适用于动态量子绝对重力仪的惯性稳定平台的控制方法

By using a three-loop control system and intelligent state machine switching, the problem of high-precision attitude control of the inertial stabilization platform in complex dynamic environments was solved, achieving high bandwidth and robustness in shipboard environments, adapting to different sea conditions, and improving the measurement accuracy and reliability of the quantum absolute gravimeter.

CN121433329BActive Publication Date: 2026-07-17杭州微伽量子科技有限公司
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Patent Information

Application Number
CN202511626089.7
Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
Filing Date
2025-11-07
Publication Date
2026-07-17
Estimated Expiration
2045-11-07

AI Technical Summary

Technical Problem

Existing inertial stabilization platforms struggle to achieve high-precision, high-bandwidth attitude control in complex dynamic environments, especially in shipboard environments where waves, vibrations, and acceleration disturbances limit sensor accuracy and reduce algorithm robustness, making it difficult to meet the demands of quantum precision measurement.

Method used

A three-loop control system is adopted, including a current loop, a speed loop, and a position loop. It combines a high-precision integrated inertial navigation unit and a DC torque motor. The current loop achieves torque control, the speed loop suppresses angular velocity interference, and the position loop locks the platform attitude. An intelligent state machine is designed to switch between absolute and relative attitude control, achieving high bandwidth and robustness.

Benefits of technology

Achieving high-precision attitude control under complex sea conditions, suppressing high-frequency interference, and possessing self-protection capabilities ensures the platform's high reliability and stability under different sea conditions, thereby improving the measurement accuracy and robustness of the dynamic quantum absolute gravimeter.

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Abstract

本发明涉及适用于动态量子绝对重力仪的惯性稳定平台的控制方法，控制系统包括上位机、组合惯导单元、微控器以及电机驱动单元，控制系统为电流环、速度环、位置环三闭环控制系统，具体步骤如下：首先进行初始化；完成初始化后，控制系统进入初始状态，微控器接收开启电流环命令后，进行电流环闭环控制；此时微控器再接收开启速度环命令，控制系统将进入阻尼状态并开启速度环的闭环控制，此时惯性稳定平台会抵抗外部角速度而产生反馈力矩；微控器继续接收开启位置环命令后，控制系统将进入绝对姿态控制，此时惯性稳定平台将被锁定在设定的角度，本发明的方法是一种高精度、高带宽的控制方法，能够适应海洋环境的极端复杂性，并且做到自动控制。
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Citation Information

Patent Citations

  • Inertial Stabilization Platform Control Method

    CN103488081B

  • High-precision and large-load control system and method of three-axis inertially stabilized platform for airborne remote sensing

    CN102436262A

  • High-precision stable platform system, control method, equipment, medium and terminal

    CN112414402A