Adaptive control method, system and device for space station electrostatic levitation experiment

Abstract

The application relates to the technical field of space material science experiments, and discloses a self-adaptive control method, system and equipment for electrostatic suspension experiments of a space station. The method comprises the following steps: acquiring a real-time position of a sample and a real-time speed of the sample through image acquisition and processing; determining a position deviation between an actual position of the sample and a target control position according to the real-time position of the sample; determining a control voltage reference value by using a PID algorithm based on the position deviation; determining a sample charge polarity change condition according to the position deviation and the real-time speed of the sample; and dynamically adjusting an electrode voltage according to the sample charge polarity change condition and the control voltage reference value, so as to ensure stable suspension of the sample in a heating process. Through multi-dimensional determination based on the sample position and the speed, the application autonomously identifies sample charge polarity inversion, automatically changes the voltage polarity according to the sample charge polarity change, realizes real-time response to sample charge polarity mutation, and ensures stable suspension control in a microgravity environment.

Description

Technical Field

[0001] This invention relates to the fields of electrostatic levitation control and space materials science experimental technology, and in particular to an adaptive control method, system and equipment for electrostatic levitation experiments on space stations. Background Technology

[0002] Electrostatic levitation technology for space stations, as a core means of realizing containerless material processing in space, can avoid chemical contamination and heterogeneous nucleation caused by sample-container contact, providing a unique experimental platform for studying the thermodynamic properties of materials and exploring the structure of non-equilibrium matter. Especially in a microgravity environment, this technology can significantly reduce gravitational interference and is a key technology for revealing the intrinsic properties of materials.

[0003] In electrostatic levitation experiments, stable control of the sample heating process is a significant challenge. When the material temperature exceeds a critical value, the polarity of its surface charge will reverse. For example, the charge polarity of zirconium metal changes from positive to negative at 900K and then from negative to positive at 1300K. This polarity reversal can cause the levitation force to suddenly reverse, leading to sample loss of control.

[0004] Existing control schemes have significant limitations. While the commonly used terrestrial ultraviolet lamp charging method can replenish positive charges, it is prone to gas ionization and high-voltage discharge, and has high energy consumption. Traditional control algorithms can only adapt to changes in the amount of charge and cannot cope with scenarios involving sudden changes in the polarity of the sample charge. At the same time, resources are limited and safety requirements are stringent in microgravity environments, making it difficult to carry complex auxiliary equipment and placing extremely high demands on control accuracy (±0.1 mm) and response speed (millisecond level).

[0005] Therefore, developing high-precision adaptive control technology that can autonomously identify charge polarity reversal, requires no additional charge compensation, and adapts to the special space environment is of great significance for achieving stable operation of electrostatic levitation experiments on the space station and expanding the boundaries of space materials science research. Summary of the Invention

[0006] To address the problem of positional instability caused by sudden changes in charge polarity during sample heating in electrostatic levitation experiments on space stations, which cannot be solved by existing technologies, this invention aims to provide an adaptive control method, system, and device for electrostatic levitation experiments on space stations. By autonomously identifying changes in charge polarity and adjusting the control strategy in real time, stable adaptive control of the sample position can be achieved without relying on auxiliary equipment such as ultraviolet lamps, thereby improving the safety and reliability of space experiments.

[0007] In a first aspect, this application provides an adaptive control method for an electrostatic levitation experiment on a space station, comprising:

[0008] The real-time position and velocity of the sample in the electrostatic levitation experiment on the space station were obtained through image acquisition and processing.

[0009] Determine the positional deviation between the actual sample position and the target control position based on the real-time position of the sample.

[0010] The control voltage reference value is determined using a PID algorithm based on the position deviation.

[0011] The change in sample charge polarity is determined based on positional deviation and real-time sample velocity;

[0012] The electrode voltage of the space station electrostatic levitation experiment is dynamically adjusted based on the change in sample charge polarity and the control voltage reference value to ensure stable levitation of the sample during the heating process.

[0013] Secondly, this application provides an adaptive control system for an electrostatic levitation experiment on a space station, comprising:

[0014] The data acquisition and processing module is used to acquire the real-time position and velocity of the sample in the electrostatic levitation experiment on the space station through image acquisition and processing.

[0015] The position deviation determination module is used to determine the position deviation between the actual position of the sample and the target control position based on the real-time position of the sample.

[0016] The voltage reference determination module is used to determine the control voltage reference value based on the position deviation using a PID algorithm.

[0017] The charge polarity determination module is used to determine the change in sample charge polarity based on positional deviation and real-time sample velocity.

[0018] The electrode voltage adjustment module is used to dynamically adjust the electrode voltage of the space station electrostatic levitation experiment according to the change of sample charge polarity and the control voltage reference value, so as to ensure the stable levitation of the sample during the heating process.

[0019] Thirdly, this application provides a computer-readable storage medium including instructions that, when executed on a computer, cause the computer to perform the adaptive control method for electrostatic levitation experiments on a space station as provided in the above technical solution.

[0020] Fourthly, this application provides an electronic device, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the adaptive control method for electrostatic levitation experiments on a space station as provided in the above technical solution.

[0021] Fifthly, this application also provides a computer program product comprising computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform the adaptive control method for electrostatic levitation experiments on a space station provided above.

[0022] The beneficial effects of this invention are: by multi-dimensional determination based on sample position and velocity, it autonomously identifies sample charge polarity reversal and automatically changes the voltage polarity of the experimental high-voltage electrode according to the change in sample charge polarity, achieving real-time response to sudden changes in sample charge polarity and real-time adjustment of the control strategy to ensure stable suspension control of the sample under microgravity conditions. Simultaneously, it eliminates the need to rely on ultraviolet lamps to replenish positive charge, effectively reducing the energy consumption and hardware costs of the space station.

[0023] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0024] Figure 1 A flowchart illustrating an adaptive control method for an electrostatic levitation experiment on a space station, as shown in an exemplary embodiment of this application;

[0025] Figure 2 A schematic diagram of the electrostatic levitation experiment system for the space station;

[0026] Figure 3 for Figure 1 A flowchart of step S4 in an exemplary embodiment shown in the illustrated example;

[0027] Figure 4 for Figure 1 Step S5 in the illustrated embodiment is shown in a flowchart of an exemplary embodiment.

[0028] Figure 5 A logic flowchart illustrating an adaptive control method for an electrostatic levitation experiment on a space station, as shown in another exemplary embodiment of this application;

[0029] Figure 6 The response curve of the sample position over time before and after the sample charge polarity reversal is shown in an exemplary embodiment of this application.

[0030] Figure 7 for Figure 6 The embodiment shown depicts the temperature response curve of the sample before and after the sample charge polarity reversal over time.

[0031] Figure 8 This is a block diagram of an adaptive control system for an electrostatic levitation experiment on a space station, as illustrated in an exemplary embodiment of this application. Detailed Implementation

[0032] The following specific examples illustrate the implementation of this disclosure. Those skilled in the art can easily understand other advantages and effects of this disclosure from the content disclosed in this specification. Obviously, the described embodiments are only a part of the embodiments of this disclosure, and not all of them. This disclosure can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of this disclosure. It should be noted that, in the absence of conflict, the following embodiments and features in the embodiments can be combined with each other. Based on the embodiments in this disclosure, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this disclosure.

[0033] It should be noted that various aspects of embodiments within the scope of the appended claims are described below. It will be apparent that the aspects described herein can be embodied in a wide variety of forms, and any particular structure and / or function described herein is merely illustrative. Based on this disclosure, those skilled in the art will understand that one aspect described herein can be implemented independently of any other aspect, and two or more of these aspects can be combined in various ways. For example, any number of aspects set forth herein can be used to implement the device and / or practice the method. Additionally, this device and / or method can be implemented using structures and / or functionalities other than one or more of the aspects set forth herein.

[0034] The solutions provided in this invention can be executed by any electronic device, such as a terminal device, or by a terminal device and a server. The server can be a standalone server, or a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, content delivery networks (CDNs), and big data and artificial intelligence platforms. No restrictions are imposed here.

[0035] Figure 1 This is a flowchart illustrating an adaptive control method for an electrostatic levitation experiment on a space station, as shown in an exemplary embodiment of this application. Figure 1 As shown in an exemplary embodiment, the adaptive control method for the electrostatic levitation experiment of the space station may include steps S1 to S5, which are described in detail below:

[0036] S1 acquires the real-time position and velocity of the sample in the electrostatic levitation experiment on the space station through image acquisition and processing.

[0037] like Figure 2 As shown, this embodiment of the invention uses a high-speed camera to continuously acquire images of the sample in the position-controlled area, with a sampling frequency that can be set to 720Hz. During image acquisition, a linear light source with a wavelength of 660nm can be used as the illumination source, which can completely cover the electrode-controllable area. After the laser beam is focused on the suspended center of the sample target, it is reflected by the sample surface to form a significant grayscale contrast with the background. The reflected light signal is received by the photoelectric sensor of the high-speed camera and converted into an electrical signal. The image data is transmitted to the GPU processing unit via Ethernet. Based on the image grayscale distribution, the GPU uses a processing flow of "low-pass filtering noise reduction - Canny operator edge detection - area moment centroid extraction" to achieve sub-pixel-level edge detection, and then calculates the real-time coordinates of the sample in the two-dimensional plane. Combined with the angular layout of the two cameras in space, the real-time actual position coordinates (Xt, Yt, Zt) of the sample in the three dimensions of X, Y, and Z are calculated.

[0038] In this embodiment of the invention, the real-time velocity of the sample in the X, Y, and Z dimensions at the current moment can be obtained by dividing the difference between the actual position coordinates of the sample at the current moment and the actual position coordinates of the sample at the previous moment by the length of the time interval between the current moment and the previous moment.

[0039] S2, determine the positional deviation between the actual position of the sample and the target control position based on the real-time position of the sample.

[0040] In this embodiment of the invention, the actual position coordinates of the sample are... With respect to the preset target floating coordinates By comparison, the positional deviations in the X, Y, and Z directions are obtained respectively. , , .

[0041] S3, the control voltage reference value is determined using a PID algorithm based on the position deviation.

[0042] In this embodiment of the invention, based on the position deviation amount An incremental PID algorithm is used to calculate the control voltage reference value. The formula for calculating the control voltage reference value is as follows:

[0043]

[0044]

[0045] in, express time The control voltage reference value for the directional electrode. express time The control voltage reference value for the directional electrode. express time Voltage increment of the directional electrode, Represents the proportionality coefficient. Represents the integration time constant. Represents the differential time constant. Indicates the sampling period. express Time Sample Positional deviation in direction express Time Sample Positional deviation in direction express Time Sample Positional deviation in direction.

[0046] S4 determines the change in sample charge polarity based on positional deviation and real-time sample velocity.

[0047] In this embodiment of the invention, by multi-dimensional determination based on sample position and velocity, the polarity reversal of sample charge is autonomously identified, and then the polarity of the high-voltage electrode used in the experiment is controlled by the change in sample charge polarity. This achieves stable suspension control of various metal and non-metal samples during the heating and melting process in containerless sample experiments on the space station, and solves the problem of suspension runaway caused by sudden change in charge polarity.

[0048] S5 dynamically adjusts the electrode voltage of the space station electrostatic levitation experiment based on the change in sample charge polarity and the control voltage reference value to ensure stable levitation of the sample during the heating process.

[0049] This invention, through multi-dimensional determination based on sample position and velocity, autonomously identifies sample charge polarity reversal and automatically adjusts the voltage polarity of three electrodes according to the change in sample charge polarity. This enables real-time response to sudden changes in sample charge polarity and real-time adjustment of the control strategy, ensuring stable suspension control of the sample in a microgravity environment. Simultaneously, it eliminates the need for ultraviolet lamps to replenish positive charge, effectively reducing the space station's energy consumption and hardware costs.

[0050] Please see Figure 3 , Figure 3 for Figure 1 The flowchart of step S4 in the illustrated embodiment is shown in an exemplary embodiment. Figure 3 As shown, step S4 can specifically include steps S41 to S43, through which the change in sample charge polarity is obtained, as detailed below:

[0051] S41, every first time interval, determine the relationship between the sample Z-direction position deviation and the position deviation threshold. When the first preset condition is met, the number of first charge polarity changes is incremented once.

[0052] In this embodiment of the invention, the first preset condition may include: the absolute value of the sample's Z-direction position deviation at the previous time is less than or equal to the position deviation threshold, and the absolute value of the sample's Z-direction position deviation at the current time is greater than the position deviation threshold.

[0053] In this embodiment of the invention, the first time interval can be 7 time steps, and the position deviation threshold can be [missing information]. That is, the position deviation of the sample in the Z direction is determined every 7 time steps, and the position deviation of the sample in the Z direction at the current time is recorded as follows. The Z-direction position deviation of the sample at the previous moment is recorded as follows: When the positional deviation satisfies and When this occurs, it indicates that the position deviation exceeds the position deviation threshold. Then the number of times the polarity of the first charge changes Increment by 1, and the charge polarity reverses once. This indicates that the sample position deviation exceeds the position deviation threshold. The number of times.

[0054] In this embodiment of the invention, the Z-direction position deviation is determined every 7 time steps, thereby effectively solving the problem of sample Z-direction position deviation at the current moment. The sampling frequency is too fast, causing data fluctuations in the current position deviation e1, which can lead to misjudgments. Furthermore, this embodiment of the invention determines the sample's Z-direction position deviation at every first time interval, thereby effectively identifying phenomena where the sample deviates uncontrollably from the target control position due to a sudden change in charge polarity caused by an increase in sample heating temperature.

[0055] S42, every second time interval, determine the relationship between the sample's real-time velocity in the Z direction and the real-time velocity threshold. When the second preset condition is met, the number of second charge polarity changes is incremented once. The second time interval is greater than the first time interval.

[0056] In this embodiment of the invention, the second preset condition may include: the absolute value of the real-time velocity of the sample in the Z direction at the previous moment is less than or equal to the real-time velocity threshold, and the absolute value of the real-time velocity of the sample in the Z direction at the current moment is greater than the real-time velocity threshold, and the absolute value of the position deviation of the sample in the Z direction at the current moment is greater than the position deviation threshold, and the product of the number of first charge polarity changes and the real-time velocity of the sample in the Z direction at the current moment is greater than zero.

[0057] In this embodiment of the invention, the second time interval can be 21 time steps, and the real-time speed threshold is... That is, the sample's Z-direction velocity is determined every 21 time steps, and the sample's Z-direction velocity at the current moment is recorded as follows. The sample's Z-direction velocity at the previous moment was When both conditions are met , , and When this occurs, it indicates that the real-time speed exceeds the speed threshold. The sample accelerates out, and at this time, the number of times the polarity of the second charge changes... Increment by 1, and the charge polarity reverses once. This indicates that the sample velocity exceeds the real-time velocity threshold. The number of times.

[0058] In this embodiment of the invention, the sample's Z-direction velocity is determined every 21 time steps, which can effectively solve the problem of determining the sample's Z-direction velocity at the current moment. The sampling frequency is too fast, and the sample's Z-axis velocity... The data fluctuations can lead to misjudgments. This invention addresses this issue by determining the sample's real-time velocity in the Z-direction at each second time interval. This effectively identifies situations where the sample deviates too far from the center, exceeding the laser beam's irradiation range, causing a temperature drop and resulting in a change in charge polarity.

[0059] S43. Determine the total number of charge polarity changes based on the sum of the number of first charge polarity changes and the number of second charge polarity changes.

[0060] Specifically, the total number of charge polarity changes , Indicates the number of times the polarity of the first charge changes. This indicates the number of times the polarity of the second charge changes.

[0061] This invention autonomously identifies sample charge polarity reversal by multi-dimensional determination based on sample position and velocity, and then controls the polarity of the high-voltage electrode used in the experiment by changing the sample charge polarity. This achieves stable suspension control of various metal and non-metal samples during the heating and melting process in containerless sample experiments on the space station, and solves the problem of suspension runaway caused by sudden changes in charge polarity.

[0062] Please see Figure 4 , Figure 4 for Figure 1 The flowchart of step S5 in the illustrated embodiment is shown in an exemplary embodiment. Figure 4 As shown, step S5 may specifically include steps S51 to S53, through which the electrode voltage of the space station electrostatic levitation experiment is dynamically adjusted. A detailed description follows:

[0063] S51, determine the current charge polarity of the sample based on the initial charge polarity and the total number of charge polarity changes;

[0064] S52, Determine the voltage polarity of the high-voltage electrode in the space station electrostatic levitation experiment based on the current charge polarity of the sample;

[0065] S53, determine the electrode voltage of the high-voltage electrode based on the voltage polarity and the control voltage reference value. The electrode voltage calculation formula is as follows:

[0066]

[0067] In the formula, express time The actual voltage of the directional electrode. This indicates the total number of changes in charge polarity. express time The reference value for the control voltage of the directional electrode.

[0068] In this embodiment of the invention, the polarity of the high-voltage electrode used in the experiment is controlled by identifying changes in the polarity of the sample charge, and the control strategy is adjusted in real time to achieve stable adaptive control of the sample position. This eliminates the need for auxiliary equipment such as ultraviolet lamps, thereby improving the safety and reliability of space experiments.

[0069] Figure 5 The following is a logic flowchart illustrating an adaptive control method for an electrostatic levitation experiment on a space station, as shown in another exemplary embodiment of this application. Figure 5 As shown, the adaptive control method used for the electrostatic levitation experiment of the space station includes the following steps:

[0070] 1. Acquire images of the sample in the position control area of ​​the electrostatic levitation experiment;

[0071] 2. Process the acquired images to obtain the three-dimensional coordinates of the sample. ;

[0072] 3. Calculate the positional deviation of the sample in three dimensions. , , and the velocity in the Z direction ;

[0073] 4. The electrode voltage increment and voltage reference value are determined using a PID algorithm based on the sample position deviation;

[0074] 5. At each first time interval, the position deviation of the sample in the Z direction is judged, and the number of times the first charge polarity changes when the first preset condition is met is determined. Increment by 1;

[0075] 6. The real-time velocity of the sample in the Z direction is determined every second preset time interval. When the second preset condition is met, the number of times the second charge polarity changes is... Increment by 1;

[0076] 7. Based on the number of times the polarity of the first charge changes. Number of times the second charge polarity changes The sum of these values ​​yields the total number of charge polarity changes. ;

[0077] 8. Determine the current charge polarity of the sample based on its initial charge polarity and the total number of charge polarity changes.

[0078] 9. Determine the electrode voltage of the high-voltage electrode based on the current charge polarity of the sample and the control voltage reference value.

[0079] The following example, using the electrostatic levitation experiment of a zirconium (Zr) sample in a space station, illustrates the specific implementation steps of this invention:

[0080] 1. The sample comes into contact with a negatively charged high-voltage electrode and acquires an initial negative charge.

[0081] 2. Before heating, the sample charge remains unchanged from its initial state, thus eliminating the need to determine the position and velocity based on charge polarity. After the sample enters the position control region, the control voltage is calculated using PID control to keep the sample stably suspended at the target position.

[0082] 3. Activate position and speed determination, and then turn on the laser to heat the sample. Although the charge polarity of the sample may change during the heating process, causing the position to deviate from the target position, the system can automatically identify the charge polarity state and change the control voltage in time to ensure that the sample can automatically return to the target position to continue heating.

[0083] Figure 6 This embodiment of the present application illustrates the response curve of the sample position over time before and after the sample charge polarity reversal. Figure 7 for Figure 6 The illustrated embodiment shows the sample temperature response curve over time before and after the sample charge polarity reversal. Figure 6 and Figure 7 As shown, before heating, the sample is located at the center of the target position, and at this time, the sample carries an initial negative charge. Then, adaptive control is activated, and heating is performed. The initial parameters of the adaptive control are set as follows: position deviation threshold. Speed ​​threshold Count of the total number of charge polarity changes When the sample was heated to around 1350K, the Z-axis position of the sample was detected to exceed the position deviation threshold. Record the number of times the polarity of the first charge changes. Speed ​​exceeds speed threshold 0 times, record the number of times the polarity of the second charge changes. ,thus This indicates that the charge polarity has changed to positive charge. The electrode voltage is reversed to maintain stable control, and heating continues until the sample melts.

[0084] In containerless sample experiments on the space station, the adaptive control method provided in this invention successfully achieved stable suspension control of various metal and non-metal samples during the heating and melting process, which can solve the problem of suspension runaway caused by sudden changes in charge polarity. At the same time, it does not require the use of ultraviolet lamps to replenish positive charge, effectively reducing the energy consumption and hardware cost of the space station.

[0085] Figure 8 This is a block diagram of an adaptive control system for an electrostatic levitation experiment on a space station, illustrated as an exemplary embodiment of this application. Figure 8 As shown in an exemplary embodiment, the adaptive control system for the electrostatic levitation experiment on a space station may include a data acquisition and processing module, a position deviation determination module, a voltage reference determination module, a charge polarity determination module, and an electrode voltage adjustment module. Details are as follows:

[0086] The data acquisition and processing module is used to acquire the real-time position and velocity of the sample in the space station electrostatic levitation experiment through image acquisition and processing; the position deviation determination module is used to determine the position deviation between the actual position and the target control position of the sample based on the real-time position of the sample; the voltage reference determination module is used to determine the control voltage reference value based on the position deviation using a PID algorithm; the charge polarity judgment module is used to determine the change in sample charge polarity based on the position deviation and the real-time velocity of the sample; and the electrode voltage adjustment module is used to dynamically adjust the electrode voltage of the space station electrostatic levitation experiment based on the change in sample charge polarity and the control voltage reference value to ensure stable levitation of the sample during the heating process.

[0087] This invention also provides a computer-readable storage medium including instructions that, when executed on a computer, cause the computer to perform an adaptive control method for an electrostatic levitation experiment on a space station as provided in any of the above embodiments.

[0088] This invention also provides an electronic device, including: a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, it implements the adaptive control method for electrostatic levitation experiments on a space station as provided in any of the above embodiments.

[0089] This invention also provides a computer program product comprising computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform the adaptive control method for electrostatic levitation experiments on a space station provided in the various optional embodiments described above.

[0090] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working process of the above-described apparatus and unit can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0091] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative. For instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed.

[0092] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of the embodiments of the present invention, depending on actual needs.

[0093] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0094] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0095] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An adaptive control method for electrostatic levitation experiments on space stations, characterized in that, include: The real-time position and velocity of the sample in the electrostatic levitation experiment on the space station were obtained through image acquisition and processing. The positional deviation between the actual position and the target control position of the sample is determined based on the real-time position of the sample. The control voltage reference value is determined using a PID algorithm based on the position deviation. The formula for calculating the control voltage reference value is as follows: in, express time The control voltage reference value for the directional electrode. express time The control voltage reference value for the directional electrode. express time Voltage increment of the directional electrode, Represents the proportionality coefficient. Represents the integration time constant. Represents the differential time constant. Indicates the sampling period. express Time Sample Positional deviation in direction express Time Sample Positional deviation in direction express Time Sample Positional deviation in direction; The change in sample charge polarity is determined based on the positional deviation and the real-time velocity of the sample; The real-time position of the sample includes coordinate information in three dimensions: X, Y, and Z; the real-time velocity of the sample includes velocity information in three dimensions: X, Y, and Z. The step of determining the sample charge polarity change based on the positional deviation and the real-time velocity of the sample includes: Every first time interval, the relationship between the sample's Z-direction position deviation and the position deviation threshold is determined. When the first preset condition is met, the number of first charge polarity changes is incremented once. Every second time interval, the relationship between the real-time velocity of the sample in the Z direction and the real-time velocity threshold is determined. When the second preset condition is met, the number of second charge polarity changes is incremented once; the second time interval is greater than the first time interval. The total number of charge polarity changes is determined based on the sum of the number of first charge polarity changes and the number of second charge polarity changes; The electrode voltage of the space station electrostatic levitation experiment is dynamically adjusted based on the change in sample charge polarity and the control voltage reference value to ensure stable levitation of the sample during the heating process.

2. The method according to claim 1, characterized in that, The first preset conditions include: The absolute value of the sample's Z-direction position deviation at the previous time is less than or equal to the position deviation threshold, and the absolute value of the sample's Z-direction position deviation at the current time is greater than the position deviation threshold.

3. The method according to claim 2, characterized in that, The second preset condition includes: The absolute value of the sample's real-time velocity in the Z direction at the previous moment is less than or equal to the real-time velocity threshold, and the absolute value of the sample's real-time velocity in the Z direction at the current moment is greater than the real-time velocity threshold, and the absolute value of the sample's position deviation in the Z direction at the current moment is greater than the position deviation threshold, and the product of the number of first charge polarity changes and the sample's real-time velocity in the Z direction at the current moment is greater than zero.

4. The method according to any one of claims 1 to 3, characterized in that, The dynamic adjustment of the electrode voltage for the space station electrostatic levitation experiment based on the sample charge polarity change and the control voltage reference value includes: The current charge polarity of the sample is determined based on the initial charge polarity of the sample and the total number of charge polarity changes. The voltage polarity of the high-voltage electrode in the space station electrostatic levitation experiment is determined based on the current charge polarity of the sample. The electrode voltage of the high-voltage electrode is determined based on the voltage polarity and the control voltage reference value.

5. The method according to claim 4, characterized in that, The formula for calculating the electrode voltage is as follows: In the formula, express time The actual voltage of the directional electrode. This indicates the total number of changes in charge polarity. express time The reference value for the control voltage of the directional electrode.

6. An adaptive control system for electrostatic levitation experiments on a space station, characterized in that, An adaptive control method for implementing the electrostatic levitation experiment for a space station as described in any one of claims 1 to 5, wherein the adaptive control system comprises: The data acquisition and processing module is used to acquire the real-time position and velocity of the sample in the electrostatic levitation experiment on the space station through image acquisition and processing. The position deviation determination module is used to determine the position deviation between the actual position of the sample and the target control position based on the real-time position of the sample. A voltage reference determination module is used to determine a control voltage reference value based on the position deviation using a PID algorithm. The charge polarity determination module is used to determine the change in sample charge polarity based on the position deviation and the real-time velocity of the sample. The electrode voltage adjustment module is used to dynamically adjust the electrode voltage of the space station electrostatic levitation experiment according to the change of sample charge polarity and the control voltage reference value, so as to ensure the stable levitation of the sample during the heating process.

7. A computer-readable storage medium comprising instructions, characterized in that, When the instructions are executed on a computer, the computer performs the adaptive control method for electrostatic levitation experiments on a space station as described in any one of claims 1 to 5.

8. An electronic device, comprising: A memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, when the processor executes the program, it implements the adaptive control method for electrostatic levitation experiments on a space station as described in any one of claims 1 to 5.

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