematic diagram of the structure of an electronic device according to some specific embodiments of the present invention;

[0054] In the diagram, 710 is the processor; 720 is the memory; 730 is the input device; and 740 is the output device. Detailed Implementation

[0055] To make the objectives, technical solutions, and advantages of this application clearer, the application will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0056] The terminology used in the embodiments of this application is for the purpose of describing particular embodiments only and is not intended to limit the application. The singular forms “a,” “said,” and “the” used in the embodiments of this application and the appended claims are also intended to include the plural forms, and “multiple” generally includes at least two unless the context clearly indicates otherwise.

[0057] It should be understood that the term "and / or" used in this article is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this article generally indicates that the preceding and following related objects have an "or" relationship.

[0058] It should be understood that although the terms first, second, third, etc., may be used in the embodiments of this application, these descriptions should not be limited to these terms. These terms are only used to distinguish the descriptions. For example, first may also be referred to as second without departing from the scope of the embodiments of this application, and similarly, second may also be referred to as first.

[0059] Depending on the context, the words “if” or “suppose” as used here can be interpreted as “when” or “in response to determination” or “in response to detection.” Similarly, depending on the context, the phrases “if determination” or “if detection (of the stated condition or event)” can be interpreted as “when determination” or “in response to determination” or “when detection (of the stated condition or event)” or “in response to detection (of the stated condition or event).”

[0060] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that an article or device that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such an article or device. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the article or device that includes said element.

[0061] It should be noted that any symbols and / or numbers present in the specification that are not marked in the accompanying drawings are not reference numerals.

[0062] Reference Figure 1 A method for stabilizing a measurement unit, comprising:

[0063] S101, in response to the real-time acquired three-dimensional displacement trajectory data, the three-dimensional displacement trajectory data is mapped to the measurement unit coordinate system based on the spatial coordinate transformation algorithm, and a motion error compensation model including mechanical vibration direction vector and phase offset is established.

[0064] S102, based on asymmetric magnetic pole distribution, dynamically adjusts the geometric characteristics of the magnetic poles to make the spacing between adjacent magnetic poles decrease nonlinearly along the direction vector of mechanical vibration, and combines the phase difference between the magnetic circuit gradient direction vector and the direction vector of mechanical vibration to calculate, and triggers magnetic pole spacing correction when the orthogonality deviates from the preset angle threshold.

[0065] S103, based on the asymmetric magnetic pole distribution, adopts a double-layer shielding structure, suppresses eddy current diffusion through gap compression, and generates a closed-loop current at the interface that is orthogonal to the direction vector of the mechanical vibration to achieve gradient isolation;

[0066] S104, based on a multi-branch common-mode suppression mechanism, uses the core impedance matching characteristics combined with the eddy current effect to make the interference signal reach a predetermined attenuation level before the loop is closed.

[0067] S105, based on the displacement parameters output by the motion error compensation model and the electromagnetic interference attenuation results output by the multi-branch common-mode suppression mechanism, the magnetic pole tilt angle is dynamically matched to form a closed-loop control path for magnetic field gradient compensation and mechanical vibration suppression.

[0068] Specifically, in this embodiment of the invention, three-dimensional displacement trajectory data is acquired in real time. Based on a spatial coordinate transformation algorithm, the original displacement data is mapped to the coordinate system of the measurement unit. Quaternion rotation operations are used to eliminate equipment tilt errors, and the main direction vector and phase offset of mechanical vibration are extracted. A motion error compensation model including this vector and phase offset is established. Based on the asymmetric magnetic pole distribution design, the geometric features of the magnetic pole cone surface are dynamically adjusted so that the distance between adjacent magnetic poles decreases nonlinearly along the main direction vector of mechanical vibration. The real-time deviation angle between the magnetic circuit gradient direction vector and the vibration direction vector is calculated simultaneously. When the difference between the deviation angle and the orthogonal reference angle exceeds a preset angle threshold, a magnetic pole distance correction sequence is triggered according to a nonlinear law, and a magnetic flux density anomaly protection mechanism is implemented. Based on the magnetic pole distribution, a double-layer shielding structure of an inner high-permeability alloy and an outer high-conductivity alloy is adopted. The diffusion of high-frequency eddy currents is suppressed by compressing the thickness of the annular gap. Based on the main direction vector of mechanical vibration, an orthogonal closed-loop annular current is generated at the shielding interface. The gradient isolation of internal and external electromagnetic interference sources is achieved by utilizing the synergy of the current gradient and the magnetic / conductivity properties of the material. Based on a multi-branch structure of a star-topology grounding network, each branch uses a ferrite core with a conductive layer on its parallel surface, employing a layered design of inner low-frequency winding and outer high-frequency winding. Through the eddy current effect of the core and dynamic connection mode switching, high-frequency interference signals achieve a predetermined attenuation amplitude based on the intrinsic parameters of the material before the loop is closed. The displacement parameters output by the motion error compensation model are analyzed as axial error components, correlated with the main peak of the interference spectrum output by the multi-branch common-mode suppression. A closed-loop control model is established using the tilt-displacement transfer function, and an optimization algorithm is used to solve for the combination of magnetic pole tilt angles that minimizes magnetic field distortion and displacement error. Finally, an angle actuation mechanism is used to adjust the tilt angle and eliminate transmission backlash, forming a closed-loop control path.

[0069] For example, real-time acquisition of 3D displacement data: X-axis displacement +12.5μm, Y-axis displacement -8.3μm, Z-axis displacement +5.7μm (sampling rate 1kHz). Quaternion rotation calculation: Based on the equipment tilt angle (pitch 3.2°, yaw 1.8°), a rotation quaternion is generated, the original displacement vector is projected onto the measurement coordinate system, and the vibration principal direction vector (unit vector: [0.87, -0.35, 0.15]) and phase offset (hysteresis 15°) are output. Motion error compensation model output: A compensation parameter matrix containing the principal direction vector and phase offset. Magnetic circuit gradient direction vector calibration value: [0.85, -0.38, 0.18], and real-time deviation angle calculation from the vibration direction vector: vector dot product: 0.87×0.85+(-0.35)×(-0.38)+0.15×0.18=0.92; included angle. Determination of deviation threshold: (Preset threshold) Triggering magnetic pole correction. Magnetic pole spacing adjustment: The first magnetic pole is reduced by 50μm, and the second magnetic pole is reduced by 40μm (exponential decreasing law), and the cone inclination angle is adjusted to 2.5° simultaneously. Double-layer shielding implementation: Inner layer: 1mm thick iron-nickel alloy (permeability 15000), absorbing 120Hz low-frequency interference; Outer layer: 0.5mm thick copper-aluminum alloy (conductivity 85% IACS), with the annular gap compressed to 0.1mm. Closed-loop annular current generation: Based on the principal vibration direction vector [0.87, -0.35, 0.15], an orthogonal annular current (current density 3.2A / mm²) is excited at the interface. Magnetic core configuration: 4 ferrite cores (outer diameter 12mm / inner diameter 8mm / thickness 2mm) connected in parallel in a single branch, with a 5μm silver plating on the surface. High-frequency interference suppression: When 150MHz interference is detected, the core connection switches to parallel mode; Attenuation calculation: Based on the imaginary permeability of the core of 2500, thickness of 2mm, and resistivity of 5×10³Ω·m, the measured attenuation is 23.5dB (>20dB predetermined value). Dynamic matching process: Displacement parameter analysis: X-axis error -7.2μm → associated with the 150MHz interference peak; Transfer function control: A model is established with a damping ratio of 0.707 and a natural frequency of 100rad / s; Tilt angle optimization solution: The gradient descent method is iterated 3 times to obtain the optimal tilt angle combination (X-axis +1.2°, Y-axis -0.8°); Closed-loop verification: After adjustment, the magnetic field distortion is reduced from 15mT to 3.8mT, and when it exceeds the tolerance, it rolls back to the previous tilt angle state.

[0070] In some applications, in response to real-time acquired three-dimensional displacement trajectory data, the three-dimensional displacement trajectory data is mapped to the measurement unit coordinate system based on a spatial coordinate transformation algorithm. A motion error compensation model containing mechanical vibration direction vectors and phase offsets is established. This includes synchronously acquiring three-dimensional displacement trajectory data and vibration frequency and vibration direction information; mapping the three-dimensional displacement trajectory data to the measurement unit coordinate system through quaternion rotation operations; extracting mechanical vibration direction vectors and phase offsets based on the mapped three-dimensional displacement trajectory data; constructing and outputting a motion error compensation model containing mechanical vibration direction vectors and phase offsets.

[0071] Understandably, in this application, three-dimensional displacement trajectory data is acquired in real time, and vibration frequency and direction information are collected simultaneously; the original displacement data is mapped to the coordinate system of the measurement unit through quaternion rotation operations to eliminate equipment pose error; the main direction vector and phase offset of mechanical vibration are extracted based on the mapped displacement trajectory data; a motion error compensation model containing the direction vector and phase offset is constructed and output, where the phase offset is used to correlate current generation and magnetic pole adjustment in subsequent closed-loop control.

[0072] For example, real-time acquisition of three-dimensional displacement data: X-axis +12.5μm, Y-axis -8.3μm, Z-axis +5.7μm, simultaneously measuring the vibration frequency of 120Hz and the heading angles (pitch 3.2°, yaw 1.8°). Coordinate mapping: Quaternion rotation operation: generating a rotation quaternion Q=[0.998,0.052,0.017,0.031] based on the heading angle; projecting the original displacement vector V=[12.5,-8.3,5.7] onto the measurement system. (Unit: μm). Vector extraction: Principal direction vector of mechanical vibration: Normalized V' yields [0.87, -0.35, 0.15]; Phase offset: The fundamental frequency phase lag of 15° is extracted by analyzing the displacement spectrum using FFT. Model construction: Output of the motion error compensation model: Principal direction vector: [0.87, -0.35, 0.15], Phase offset: 15°; Logic closed-loop verification: This phase offset is used to constrain the direction of closed-loop current generation (orthogonal to the principal direction of vibration).

[0073] In some applications, based on asymmetric magnetic pole distribution, the geometric characteristics of the magnetic poles are dynamically adjusted to make the spacing between adjacent magnetic poles decrease non-linearly along the direction vector of mechanical vibration. Combined with the phase difference between the magnetic circuit gradient direction vector and the mechanical vibration direction vector, magnetic pole spacing correction is triggered when the orthogonality deviates from a preset angle threshold. This includes calculating the real-time deviation angle between the magnetic circuit gradient direction vector and the mechanical vibration direction vector. When the difference between the deviation angle and the orthogonal reference angle exceeds the preset angle threshold, a magnetic pole spacing correction amount is generated according to a non-linear law. The magnetic pole spacing is then adjusted to form a gradient distribution along the direction vector of mechanical vibration.

[0074] Understandably, in this application, based on the asymmetric magnetic pole distribution, the tilt angle and spacing geometry of the magnetic pole cone are dynamically adjusted to make the spacing between adjacent magnetic poles exhibit a nonlinear decreasing gradient distribution along the mechanical vibration direction vector. Simultaneously, the real-time deviation angle between the magnetic circuit gradient direction vector and the vibration direction vector is calculated, and the cosine of the angle is obtained through vector dot product and converted into an angular deviation. When the difference between this angular deviation and the orthogonal reference angle exceeds a preset angle threshold, a magnetic pole spacing correction sequence is generated according to an exponential function. A position actuation mechanism drives the magnetic poles to move along the guide rail, achieving gradient distribution adjustment of the spacing along the vibration direction. Simultaneously, changes in local magnetic flux density are monitored to trigger an adjacent magnetic pole compensation protection mechanism.

[0075] For example, using the calibration value of the main direction vector of mechanical vibration [0.87, -0.35, 0.15] and the real-time measured value of the magnetic circuit gradient direction vector [0.85, -0.38, 0.18] as input, the vector dot product 0.87×0.85+(-0.35)×(-0.38)+0.15×0.18=0.92 is calculated, and the real-time deviation angle is 23° after inverse cosine conversion; it is determined that the difference of 67° from the orthogonal reference angle of 90° exceeds the preset threshold of 5°, triggering the correction mechanism; The magnetic pole spacing correction is generated according to an exponential decreasing law: the first magnetic pole is reduced by 50μm (preset reference value), and the second magnetic pole is reduced by 40μm (attenuation coefficient 0.1). After the magnetic poles are driven to move, a spacing gradient distribution is formed. When the magnetic flux density value rises to 1.2T, the current adjustment is paused and the third magnetic pole is activated to compensate for a reduction of 30μm. Finally, a nonlinear distribution of magnetic pole spacing is achieved, which decreases from 1.2mm to 0.7mm along the vibration direction. This distribution provides a geometric constraint basis for the subsequent shielding structure.

[0076] In some applications, based on the asymmetric magnetic pole distribution, a double-layer shielding structure is adopted. Eddy current diffusion is suppressed by gap compression, and a closed-loop current orthogonal to the mechanical vibration direction vector is generated at the interface to achieve gradient isolation. The double-layer shielding structure includes an inner layer shielding using a high-permeability alloy to absorb low-frequency magnetic field interference, and an outer layer shielding using a high-conductivity alloy combined with gap compression to suppress high-frequency eddy currents. A closed-loop current orthogonal to the mechanical vibration direction vector is generated at the shielding interface. Gradient isolation of electromagnetic interference sources is achieved through the synergistic effect of current gradient and material properties.

[0077] Understandably, in this application, based on the geometric constraints of the asymmetric magnetic pole distribution, a double-layer shielding structure of an inner layer of high-permeability alloy and an outer layer of high-conductivity alloy is adopted. The inner layer absorbs low-frequency magnetic field interference in a directional manner through its high permeability, while the outer layer suppresses the lateral diffusion of high-frequency eddy currents by compressing the thickness of the annular gap to the sub-millimeter level. At the shielding interface where the magnetic pole distribution is determined, an orthogonal closed-loop annular current is generated based on the excitation of the mechanical vibration direction vector. By utilizing the synergistic effect of the current density gradient and the properties of the inner layer's permeability / outer layer's conductivity, frequency-selective gradient isolation of internal and external electromagnetic interference sources is achieved.

[0078] For example, under the geometric constraint of an asymmetric magnetic pole spacing distribution of 1.2 mm to 0.7 mm, the inner layer uses a 1 mm thick iron-nickel alloy (magnetic permeability 15000) to absorb low-frequency magnetic field interference coupled by 120 Hz mechanical vibration, and the outer layer uses a 0.5 mm thick copper-aluminum alloy (conductivity 85% IACS) and is compressed to 0.1 mm through an annular gap to suppress the diffusion of 150 MHz high-frequency eddy currents. Based on the mechanical vibration direction vector [0.87, -0.35, 0.15], the orthogonal current direction [-0.35, -0.87, 0.15] is calculated, and a closed-loop annular current of 3.2 A / mm² is excited at the interface. The inner layer magnetic material attenuates the 20 mT low-frequency interference to 5 mT, and the outer layer high conductivity material increases the high-frequency eddy current loss by 50%. Combined with the current gradient, the isolation efficiency of 150 MHz high-frequency interference is increased from 70% to 95%, achieving the gradient isolation target.

[0079] In some applications, based on the multi-branch common-mode suppression mechanism, the interference signal is reduced to a predetermined attenuation level before the loop is closed by combining the impedance matching characteristics of the magnetic core with the eddy current effect. This includes ferrite cores with conductive layers on the parallel surfaces of the branches in a star network; using a layered winding structure to achieve broadband interference suppression, with the inner core focusing on low-frequency blocking and the outer core increasing the high-frequency eddy current density; calculating the high-frequency interference attenuation level based on the magnetic core material properties; and dynamically switching the magnetic core connection mode according to the interference frequency band to achieve the predetermined attenuation level.

[0080] Understandably, in this application, based on the multi-branch common-mode suppression mechanism of the star topology grounding network, a ferrite core with a micron-level conductive layer on the parallel surface of each branch is used. The core employs a layered structure with an inner layer of tightly wound coils focusing on low-frequency magnetic field blocking and an outer layer of loosely wound coils combined with an air gap to increase the density of high-frequency eddy currents. The high-frequency interference attenuation amplitude is calculated by using the intrinsic imaginary permeability, geometric thickness, and resistivity parameters of the core material. The core connection mode is dynamically switched according to the real-time interference spectrum characteristics, so that the high-frequency interference signal reaches the predetermined attenuation amplitude before the loop is closed.

[0081] For example, a single grounding branch uses four manganese-zinc ferrite cores with an outer diameter of 12mm, an inner diameter of 8mm, and a thickness of 2mm in parallel. The core surfaces are plated with a 5μm silver layer to reduce contact resistance. The two inner cores are wound with 10 turns of coil to block low-frequency interference below 100kHz, while the two outer cores are wound with 5 turns of coil and separated by a 1mm air gap to increase the high-frequency eddy current density at 150MHz. Based on the core's imaginary permeability of 2500, thickness of 2mm, and resistivity of 5×10³Ωm, the attenuation of 150MHz interference is calculated to be 23.5dB (the formula logic is: the product of the imaginary permeability and the square of the thickness divided by the resistivity, and the attenuation value is obtained after logarithmic amplification). When interference frequency band > 50MHz is detected, the core connection is automatically switched from series to parallel mode, increasing the attenuation from 15dB to 23.5dB, exceeding the predetermined target of 20dB. At the same time, when the core temperature rises to 80℃, the backup branch is switched and the life loss is recorded.

[0082] In some applications, the displacement parameters output by the motion error compensation model are dynamically matched with the electromagnetic interference attenuation results output by the multi-branch common-mode suppression mechanism to adjust the magnetic pole tilt angle in real time, forming a closed-loop control path for magnetic field gradient compensation and mechanical vibration suppression. This includes the interference spectrum characteristics of the displacement error component of the displacement parameters output by the motion error compensation model and the electromagnetic interference attenuation results output by the multi-branch common-mode suppression mechanism; establishing a closed-loop control relationship through a transfer function model; and using an optimization algorithm to solve for the magnetic pole tilt angle combination that minimizes the magnetic field distortion and displacement error components, adjusting the magnetic pole tilt angle in real time and eliminating mechanical transmission backlash.

[0083] Understandably, in this application, based on the displacement parameters output by the motion error compensation model and the electromagnetic interference attenuation results output by the multi-branch common-mode suppression mechanism, the displacement parameters are analyzed into axial error components and associated with the main peak characteristics of the interference spectrum; a closed-loop control relationship including proportional-integral-differential terms is established through the tilt angle-displacement transfer function model; an iterative optimization algorithm is used to solve for the magnetic pole tilt angle combination that minimizes both the magnetic field distortion and the displacement error components; and the tilt angle is adjusted in real time through an angle actuation mechanism, and high-frequency micro-vibration is applied to eliminate mechanical transmission gaps, forming a closed-loop control path of magnetic field gradient compensation and mechanical vibration suppression.

[0084] For example, the displacement parameter output by the motion error compensation model is analyzed as an X-axis error component of -7.2 μm, and associated with the 150 MHz interference peak characteristic of the multi-branch common-mode suppression output; a transfer function model is constructed with a damping ratio of 0.707 and a natural frequency of 100 rad / s (logic: proportional term responds to displacement change rate, integral term accumulates historical error, differential term predicts trend); iterative optimization is performed using the gradient descent method: the tilt angle combination is initialized [0°, 0°], and the magnetic field distortion of 15 mT and displacement error are calculated. The optimal solution [X-axis +1.2°, Y-axis -0.8°] is obtained by a weighted sum of 7.2μm and three iterations (step size coefficient 0.1), which reduces the distortion to 3.8mT and the error to 1.5μm. The tilt angle is adjusted by a piezoelectric actuator and a 10Hz / 0.1° amplitude sinusoidal jitter is superimposed to eliminate the transmission backlash. When the distortion rebounds beyond the threshold of 5mT, it rolls back to the upper tilt angle [+0.8°, -0.5°], and the core temperature monitoring (80℃ threshold) is triggered simultaneously to link the branch switching mechanism.

[0085] In some of these applications, optimization algorithms are used to solve for the combination of magnetic pole tilt angles that minimizes the magnetic field distortion and displacement error components. The magnetic pole tilt angles are adjusted in real time and mechanical transmission backlashes are eliminated. This includes dynamically controlling the gain parameters based on the vibration frequency; switching to a strong damping mode when the error exceeds the limit; performing adjustment result verification and anomaly rollback mechanisms; and implementing core temperature monitoring and heat dissipation protection strategies, including monitoring the core temperature and triggering heat dissipation protection and branch switching.

[0086] Understandably, in this application, an iterative optimization algorithm is used to solve for the combination of magnetic pole tilt angles that minimizes the magnetic field distortion and displacement error components. The proportional gain parameter of the control loop is dynamically adjusted according to the mechanical vibration frequency. When the magnetic field distortion or displacement error exceeds the limit, the control mode is switched to strong damping mode, sacrificing response speed for stability. The adjustment results are verified and rolled back in abnormal state through a high-precision magnetic field sensor. The common-mode suppression core temperature is monitored simultaneously. When the temperature exceeds the critical threshold, forced air cooling and backup branch switching strategies are triggered to form a closed-loop protection mechanism.

[0087] For example, with a vibration frequency of 120Hz as the input, the proportional gain parameter is dynamically adjusted from the reference value of 0.5 to 0.6 (calculation logic: the reference value is superimposed with a sinusoidal fluctuation term, and the amplitude is 0.1 × the vibration frequency normalization coefficient); when the magnetic field distortion rises to 5mT (preset threshold), the strong damping mode is switched, extending the control response time from 5ms to 20ms; after the tilt angle is adjusted to [+1.2°, -0.8°], the magnetic field verification value of 3.8mT is within tolerance. If an abnormal value of 6.2mT is detected, it is rolled back to the previous effective tilt angle [+0.8°, -0.5°]; when the core temperature reaches 82℃ (exceeding the 80℃ threshold), the cooling fan is started to reduce the temperature to 75℃ and the circuit is switched to the backup branch. The current core loss value is recorded and accumulated to 650 times (lifetime threshold of 1000 times). This temperature data is used to simultaneously optimize the core connection mode decision.

[0088] Another embodiment of the measurement unit stabilization method of the present invention is described below:

[0089] In this embodiment, the three-dimensional displacement trajectory of the measuring unit on the X / Y / Z axes is first collected in real time by a high-precision laser rangefinder. Based on the spatial coordinate transformation algorithm of the quaternion rotation matrix, the displacement data is mapped to the coordinate system of the measuring unit, and a motion error compensation model including the main direction vector of mechanical vibration and the phase offset is established.

[0090] Secondly, an asymmetric magnetic pole distribution design using trapezoidal magnetic conductors is employed. Through a dynamic adjustment mechanism of the magnetic pole cone geometry, the spacing between adjacent magnetic poles decreases nonlinearly along the main direction of mechanical vibration. Combined with a real-time phase difference calculation algorithm between the magnetic circuit intensity gradient direction and the vibration direction, iterative correction of the magnetic pole spacing is triggered when the orthogonality between the two deviates from the threshold range. In the double-layer shielding structure, the inner layer uses a high-conductivity nickel alloy to directionally absorb low-frequency magnetic field interference, while the outer layer uses a high-conductivity copper-aluminum alloy and suppresses high-frequency eddy current diffusion through annular gap thickness compression technology. Simultaneously, a closed-loop annular current orthogonal to the main direction of mechanical vibration is generated at the interface, achieving gradient isolation between internal and external electromagnetic interference sources.

[0091] Finally, based on the multi-branch common-mode suppression mechanism of the star topology grounding network, the impedance matching characteristics of the ferrite core are adopted, and the eddy current effect of the core is combined to make the high-frequency interference signal attenuate by more than 20dB before the loop is closed. The magnetic pole axial tilt angle is adjusted in real time through the displacement correction parameter and the dynamic matching algorithm of the electromagnetic interference source, and finally a closed-loop control path of magnetic field gradient compensation and mechanical vibration suppression is formed.

[0092] The following describes this embodiment in conjunction with application scenarios:

[0093] A high-precision industrial robot faces the problem of excessive measurement error in its end effector under high-speed motion environments. The stability of its electromagnetic torquer decreases due to the coupling effect of mechanical vibration and electromagnetic interference. In this embodiment, a laser ranging device is first used to collect the three-dimensional displacement trajectory in real time and calculate the principal direction vector of mechanical vibration. The asymmetric magnetic pole distribution of the trapezoidal magnetic conductor is dynamically adjusted so that the magnetic pole spacing exhibits a nonlinear decreasing gradient along the principal direction of vibration. In the double-layer shielding structure, the synergistic effect of the inner high-permeability material and the outer high-conductivity material, combined with the closed-loop current generated at the interface, directionally isolates internal and external electromagnetic interference sources. The star-topology grounding network effectively attenuates high-frequency interference signals through a common-mode suppression device. Simultaneously, the closed-loop control module synchronously optimizes the magnetic pole axial tilt angle and the shielding structure gap thickness based on real-time displacement correction parameters. After implementation, the magnetic field distortion caused by mechanical vibration is significantly reduced, the electromagnetic interference suppression efficiency is greatly improved, and the system can still maintain stable operation under high-frequency vibration and strong electromagnetic interference environments, meeting the measurement requirements of high-speed precision operations.

[0094] The following is a detailed explanation:

[0095] Real-time calculation of the phase difference between magnetic circuit gradient and vibration direction, and magnetic pole correction:

[0096] A laser rangefinder (accuracy ±0.1μm) is used to acquire the displacement of the measurement unit in the X / Y / Z axes in real time, while a triaxial MEMS accelerometer (sampling rate 1kHz) is used to capture the vibration frequency and main direction.

[0097] Laser ranging data is used to construct three-dimensional motion trajectories;

[0098] Acceleration data is analyzed using FFT to extract the principal vibration frequency (e.g., 120 Hz) and direction vector (e.g., X-axis deflection of 35°).

[0099] Align the magnetic pole coordinate system with the vibration coordinate system:

[0100] 1) Calculate the principal direction vector V (unit vector) of vibration based on the acceleration data;

[0101] 2) Establish the magnetic circuit gradient direction vector G with the center of the magnetic pole as the origin (calibrated by a preset magnetic field sensor array).

[0102] 3) A quaternion rotation algorithm is used to project V and G onto the same reference system, eliminating measurement errors caused by equipment tilt.

[0103] Next, the real-time angle φ between V and G is calculated, and a correction is triggered when |φ-90°|≥5° (the threshold can be configured by software).

[0104] Anti-interference design: A sliding window mid-range filter (window length 10ms) is used to eliminate outliers caused by transient disturbances.

[0105] The trapezoidal magnetic poles are driven by a miniature linear motor (stroke ±2mm, resolution 1μm) and move along the guide rail.

[0106] A correction sequence is generated based on the phase difference: the spacing between the first magnetic poles (closer to the vibration source) is reduced more significantly, for example, the first magnetic pole is reduced by 50 μm and the second magnetic pole is reduced by 40 μm, decreasing exponentially.

[0107] The tilt angle of the magnetic pole cone is adjusted synchronously, and the magnetic conductive surface is ensured to be continuous (error <0.1°) through feedback from the angle sensor.

[0108] Real-time monitoring of magnetic flux density: When the local magnetic flux is >1.2T, the current magnetic pole adjustment is paused and the compensation of adjacent magnetic poles is started.

[0109] Specifically, a quaternion rotation matrix is ​​defined to achieve dynamic alignment of the coordinate system:

[0110] Where Q is the quaternion calculated based on the vibration direction, and V is the original vibration vector. This represents quaternion multiplication.

[0111] Real-time calculation of the deviation angle between the magnetic circuit gradient direction G and the vibration direction V′: Among them, when Magnetic pole correction is triggered at that time.

[0112] The correction amount Δd for the nth magnetic pole n Generated according to an exponential pattern: ;

[0113] Among them, f n This represents the dominant vibration frequency component corresponding to the nth magnetic pole;

[0114] t: Time variable (unit: seconds), representing the current time;

[0115] e: natural constant;

[0116] It is the real-time deviation angle between the magnetic circuit gradient direction vector and the mechanical vibration direction vector;

[0117] Multi-branch common-mode rejection in star topology grounding networks:

[0118] Select a Mn-Zn ferrite toroidal core (outer diameter 12mm, inner diameter 8mm, thickness 2mm), with a single core DC resistance ≤0.1Ω and an initial inductance of 100μH.

[0119] High-frequency optimization: A 5μm silver layer is plated on the surface of the magnetic core to reduce contact resistance and enhance eddy current effect.

[0120] Each grounding branch has four magnetic cores connected in parallel, using a "sandwich" structure:

[0121] The inner layer has two magnetic cores with 10 turns of wire, focusing on suppressing low-frequency magnetic fields;

[0122] The outer two magnetic cores are wound with five turns of wire, separated by a 1mm air layer to increase the high-frequency eddy current density;

[0123] The 120° phase difference between branches creates a rotating magnetic field that cancels out common-mode interference.

[0124] in:

[0125] Low frequency band (<10MHz): The high permeability of the magnetic core blocks interference circuits;

[0126] High frequency band (>50MHz): Eddy currents form a reverse magnetic field on the surface of the magnetic core, and the measured interference attenuation at 100MHz is 23.5dB;

[0127] 3) Adaptive switching: When interference >50MHz is detected, the magnetic core connection method is automatically switched from series to parallel.

[0128] An NTC thermistor (accuracy ±0.5℃) is embedded inside the magnetic core. When the temperature is >80℃:

[0129] Turn on the cooling fan for forced air cooling;

[0130] Switch the load to the backup branch;

[0131] Record the lifespan of the magnetic core and prompt for replacement after more than 1000 temperature cycles.

[0132] Specifically, the eddy current attenuation quantization formula is as follows:

[0133] Calculation of high-frequency interference attenuation amplitude: ;

[0134] Where μ′′=2500 is the imaginary permeability of the magnetic core, t=2mm is the core thickness, and ρ=5×103Ω⋅m is the resistivity.

[0135] Calculation of the number of branches in the magnetic core:

[0136] Number of magnetic cores required to guarantee 20dB attenuation: ;

[0137] Displacement-Electromagnetic Interference Dynamic Matching and Closed-Loop Control:

[0138] Input the three-dimensional displacement correction ΔD (accuracy 0.1μm) of the laser rangefinder; the magnetic field distortion data ΔB (resolution 0.1mT) of the Hall sensor array; and the interference spectrum characteristics (0-500MHz) of the current sensor.

[0139] The following process is executed every 5ms:

[0140] Parameter decoupling: Decompose the displacement error into X / Y / Z axis components and associate them with the main peak of the interference spectrum (e.g., X-axis displacement error corresponds to 150MHz interference).

[0141] Jacobian matrix update: The rate of change of magnetic field gradient is calculated by using a small perturbation (±0.05°) of magnetic pole tilt angle, and a control model is established;

[0142] Optimization solution: The gradient descent method is used to find the magnetic pole tilt angle combination that minimizes the error between ΔB and ΔD, while constraining the adjustment range (single tilt angle change <0.5°).

[0143] The magnetic pole tilt angle is adjusted by a piezoelectric ceramic driver (resolution 0.01°), and the control signal is output through a DAC module (16-bit precision).

[0144] The driver is preloaded with a sinusoidal jitter signal (frequency 10Hz, amplitude 0.1°) to eliminate mechanical transmission backlash.

[0145] When the error exceeds the threshold, it switches to strong damping mode, sacrificing response speed for stability;

[0146] Each adjustment is verified a second time by a magnetic field sensor, and if an anomaly occurs, the system rolls back to the previous state.

[0147] Specifically, the displacement-magnetic field transfer function is as follows:

[0148] ;

[0149] Where ζ=0.707 is the damping ratio and ωn=100rad / s is the natural frequency.

[0150] θ(s): The output of the system, which is the representation of the magnetic pole tilt angle θ in the complex frequency domain (s-domain);

[0151] D(s): The input quantity of the system, which is the representation of displacement D in the complex frequency domain (s-domain).

[0152] Kp: Proportional gain, the portion of the controller that is proportional to the current error, which affects the system's response speed;

[0153] Kd: Differential gain, the portion of the controller proportional to the rate of change of error, provides damping, reduces overshoot, and ensures a smooth response.

[0154] Ki: Integral gain, the portion of the controller that is proportional to the integral of the error, used to eliminate steady-state error;

[0155] S 3 This indicates that the system is a third-order system;

[0156] : The square of the natural frequency.

[0157] Dynamically adjust the proportional gain to match the vibration frequency:

[0158] .

[0159] Among them, K p (t): Proportional gain.

[0160] For the purpose of simplicity, the method steps disclosed in the above embodiments are described as a series of actions. However, those skilled in the art should understand that the embodiments of the present invention are not limited to the described order of actions, because according to the embodiments of the present invention, some steps can be performed in other orders or simultaneously. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are all preferred embodiments, and the actions involved are not necessarily essential to the embodiments of the present invention.

[0161] like Figure 2 As shown, the present invention also provides a measurement unit stabilization system, comprising:

[0162] The compensation model generation module 201 is configured to respond to the real-time acquired three-dimensional displacement trajectory data, map the three-dimensional displacement trajectory data to the measurement unit coordinate system based on the spatial coordinate transformation algorithm, and establish a motion error compensation model including mechanical vibration direction vector and phase offset.

[0163] The magnetic pole spacing correction module 202 is configured to be based on asymmetric magnetic pole distribution. By dynamically adjusting the geometric characteristics of the magnetic poles, the spacing between adjacent magnetic poles is made to decrease nonlinearly along the mechanical vibration direction vector. The phase difference between the magnetic circuit gradient direction vector and the mechanical vibration direction vector is calculated. When the orthogonality deviates from the preset angle threshold, the magnetic pole spacing correction is triggered.

[0164] The gradient isolation module 203 is configured to adopt a double-layer shielding structure based on the asymmetric magnetic pole distribution, suppress eddy current diffusion through gap compression, and generate a closed-loop current at the interface that is orthogonal to the direction vector of the mechanical vibration to achieve gradient isolation.

[0165] The attenuation amplitude control module 204 is configured to use a multi-branch common-mode suppression mechanism to make the interference signal reach a predetermined attenuation amplitude before the loop is closed by combining the magnetic core impedance matching characteristics with the eddy current effect.

[0166] The closed-loop control path module 205 is configured to dynamically match the displacement parameters output by the motion error compensation model with the electromagnetic interference attenuation results output by the multi-branch common-mode suppression mechanism, and adjust the magnetic pole tilt angle in real time to form a closed-loop control path for magnetic field gradient compensation and mechanical vibration suppression.

[0167] It is worth noting that although only some basic functional modules are disclosed in the embodiments of this invention, it does not mean that the composition of this system is limited to the above-mentioned basic functional modules. On the contrary, what this embodiment intends to express is that, based on the above-mentioned basic functional modules, those skilled in the art can arbitrarily add one or more functional modules in combination with existing technology to form an infinite number of embodiments or technical solutions. That is to say, this system is open rather than closed. The fact that this embodiment only discloses a few basic functional modules should not be considered as the scope of protection of the claims of this invention being limited to the disclosed basic functional modules. At the same time, for the convenience of description, the above device is described separately according to its functions as various units and modules. Of course, in implementing this invention, the functions of each unit and module can be implemented in one or more software and / or hardware.

[0168] like Figure 3 As shown, the present invention also provides an electronic device, including: a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other through the communication bus; the memory stores a computer program, and when the computer program is executed by the processor, the processor performs the steps of a measurement unit stabilization method.

[0169] Figure 3 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention. For example... Figure 3 The structure shown in this embodiment of the invention includes an electronic device comprising one or more processors 710 and a memory 720; the processors 710 in this electronic device may be one or more. Figure 3 Taking a processor 710 as an example; memory 720 is used to store one or more programs; the one or more programs are executed by the one or more processors 710, causing the one or more processors 710 to implement a measurement unit stabilization method as described in any one of the embodiments of the present invention.

[0170] The electronic device may also include an input device 730 and an output device 740.

[0171] The processor 710, memory 720, input device 730, and output device 740 in this electronic device can be connected via a bus or other means. Figure 3 Taking the example of a connection between China and Israel via a bus.

[0172] The memory 720 in this electronic device serves as a computer-readable storage medium, capable of storing one or more programs. These programs can be software programs, computer-executable programs, or modules, such as the program instructions / modules corresponding to the measurement unit stabilization method provided in this embodiment of the invention. The processor 710 executes various functional applications and data processing of the electronic device by running the software programs, instructions, and modules stored in the memory 720, thereby implementing the measurement unit stabilization method described in the above embodiment.

[0173] The memory 720 may include a program storage area and a data storage area. The program storage area may store the operating system and applications required for at least one function; the data storage area may store data created based on the use of the electronic device. Furthermore, the memory 720 may include high-speed random access memory and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other non-volatile solid-state storage device. In some instances, the memory 720 may further include memory remotely located relative to the processor 710, which can be connected to the device via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0174] Input device 730 can be used to receive input digital or character information, and to generate key signal inputs related to user settings and function control of the electronic device. Output device 740 may include display devices such as a display screen.

[0175] The present invention also provides a computer-readable storage medium storing a computer program executable by an electronic device, which, when run on the electronic device, causes the electronic device to perform the steps of a measurement unit stabilization method.

[0176] Specifically, the computer storage medium in this embodiment of the invention can be any combination of one or more computer-readable media. The computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. For example, a computer-readable storage medium can be—but is not limited to—an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of computer-readable storage media (a non-exhaustive list) include: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this embodiment, the computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0177] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for stabilizing a measurement unit, characterized in that, include: In response to the real-time acquired three-dimensional displacement trajectory data, the three-dimensional displacement trajectory data is mapped to the measurement unit coordinate system based on the spatial coordinate transformation algorithm, and a motion error compensation model including mechanical vibration direction vector and phase offset is established. Based on the asymmetric magnetic pole distribution, the geometric characteristics of the magnetic poles are dynamically adjusted to make the spacing between adjacent magnetic poles decrease nonlinearly along the direction vector of mechanical vibration. The phase difference between the magnetic circuit gradient direction vector and the mechanical vibration direction vector is calculated, and magnetic pole spacing correction is triggered when the orthogonality deviates from the preset angle threshold. Based on the asymmetric magnetic pole distribution, a double-layer shielding structure is adopted to suppress eddy current diffusion through gap compression, while generating a closed-loop current at the interface that is orthogonal to the direction vector of the mechanical vibration to achieve gradient isolation. Based on the multi-branch common-mode suppression mechanism, the interference signal is reduced to a predetermined attenuation level before the loop is closed by combining the magnetic core impedance matching characteristics with the eddy current effect. The displacement parameters output by the motion error compensation model are dynamically matched with the electromagnetic interference attenuation results output by the multi-branch common-mode suppression mechanism, and the magnetic pole tilt angle is adjusted in real time to form a closed-loop control path for magnetic field gradient compensation and mechanical vibration suppression.

2. The measurement unit stabilization method according to claim 1, characterized in that, In response to the real-time acquired three-dimensional displacement trajectory data, the three-dimensional displacement trajectory data is mapped to the measurement unit coordinate system based on a spatial coordinate transformation algorithm, and a motion error compensation model including mechanical vibration direction vector and phase offset is established, further including: Simultaneously acquire three-dimensional displacement trajectory data, as well as vibration frequency and vibration direction information; The three-dimensional displacement trajectory data is mapped to the coordinate system of the measurement unit through quaternion rotation operations; Mechanical vibration direction vector and phase offset are extracted from the mapped 3D displacement trajectory data. Construct and output a motion error compensation model that includes the mechanical vibration direction vector and phase offset.

3. The measurement unit stabilization method according to claim 1, characterized in that, Based on asymmetric magnetic pole distribution, the geometric characteristics of the magnetic poles are dynamically adjusted to make the spacing between adjacent magnetic poles decrease non-linearly along the direction vector of mechanical vibration. This is combined with the phase difference calculation between the magnetic circuit gradient direction vector and the mechanical vibration direction vector. When the orthogonality deviates from a preset angle threshold, magnetic pole spacing correction is triggered. Further, this includes: Calculate the real-time deviation angle between the magnetic circuit gradient direction vector and the mechanical vibration direction vector; When the difference between the deviation angle and the orthogonal reference angle exceeds a preset angle threshold, a magnetic pole spacing correction amount is generated according to a nonlinear law; The position is adjusted so that the distance between the magnetic poles is distributed in a gradient along the direction vector of mechanical vibration.

4. The measurement unit stabilization method according to claim 1, characterized in that, Based on the aforementioned asymmetric magnetic pole distribution, a double-layer shielding structure is adopted. Eddy current diffusion is suppressed through gap compression, and a closed-loop current orthogonal to the mechanical vibration direction vector is generated at the interface to achieve gradient isolation. Further, it includes: The double-layer shielding structure uses a high-permeability alloy for the inner layer to absorb low-frequency magnetic field interference, and a high-conductivity alloy for the outer layer to suppress high-frequency eddy currents by combining gap compression. A closed-loop current orthogonal to the direction vector of mechanical vibration is generated at the shielding interface, and the electromagnetic interference source is gradient isolated through the synergistic effect of the current gradient and material properties.

5. The measurement unit stabilization method according to claim 1, characterized in that, Based on a multi-branch common-mode suppression mechanism, the interference signal is attenuated to a predetermined level before the loop is closed by combining the magnetic core impedance matching characteristics with the eddy current effect. Further, it includes: Ferrite cores with conductive layers coated on the parallel surfaces of branches in a star network; A layered winding structure is used to achieve broadband interference suppression, with the inner core focusing on low-frequency blocking and the outer core increasing high-frequency eddy current density. Calculation of high-frequency interference attenuation amplitude based on core material properties; The magnetic core connection mode is dynamically switched according to the interference frequency band to achieve the predetermined attenuation level.

6. The measurement unit stabilization method according to claim 2, characterized in that, Based on the dynamic matching of the displacement parameters output by the motion error compensation model and the electromagnetic interference attenuation results output by the multi-branch common-mode suppression mechanism, the magnetic pole tilt angle is adjusted in real time to form a closed-loop control path for magnetic field gradient compensation and mechanical vibration suppression, further including: The displacement error component of the displacement parameter output by the motion error compensation model is correlated with the interference spectrum characteristics of the electromagnetic interference attenuation result output by the multi-branch common-mode suppression mechanism. Establish closed-loop control relationships using transfer function models; An optimization algorithm is used to solve for the combination of magnetic pole tilt angles that minimizes the magnetic field distortion and displacement error components, and the magnetic pole tilt angles are adjusted in real time to eliminate mechanical transmission backlash.

7. The measurement unit stabilization method according to claim 6, characterized in that, An optimization algorithm is used to solve for the combination of magnetic pole tilt angles that minimizes the magnetic field distortion and displacement error components. The magnetic pole tilt angles are adjusted in real time, and mechanical transmission backlash is eliminated. Further steps include: The gain parameters are dynamically controlled based on the vibration frequency. Switch to strong damping mode when the error exceeds the limit; Implement a mechanism for verifying adjustment results and rolling back in case of anomalies. Implement a core temperature monitoring and heat dissipation protection strategy, including monitoring the core temperature and triggering heat dissipation protection and branch switching.

8. A measurement unit stabilization system, characterized in that, include: The compensation model generation module is configured to respond to the real-time acquired three-dimensional displacement trajectory data, and map the three-dimensional displacement trajectory data to the measurement unit coordinate system based on the spatial coordinate transformation algorithm to establish a motion error compensation model that includes mechanical vibration direction vector and phase offset. The magnetic pole spacing correction module is configured to be based on asymmetric magnetic pole distribution. By dynamically adjusting the geometric characteristics of the magnetic poles, the spacing between adjacent magnetic poles is made to decrease nonlinearly along the direction vector of mechanical vibration. The module is combined with the phase difference between the magnetic circuit gradient direction vector and the mechanical vibration direction vector. When the orthogonality deviates from the preset angle threshold, the magnetic pole spacing correction is triggered. The gradient isolation module is configured to be based on the asymmetric magnetic pole distribution, adopting a double-layer shielding structure, suppressing eddy current diffusion through gap compression, and generating a closed-loop current at the interface that is orthogonal to the direction vector of the mechanical vibration to achieve gradient isolation; The attenuation amplitude control module is configured to be based on a multi-branch common-mode suppression mechanism, which uses the magnetic core impedance matching characteristics combined with the eddy current effect to make the interference signal reach a predetermined attenuation amplitude before the loop is closed. The closed-loop control path module is configured to dynamically match the displacement parameters output by the motion error compensation model with the electromagnetic interference attenuation results output by the multi-branch common-mode suppression mechanism, and adjust the magnetic pole tilt angle in real time to form a closed-loop control path for magnetic field gradient compensation and mechanical vibration suppression.

9. An electronic device, characterized in that, include: The system includes a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other via the communication bus; the memory stores a computer program, which, when executed by the processor, causes the processor to perform the steps of the method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, It stores a computer program executable by an electronic device, which, when run on the electronic device, causes the electronic device to perform the steps of the method according to any one of claims 1 to 7.

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