Two-axis gravity compensation measurement method and control device

Abstract

This application relates to a two-axis gravity compensation measurement method and control device, which is based on a two-axis gravity compensation system in a microgravity environment to determine the error parameters of a power amplifier. [Solution] The error variable of the power amplifier itself is the system error of the power amplifier in a microgravity environment. The measurement devices for two-axis gravity compensation, such as the light source and calibration piston, have mechanical errors. The analytical quantity of the system error can be simply identified as the signal delay of the power amplifier. The light source, which is connected to a host computer, detects the movements of the tracking platform, electromagnetic compensation mechanism, first center of mass lift mechanism, and servo pendulum, and provides feedback and drive to the active tracking platform to complete high-precision gravity compensation. The two-axis scanning radar gravity compensation system has good response and tracking accuracy. The control method of the two-axis scanning radar gravity compensation system achieves high compensation accuracy.

Description

[Technical Field]

[0001] The present application relates to the field of gravity measurement technology, and in particular to a measurement method and control device for two-axis gravity compensation.

[0002] Gravity is generally measured using conventional piezoelectric accelerometers. It is an inertial sensor that works by the piezoelectric effect of the built-in pressure-sensitive element. When moving, it must be fixed on the object to be measured, where the vibration occurs. During measurement, the vibration sensor element of the compression type vibration sensor applies an alternating force to the sensor. The base is directly mounted on the base of the speaker, and the two are in face-to-face contact, so distortion of the base is minimized. The influence of deformation caused by gravity is large. Conventional gravity measurements cannot be performed in a microgravity environment. The drawback of the conventional two-axis gravity correction measurement method is that it cannot be used in a microgravity environment. In this paper, a measurement method and control device for two-axis gravity compensation are presented. Summary of the Invention

[0003] Summary of the Invention Problem to be solved: The conventional two-axis gravity correction measurement method could not be used in a microgravity environment. In this paper, a measurement method and control device for two-axis gravity compensation are presented. Technical solutions to the problem: This application relates to a method for measuring two-axis gravity compensation, Determine the error variables of the power amplifier based on the measurement method of two-axis gravity compensation under microgravity environment Stages and accounting for system and mechanical errors in the microgravity environment of the power amplifier; introducing system errors of the power amplifier into an electromagnetic environment analysis algorithm; The mechanical error of the power amplifier is smoothed and the mechanical error of the power amplifier is suppressed. introducing it into the Rie analysis algorithm; Based on the electromagnetic environment analysis algorithm and Fourier analysis algorithm, the error change of the power amplifier obtaining a physical source of numerical error; calling a material repository of the acoustic measurement equipment according to the physical source of the error of the error variable; selecting a material from a material warehouse; Based on the surface treatment algorithm, the thickness of the coating is calculated in relation to the mechanical tolerances of the selected material. and the stage of acquiring Return to the step of selecting one material from the material warehouse and repeat until all materials have been selected. Repeating steps and determining a solute system based on the normal salt of the material to be coated; Establishing a critical temperature threshold for the coating using a solute system; selecting a pH value (a pH value digit is 0.1) from the solute system; receiving current data through the solute system; Based on the current data through the solute system, determine whether the current data through the solute system is 0 A. The decision stage and If the current through the solute system is 0 A, the coating thickness is measured as a two-axis gravity correction. determining that the equipment configuration is suitable; and If the current through the solute system is not 0 A, the coating thickness is measured using a two-axis gravity correction. and determining that the equipment configuration is incompatible. This application relates to a measurement control device for two-axis gravity compensation, A host computer used to implement the measurement method for biaxial gravity correction; a power amplifier, a light source, and a calibration piston, the power amplifier being electrically connected to the light source; The light source is connected to the host computer, and the calibration piston is connected to the host computer. a piston measuring device installed close to the light source; a two-axis scanning radar gravity correction system located adjacent to the beam source. nothing. This application relates to a method for controlling a gravity correction system of a two-axis scanning radar, A dynamic equation system model of the active tracking platform is constructed and the first dynamic equation system model is forming a sphere; analyzing a first dynamic equation system model; The stage of forming the second dynamic equation model by simplifying and merging the first dynamic equation model. Floors and receiving force information from each system of each force sensor in each mechanical direction; Introducing a set of force-bearing information of each dynamic direction into a second dynamic equation system model; correcting errors in each mechanical direction; Correction signals are sent to the linear motor in the X-axis direction, the linear motor in the Y-axis direction, and the electromagnetic correction signal is sent to the electromagnetic motor in the Z-axis direction. A stage of providing feedback to the mechanism. The linear motors in the X-axis and Y-axis directions are driven to perform gravity compensation, and the linear motors in the Z-axis direction are driven to perform gravity compensation. a step of driving the electromagnetic correction mechanism to perform gravity correction; and After one gravity correction is completed, the force receiving information of each set of force sensors in each mechanical direction is retrieved. and returning to the receiving step. This application relates to a measurement method and control device for two-axis gravity compensation, and a two-axis gravity compensation system in a microgravity environment. Based on the system, the error variables of the power amplifier are determined. - System error in the microgravity environment of the amplifier. Two-axis gravity compensation measurement device, e.g., light beam There are mechanical errors in the detector and the calibration piston. This can be introduced into the analysis algorithm to achieve stable measurements of the light source. The mechanical error present in the calibration piston is affected by the power amplifier calibration system. The mechanical error of the calibration piston of the power amplifier is smoothed out. It is introduced into the Fourier analysis algorithm. Based on the rhythm, the error physical source of the error variables of the power amplifier is obtained. Calibration piston mechanism The error variables are mainly due to the friction of the mechanical wall of the calibration piston. Based on the principle, call the material warehouse of the acoustic measurement equipment, select a material from the material warehouse, Based on the surface treatment algorithm, obtain the coating thickness in relation to the mechanical tolerances of the material selection Then, the process returns to the step of selecting one material from the material warehouse, and continues until all materials have been selected. Repeat the process. Using the analysis amount of system error and coating thickness of mechanical error, Determine the parameters of the force compensation measurement equipment configuration. System error analysis can easily increase the power. This can be considered as a delay in the amplifier signal. Tracking platform, electromagnetic compensation mechanism, first center of mass lift mechanism and servo pendulum motion Based on the first dynamic equation system model constructed by the host computer, Simplify and merge the dynamic equation system model to form a second dynamic equation system model, Based on the second dynamic equation system model, correction parameters are derived to correct errors in each dynamic direction. and combine it with the correction parameters to obtain the final correction data, which is then used for the active tracking platform. This feedback and drive system completes highly accurate gravity correction. The grader gravity compensation system has good response and tracking accuracy. The control method of the gravity compensation system provides high accuracy of compensation. [Brief explanation of the drawings]

[0004] [Figure 1] 1 is a schematic flow chart of a method for measuring two-axis gravity compensation provided by one embodiment of the present application. [Figure 2] 1 is a module connection diagram of a measurement control device for two-axis gravity compensation provided by another embodiment of the present application. [Figure 3] 1 is a structural schematic diagram of a two-axis scanning radar gravity compensation system provided by an embodiment of the present application; [Figure 4] 1 is a stereoscopic view of a dual-axis scanning radar provided by an embodiment of the present application; [Figure 5] FIG. 1 is an assembly diagram of the tracking platform and first center of mass lift mechanism of the two-axis scanning radar gravity compensation system provided by one embodiment of the present application. [Figure 6] FIG. 1 is an assembly diagram of the tracking platform and first center of mass lift mechanism of the two-axis scanning radar gravity compensation system provided by one embodiment of the present application. [Figure 7] 1 is a cross-sectional view, with cross-section lines hidden, of an electromagnetic correction mechanism of a two-axis scanning radar gravity correction system provided by one embodiment of the present application. [Figure 8] 1 is a structural diagram of a servo pendulum of a two-axis scanning radar gravity compensation system provided by an embodiment of the present application; FIG. [Figure 9] 1 is a module connection diagram of a two-axis scanning radar gravity compensation system provided by an embodiment of the present application. FIG.

[0005] Symbols in the drawings: a - rigid structure rotating on inner axis, b - rigid structure rotating on outer axis, 100 - tracking platform, 11 0-First movement table, 111-X-axis mounting plate, 111a-First rectangular hole, 111b-Second rectangular hole, 112-X axis linear guide rail, 113-X axis slide block, 114-First linear Motor, 115 - first motor slide rail, 120 - second movement table, 121 - Y-axis mounting plate , 121a-third rectangular hole, 122-Y-axis linear guide rail, 123-Y-axis slide block 124—servo platform; 124a—third through hole; 124b—fourth rectangular hole; 125-Second linear motor, 126-Second motor slide rail, 200-Pulley component component, 210—first bearing seat, 211—first through hole, 220—square pillar rail, 23 0-first force sensor, 240-ball bearing, 250-fixed pulley, 300-electromagnetic compensation mechanism, 310-casing, 320-weight magnetic core, 330-coil fixing member, 340-coil ile, 350 - magnetic steel, 360 - magnetic yoke, 400 - first center of mass lift mechanism, 410 - clamps, 411 - hangers, 411a - parallel bars, 411b - connecting rods, 412 - connecting rods , 413-Vertical adjustment member, 420-Flexible steel wire, 500-Servo pendulum , 510—second bearing seat, 511—second through hole, 520—wobble plate, 521- Mounting hole, 522 - mounting shaft, 523 - rolling bearing, 524 - screw hole, 530 - correction connection device 531—second force sensor; 532—adjustment screw; 533—steel wire attachment part Materials, A100-High-level computer, A200-Active tracking platform, A210 -Horizontal tracking structure, A211-X axis linear motor, A212-Y axis linear motor, A220-Z-axis linear motor, A300-motor control module, A400-electromagnetic compensation Positive controller module, A500-piston measuring instrument, A510-power amplifier, A5 20-ray detector, A530-calibration piston, A600-two-axis scanning radar gravity compensation System. Specific Embodiments

[0006] MODE FOR CARRYING OUT THE INVENTION In order to make the purpose, technical means and advantages of the application clearer, the following drawings and examples are provided. The present application will now be described in more detail with reference to the accompanying drawings. The specific examples disclosed are merely illustrative of the present application and do not limit the present application. It is not for that purpose. The present application provides a method for measuring two-axis gravity compensation. As shown in FIG. 1, in one embodiment of the present application, the measurement method of the two-axis gravity compensation The law is Determine the error variables of the power amplifier based on the measurement method of two-axis gravity compensation under microgravity environment S010 stage and S100 stage to accommodate system and mechanical errors in microgravity environment of power amplifiers and, Step S200 includes introducing the system error of the power amplifier into the electromagnetic environment analysis algorithm; The mechanical error of the power amplifier is smoothed and the mechanical error of the power amplifier is suppressed. The S300 stage introduced into the Rie analysis algorithm, Based on the electromagnetic environment analysis algorithm and Fourier analysis algorithm, the error change of the power amplifier Step S400: Acquire the physical source of the numerical error; Step S500: calling the material storage of the acoustic measurement equipment according to the physical source of the error of the error variable; Step S600: Select one material from the material warehouse; Based on the surface treatment algorithm, the thickness of the coating is calculated in relation to the mechanical tolerances of the selected material. S700 stage to acquire the skill, Return to the step of selecting one material from the material warehouse and repeat until all materials have been selected. Repeating S800 steps and Measurement of two-axis gravity compensation using the analysis quantity of system error, coating thickness of mechanical error and step S900 of determining parameters for the equipment configuration. This application relates to a measurement method for two-axis gravity compensation based on a two-axis gravity compensation system in a microgravity environment. The error variables of the power amplifier itself are determined by the power amplifier itself. This is a system error in a microgravity environment. There are mechanical errors in the power amplifier. By introducing it into the rhythm, stable measurement of the light source can be realized. The power amplifier is However, the calibration piston has mechanical errors, and the calibration piston of the power amplifier calibration device The mechanical error of the power amplifier is smoothed and analyzed by Fourier analysis. Based on the electromagnetic environment analysis algorithm and the Fourier analysis algorithm, The error physical source of the error variables of the power amplifier is obtained. The error of the mechanical error of the calibration piston Most of the sources of error come from the friction of the mechanical wall of the calibration piston. , call the material warehouse of the acoustic measurement equipment, select a material from the material warehouse, and Based on the algorithm, the coating thickness is obtained in relation to the mechanical tolerance of the material selection, and the material Return to the step of selecting one ingredient from the warehouse and repeat until all ingredients have been selected. Measurement of two-axis gravity compensation using the analysis quantity of system error, coating thickness of mechanical error Determine the parameters of the equipment configuration. The system error analysis quantity can be easily This can be considered a delay.

[0007] In one embodiment of the present application, S010 comprises: Step S011: Accepting data measured under the microgravity environment of the two-axis gravity correction system. Specifically, error variables are errors or unavoidable factors that occur during measurement, calculation, or observation. This refers to data that deviates from the standard value or specified value due to the influence of elements. Step S012 of selecting a set of actual data from the measured data; Based on the theoretical calculation data, determine whether there is gross error in the selected actual data S013 stage, Specifically, gross error is a normal error caused by the carelessness, fatigue, or improper operation of the measurer. It refers to a large error that clearly exceeds the range, and measurement data that includes gross errors will greatly distort the results. This should be removed during data processing. If there is a gross error in the selected actual data, discard the selected actual data; Returning to the step of selecting one set of actual data from the measured data, all the actual data are Step S014 is repeated until the selection of data is completed; If there is no gross error in the selected actual data, the selected actual data is used in the system. Step S015 determines whether the error is a system error; Specifically, systematic errors are errors caused by fixed factors such as measuring equipment, experimental equipment, or experimental methods. An error that is deterministic, i.e., that does not change in magnitude and direction when measured multiple times. The system error is corrected by measures such as calibration equipment or improvement of calibration equipment. can be reduced or eliminated through If the selected actual data is a systematic error, the selected data is treated as a systematic error. Select a set of actual data from the measured data and put it into the error sample set. Step S016 is repeated until all the actual data selection is completed. Beauty If the selected actual data is not a systematic error, the selected actual data is randomly A set of actual data is taken from the measured data into the error sample set of the system error Step S017 is repeated until all the actual data has been selected. , including. As can be understood, random errors are errors that occur due to some random factors that are difficult to control, such as These include temperature fluctuations during measurement, slight changes in power supply voltage, and accidental improper operation by the experimenter. The magnitude and direction of random errors vary with each measurement and are random. When multiple measurements are taken, the results generally follow a certain statistical pattern and form a normal distribution. The influence of random errors can be reduced to some extent by increasing the number of samples and taking the average value. Specifically, the definition of an error variable in mathematics is the difference between the observed or calculated value of a quantity and its truth value. For example, in a physics experiment, when measuring the length of an object, the measured value is The measurement result is 5.02 cm, but the actual length of the substance is 5 cm, and this 0.02 cm is the measurement error. In statistics, a particular statistical error occurs when measuring, calculating, or observing a quantity, due to inaccuracies in the instrument, the It is a deviation between the observed result and the true value caused by factors such as carelessness or external interference. In one embodiment of the present application, step S100 includes: Step S111 of taking on an error sample set of system error; Based on the error sample set of system error, determine the distribution characteristics of all actual data S112 stage and Using the distribution characteristics of all actual data, the distribution characteristics of all system errors Step S113, determining whether the signature falls within a target threshold range; When the distribution characteristics of the actual data for all system errors fall within the target threshold range Step S114 determines whether the system error of the power amplifier falls within a convergence range; Beauty None of the distribution characteristics of the actual data for all system errors fall within the target threshold range. If so, step S115 determines that the power amplifier has a systematic error. Specifically, the data distribution of the system error has a single peak value, and the data distribution of the system error The error is usually a single peak because the system error is based on the range of the target threshold. Therefore, all data is distributed around the target threshold. If the amplifier system error is within the convergence range of the target threshold, the power amplifier System error can be ignored, and generally the target threshold is a theoretical calculation value, and the system error is simply It is distributed to the target threshold in a single peak manner.

[0008] In one embodiment of the present application, S100 further comprises: Step S121: taking on the error sample set of mechanical error; Specifically, mechanical errors are generally generated by the light source and the calibration piston. During calibration, mechanical wall friction of the calibration piston introduces mechanical errors into the calibration data of the light source. The error sample set of mechanical errors is formed during the ray detector calibration. Based on the error sample set of mechanical errors, determine the distribution characteristics of all the actual data. S122 stage and Specifically, as a relatively independent device, the mechanical error of the calibration piston is This can be understood as a system error. The occurrence of mechanical errors in the calibration piston is generally due to the mechanical This is caused by friction on the wall, and friction on the machine wall causes a certain regularity in the error. Such regularities can be linear or nonlinear. Mechanical error error Using the distribution characteristics of the actual data of the sample set, the mechanical error error Whether the distribution characteristics of the actual data in the sample set match the target distribution characteristics. Step S123 determines whether Specifically, the effect of the calibration piston on the beam detector is a nonlinear system error. By determining the actual data distribution characteristics of the differential error sample set, the power amplifier method The effect of the beam splitter on the direction of the beam can be realized. A simple power amplifier has mechanical errors, but this explains the systematic error that appears in the calibration piston. The degree of agreement between the actual distribution characteristics of the mechanical error error sample set and the target degree of agreement is If so, S12 determines that the mechanical tolerances of the power amplifier are within reasonable thresholds. Four stages and The degree of agreement between the distribution characteristics of the actual data of the mechanical error error sample set and the target agreement If not, step S125 is performed to determine that the power amplifier has a mechanical error. , including. The system error of the power amplifier is usually caused by the calibration piston that is attached. These factors impose a certain regularity on the error. Such regularity can be linear or nonlinear. It is possible that. In one embodiment of the present application, S200 includes: Step S210 of assuming the operating frequency of the power amplifier; Specifically, electromagnetic radiation can interfere with the normal transmission of signals in electronic equipment, such as in communication systems. If the frequency of the electromagnetic radiation is close to the frequency of the communication system, the electromagnetic wave of the radiation will be This induces extra electromotive force on the cable, causing distortion of the original signal wave. Distortion of the signal can cause communication errors, such as an increase in the bit error rate during data transmission. In communications, bit errors prevent the receiving end from correctly reading the information being sent. This will affect normal communication. According to the working frequency of the power amplifier, whether the working frequency of the power amplifier is within the power grid frequency interference range Determine whether it fits into the S220 stage, and If the operating frequency of the power amplifier falls within the power grid frequency interference range, and step S230 of introducing a systematic error into the first analysis algorithm. The two-axis gravity compensation measurement method further includes a first analysis algorithm. The first analysis algorithm: S231 stage, which takes over the signal format of the power amplifier; Based on the signal format of the power amplifier, whether the signal format of the power amplifier is a simulated signal format Step S232 determines whether When the received signal format of the power amplifier is a simulated signal, the electromagnetic protection for the power amplifier is S233 stage, which implements a protection program; Electromagnetic protection programs can specifically use low-pass filters. A filter can only pass signals with a certain threshold frequency, and signals above this frequency are attenuated. In communication systems, low-pass filters are used to attenuate high-frequency interfering signals, e.g., power It can remove high frequency noise, RF interference, etc. For example, the power input end of communication equipment It is usually connected with a low-pass filter to prevent high-frequency power noise from entering the equipment and Do not affect normal operation. In contrast to a low-pass filter, a high-pass filter only passes signals above a certain frequency limit. High-pass filters are used to filter out low-frequency interference signals, e.g. It is used to remove power grid frequency interference, low frequency noise, etc. It is sensitive to certain low frequency signals. In communication equipment, such as acoustic transmission equipment, high-pass filters are used to The noise ratio can be improved. A bandpass filter passes only signals within a certain frequency band and blocks signals outside that frequency band. In communication systems, bandpass filters are used to select useful signal frequency bands. It is used for selectively selecting signals and at the same time suppressing interference signals in other frequency bands. In wireless communications, the receiver at the base station uses a bandpass filter to filter out communication signals in a specific frequency band. It selects the signal and eliminates interference signals in other frequency bands. Bandstop filters are the opposite of bandpass filters, as they filter out signals within a specific frequency band. A band-stop filter blocks signals from passing through a frequency band and allows signals outside that band to pass through. It is used to suppress known interfering frequency signals. For example, in some communication systems If it is discovered that an interference signal of a certain fixed frequency is affecting communication, A top filter can be used to remove the interfering signal. If the signal received by the power amplifier is not in the form of a simulated signal, Step S234 determines that the signal format is a data volume signal format; The electromagnetic interference to the power amplifier of the data signal type varies depending on the modulation method. The drag force also differs. When selecting a modulation method, consider the characteristics of interference and the conditions of the communication system. For example, in an environment with relatively strong interference, a strong change in interference resistance capability is required. modulation methods, such as frequency shift keying (FSK) and phase shift keying (PSK) These modulation schemes have excellent performance in terms of interference resistance and relatively low signal-to-noise ratio. Reliable communication can be achieved under these conditions. Installing a power line filter is an effective way to suppress conducted interference. It can prevent high frequency interference signals from entering the equipment through the power line, while also maintaining normal For example, the power input end of a computer By installing an EMI power filter in can be removed. For signal line interference, a signal filter can be installed on the signal line. There are several types of filters, such as low-pass filters and band-pass filters, Therefore, an appropriate filter can be selected to suppress interference signals in a specific frequency band. If the operating frequency of the power amplifier falls within the power grid frequency interference range, Step S240 of introducing the stem error into a second analysis algorithm; The method for measuring the two-axis gravity compensation further includes constructing a second analysis algorithm. The construction of the second analysis algorithm includes: Step S241 receives input data from the environmental electromagnetic sensors; Based on the input data of the environmental electromagnetic sensor, the input data of the environmental electromagnetic sensor is set to the target electromagnetic threshold. Step S242 determines whether the value exceeds the threshold. If the input data from the environmental electromagnetic sensor does not exceed the target electromagnetic threshold, the power amplifier Step S243 determines whether the system error is within an error threshold; If the input data of the environmental electromagnetic sensor exceeds the target electromagnetic threshold, the electromagnetic protection script is called. The S244 stage and Specifically, when the level of electromagnetic interference in the external environment is relatively high, the environmental electromagnetic sensor It can detect the level of electromagnetic interference in the internal environment. Simply call up the electromagnetic protection script, activate grounding optimization and block electromagnetic radiation. Good grounding can effectively suppress conducted interference. In a single-point grounding system, In this case, the grounding of all equipment is connected to a common grounding point to form a grounding circuit. This avoids interference caused by earth potential differences. In multi-point grounding systems, Frequency equipment uses single-point grounding, high-frequency equipment uses multi-point grounding This reduces the inductive effect of the ground wire and reduces interference. The first and second analysis algorithms are both electromagnetic environment analysis modules. and S250 step, which defines that there is a In one embodiment of the present application, S400 comprises: Step S410 calls up an error sample set of the original mechanical error of the power amplifier; S420 stage accepts the error sample set of the smoothed power amplifier mechanical error Floors and The error sample set of the original mechanical error of the power amplifier and the smoothed mechanical error of the power amplifier a step S430 of determining whether the mechanical error sample sets match; The error sample set of the original mechanical error of the power amplifier and the smoothed mechanical error of the power amplifier If the mechanical error sample sets do not match, the mechanical error of the power amplifier will cause delay. Step S440 of determining that it is an error; and The error sample set of the original mechanical error of the power amplifier and the smoothed mechanical error of the power amplifier If the mechanical error sample sets match, the mechanical error of the power amplifier is within a reasonable threshold range. and step S450 of determining whether the vehicle is within the range. Specifically, mechanical waves caused by friction usually form sawtooth waves, but after smoothing the sawtooth waves, , it no longer matches the original sawtooth wave. In one embodiment of the present application, S400 further comprises: Step S461 calls up the error sample set of the original mechanical error of the power amplifier; Based on the Fourier analysis algorithm, the error sample set of the original mechanical error of the power amplifier is Step S462 determines whether the data has sample data of a sawtooth waveform; The error sample set of the original mechanical error of the power amplifier has sawtooth waveform sample data. In this case, it is determined that the physical source of error in the measurement equipment for two-axis gravity compensation is the machine wall friction error. S463 stage and The error sample set of the original mechanical error of the power amplifier has sawtooth waveform sample data. If not, the wall friction error of the measurement equipment for two-axis gravity compensation must be within the error threshold range. and step S464 of determining whether or not the At this time, based on the error sample set of mechanical errors, the mechanical error of the power amplifier is The physical source of error in the measurement equipment for two-axis gravity compensation is the machine wall friction error. do. In one embodiment of the present application, S700 comprises: Step S711 defines the delay error of the mechanical error of the power amplifier as positive data; The thickness of the selected unfilmed material and the delay error of the power amplifier are defined as negatively correlated. Step S712 forms the macro logic of the surface treatment algorithm; S713: forming a mapping between the selected unfilmed material and the material in the selected material warehouse stages, and Based on the macro logic of the surface treatment algorithm, the normal salt of the non-film-forming material is determined. Step S714. Specifically, non-film-forming materials require salification to the selected material during coating. The salts participating in the non-film-forming material are the normal salts of the non-film-forming material. As you can see, the thicker the unfilmed material, the more uneven the surface becomes. easy. In one embodiment of the present application, S900 comprises: Step S910 determines the solute system based on the normal salt of the non-film-forming material; Step S920: determining the critical temperature threshold of the coating using a solute system; Specifically, chemical coatings cause temperature changes, but these temperature changes are This is the critical temperature threshold for The electroplating process generates temperature changes, but these temperature changes also exceed the critical temperature threshold of the coating. is. S930 stage, which selects the pH value of the solute system; Specifically, the digit of the pH value is 0.1. The pH value of the solute system is determined by chemical treatment coating or It affects the reaction efficiency of the electroplating process and also affects the flatness of the coating layer. . an S940 stage for accepting current data through the solute system; Based on the current data through the solute system, determine whether the current data through the solute system is 0 A. S950 stage and If the current through the solute system is 0 A, the coating thickness is measured as a two-axis gravity correction. Step S960 to determine whether the equipment configuration is suitable; and If the current through the solute system is not 0 A, the coating thickness is measured using a two-axis gravity correction. and step S970 of determining that the equipment configuration is incompatible. Specifically, electrochemical coating methods include chemical treatment coating and electroplating. If the current data through the solute system is 0 A, the coating thickness is calculated by biaxial gravity compensation. It is determined that the coating is complete and the flatness is correct. It is determined that the configuration requirements for the measurement equipment for two-axis gravity compensation are met. The present application provides a two-axis gravity compensation measurement and control device. As shown in FIG. 2, in one embodiment of the present application, a two-axis gravity compensation measurement and control device The location is A host computer A100 that executes the measurement method for the two-axis gravity compensation; A power amplifier A510, a light source A520, and a calibration piston A530 are included. The amplifier A510 is electrically connected to the light source A520, and the light source A520 is connected to the upper The calibration piston A530 is connected to the light source A520. The piston measuring instrument A500 is installed nearby, A two-axis scanning radar gravity correction system is installed close to the A520. A600 and included. This application relates to a measurement method and control device for two-axis gravity compensation, and a two-axis gravity compensation system in a microgravity environment. Based on the system, the error variables of the power amplifier are determined. The numbers are the system errors of the power amplifier A510 in a microgravity environment. Measurement of two-axis gravity compensation There are mechanical errors in the equipment, such as the light source A520 and the calibration piston A530. -Introduce the system error of amplifier A510 into the electromagnetic environment analysis algorithm, and The power amplifier A510 eliminates the influence of the calibration piston A530. However, the mechanical error present in the calibration piston A530 is The calibration piston A530 is smoothed for mechanical errors, and the power amplifier A51 0 mechanical error is introduced into the Fourier analysis algorithm. Based on the Rober analysis algorithm, the error physical source of the error variables of the power amplifier A510 is obtained. Most of the error sources of the mechanical error of the calibration piston A530 are due to the mechanism of the calibration piston A530. Based on the physical source of error of the error variables, the material storage of the acoustic measurement equipment is called Then, a material is selected from the material warehouse, and the surface treatment algorithm is used to select the material. Obtain the coating thickness relative to the mechanical tolerance and select one material from the material warehouse. Return to the previous step and repeat until all materials have been selected. Use the coating thickness error to determine the parameters of the measurement equipment configuration for two-axis gravity compensation. The analytical quantity of the system error can be simply considered as the signal delay of the power amplifier A510. The detection and tracking platform of the light source A520 is connected to the host computer A100 for communication. The upper center of mass is moved through the motion of the servo pendulum, the electromagnetic compensation mechanism, the first center of mass lift mechanism, and the servo pendulum. Based on the first dynamic equation system model constructed by computer, Simplification and merging of the equations are performed to form a second dynamic equation model. Based on the model, the correction parameters are derived to correct the errors in each mechanical direction. The final correction data is then fed back to the active tracking platform. Two-axis scanning radar gravity compensation The system has good response and tracking accuracy. Dual-axis scanning radar gravity correction system The stem control method provides high accuracy of correction. The two-axis scanning radar gravity correction mechanism is used for microgravity measurement of the two-axis scanning radar. The two-axis scanning radar includes a rigid structure rotating around an inner axis and a rigid structure rotating around an outer axis. The two-axis scanning radar gravity correction system is a rigid structure rotating on its inner axis. Gravitational correction is performed for the first center of mass and the second center of mass of a rigid structure rotating around an outer axis. As shown in FIG. 3, in one embodiment of the present application, a dual-axis scanning radar The gravity compensation system comprises a tracked platform 100, a pulley component 200, and an electromagnetic compensation mechanism 300, a first center of mass lift mechanism 400 and a servo pendulum 500. The tracking platform 100 has a first moving platform 110 and a second moving platform 120 that are perpendicular to the plumb line. It will be installed. The second moving platform 120 moves along the Y-axis direction of the plane where it is located, and the second moving platform 110 It will be installed. The pulley component 200 is provided with a pair of first bearing seats 210 and a fixed pulley 250. One end of each of the first bearing seats 210 is fixedly connected to the second motion platform 120, The other end of each of the first bearing seats 210 is provided with a first through hole 211, The rotation shaft of the wheel 250 is fitted into the first through hole 211 so as to be rotatable. The electromagnetic compensation mechanism 300 is fixedly connected to the second motion platform 120 and is connected to the pulley component. It will be installed close to To200. The first center of mass lift mechanism 400 comprises a clamp 410 and a flexible steel wire 420. The clamp 410 clamps a rigid structure around the inner axis, and the flexible One end of a steel wire 420 is fixedly connected to the clamp 410, and the flexible strap The predetermined portion of the steel wire 420 is accommodated in the groove of the pulley 250, and the flexible The other end of the steel wire 420 is connected to the electromagnetic compensation mechanism 300 . The servo pendulum 500 includes a second bearing seat 510 and a wobble plate 520. One end of the bearing seat 510 is fixedly connected to the first motion platform 110, and the second bearing seat The other end of the hole 510 is provided with a second through hole 511, and the adjustable plate 520 is The second through-hole 5 is symmetrical on both sides in the linear direction, and the adjustable plate 520 is rotatable. 11, and the adjustable plate 520 is a pair of mutually symmetrically installed correction connectors. Through the mechanism 530, it is connected to the rigid structure b that rotates around the outer axis. Specifically, the first motion platform 110 moves along the X-axis direction, and the first mass moves along the X-axis direction. Active tracking of the heart can be achieved by moving the second motion platform 120 along the Y-axis. Active tracking of the first center of mass in the Y-axis direction is realized, and the pulley component 200 is fixedly connected to the second moving platform 120 and is connected to a flexible steel plate 250 via a fixed pulley 250. The direction of the force at both ends of the wire 420 is changed so that the electromagnetic compensation mechanism 300 moves the first mass along the Z-axis direction. Servo pendulum 500 actively tracks the center movement of wobble plate 52 The zero wobble moves with the second center of mass and provides gravity compensation. This application relates to a two-axis scanning radar gravity correction system, and the electromagnetic correction mechanism 300 is A compensation mechanism that combines active and passive compensation, and which is used when acceleration exists at the first center of mass. When the weight is lifted, the pulling force on the string is not equal to the actual gravity, so the gravity correction accuracy is not high. The electromagnetic compensation mechanism 300 uses an electromagnetic damping structure to perform active compensation. Therefore, the sensitivity is good, the tracking accuracy is high, and the correction accuracy is also high. The wobble plate 520 moves with the second center of mass and provides gravity compensation. By doing so, in the two-axis scanning radar, the movement of the second center of mass is The impact on the grader and the overall center of mass position has been resolved, the structure is simple, and the servo vibration is reduced. The accuracy of gravity correction can also be improved in the processing step of the actuator 500. As shown in FIGS. 5 and 6, in one embodiment of the present application, the first motion platform 110 is An X-axis mounting plate 111, a pair of X-axis linear guide rails 112, and a pair of X-axis slide blocks Includes box 113. Each of the X-axis linear guide rails 112 is fixedly connected to the X-axis mounting plate 111. The pair of X-axis linear guide rails 112 are installed parallel to each other. One of the X-axis slide blocks 113 slides on one of the X-axis linear guide rails 112. The other X-axis slide block 113 is fitted to the other X-axis linear guide It is fitted onto the rail 112 in a sliding fit. The second bearing seat 510 is fixedly connected to the X-axis mounting plate 111 . The X-axis mounting plate 111 has a first rectangular hole 111 in an area adjacent to the second bearing seat 510. a is open. The area between the pair of X-axis linear guide rails 112 of the X-axis mounting plate 111 is provided with a second rectangular A hole 111b is provided. Specifically, the X-axis mounting plate 111 is fixed and does not move, and a pair of X-axis linear guide rails 112 are parallel to each other, and the X-axis linear guide rail 112 is fixed to the X-axis mounting plate 111. The X-axis slide block 113 is installed in sliding engagement with the X-axis linear guide rail 112. At this time, the X-axis slide block 113 can slide on the X-axis linear guide rail 112, The axial slide block 113 allows the first motion platform 110 to move along the X-axis direction. The first motion stage 110 according to the present application has an X-axis linear guide rail 112 and an X-axis slide block. The tracking movement in the X direction relative to the first center of mass is realized using the block 113. The motion stage 110 makes the interference force of the first mass center in the X-axis direction always zero. As shown in FIGS. 5 and 6, in one embodiment of the present application, the first exercise platform 11 The system further includes a first linear motor 114 and a first motor slide rail 115. The first motor slide rail 115 is parallel to the X-axis linear guide rail 112, and and fixedly connected to the X-axis mounting plate 111. The first linear motor 114 is installed in sliding engagement with the first motor slide rail 115. do. Specifically, the first motor slide rail 115 is parallel to the X-axis linear guide rail 112, The first motor slide rail 115 is fixedly connected to the X-axis mounting plate 111. A first linear motor 114 is connected to the first motor slide rail 112. After slidingly fitting and installing the first linear motor 114 on the X-axis slide block 113 is operated to allow movement on the X-axis linear guide rail 112. The first linear motor 114 according to the present application is connected to the first motion stage 110 via the X-axis linear guide rail 1 12 and the X-axis slide block 113 are used to perform tracking movement in the X direction relative to the first center of mass. Therefore, the first motion platform 110 can accurately detect the interference force in the X-axis direction of the first center of mass. also set to zero. As shown in FIGS. 5 and 6, in one embodiment of the present application, the second exercise platform 12 0 includes a Y-axis mounting plate 121, a pair of Y-axis linear guide rails 122, and a pair of Y-axis slides. Includes block 123. The Y-axis mounting plate 121 is fixedly connected to the pair of X-axis slide blocks 113 . The first linear motor 114 is fixedly connected to the Y-axis mounting plate 121 . Each Y-axis linear guide rail 122 is fixedly connected to the Y-axis mounting plate 121, The pair of Y-axis linear guide rails 122 are installed parallel to each other. The Y-axis mounting plate 121 has a third rectangular hole 121a. It is installed between the pair of Y-axis linear guide rails 122 . One Y-axis slide block 123 slides on one Y-axis linear guide rail 122. The other Y-axis slide block 123 is fitted to the other Y-axis linear guide. It is fitted into the guide rail 122 with a sliding fit. Specifically, the Y-axis mounting plate 121 is fixedly connected to the X-axis slide block 113, and the first linear The motor 114 is fixedly connected to the Y-axis mounting plate 121, so that the Y-axis mounting plate 121 is rotated in the X-axis direction. The pair of Y-axis linear guide rails 122 are configured to move along the Y-axis linear guide rails. The Y-axis slide block 123 is installed parallel to the Y-axis mounting plate 121. The Y-axis slide block 1 is installed in a sliding engagement with the Y-axis linear guide rail 122. 13 can slide on the Y-axis linear guide rail 122, and the X-axis slide block 113 The second motion platform 120 is made to move along the Y-axis direction. The second motion stage 120 according to the present application has a Y-axis linear guide rail 122 and a Y-axis slide block. Using the block 123, tracking movement in the Y-axis direction relative to the first center of mass is realized. The two motion stages 120 make the interference force in the Y-axis direction relative to the first center of mass zero. As shown in FIGS. 5 and 6, in one embodiment of the present application, the second exercise platform 12 0 further includes a servo platform 124, a second linear motor 125, and a second motor Includes slide rails 126. The second motor slide rail 126 is parallel to the Y-axis linear guide rail 122. The second motor slide rail 126 is fixedly connected to the Y-axis mounting plate 121. . The second linear motor 125 is installed in sliding engagement with the second motor slide rail 126. do. The servo platform 124 is fixedly connected to the pair of Y-axis slide blocks 123. The servo platform 124 is fixedly connected to the second linear motor 125. do. The servo platform 124 has a third through hole 124a, through which the electromagnetic compensator One end of the mechanism 300 is snap-fitted into the third through-hole 124a, and the other end of the mechanism 300 is snap-fitted into the second rectangular hole 11. 1b and the third rectangular hole 121a. The first bearing seat 210 is fixedly connected to the servo platform 124 . Specifically, the second motor slide rail 126 is parallel to the Y-axis linear guide rail 122. and is fixedly connected to the Y-axis mounting plate 121, and the second motor slide rail 126 is The second linear motor 125 is parallel to the near guide rail 122 and is connected to the second motor slide. After slidingly fitting onto the rail 126, the second linear motor 125 is connected to the servo platform 124 is operated so that it can move along the Y-axis linear guide rail 122. The Y-axis platform 124 is fixedly connected to the Y-axis slide block 123, and the Y-axis mounting plate 12 Since the servo platform 124 can move along the X-axis and Y-axis, It can move along the direction. The servo platform 124 according to the present application is made up of a Y-axis linear guide rail 122 and a Y-axis slide. The ID block 123 is used to realize tracking movement in the Y-axis direction relative to the first center of mass. At this time, the first mass is moved by using the X-axis linear guide rail 112 and the X-axis slide block 113. The two-axis scanning radar realizes tracking movement in the X-axis direction relative to the center. When the first center of mass moves in a pendulum motion, it not only has a vertical displacement, but also a horizontal displacement. Therefore, the servo platform 124 is designed to be a tracking platform. The follow motion of the first center of mass of the platform 100 is realized, and the center of mass is pulled. The flexible steel wire 420 always maintains a vertical position and passes through the first center of mass. In this way, the servo platform 124 does not interfere with the X-axis and Y-axis directions of the first mass center. Always keep the force at zero. As shown in Figures 5 and 6, in one embodiment of the present application, the pulley component The station 200 is further provided with a square pillar rail 220 . The servo platform 124 is provided with a fourth rectangular hole 124b. 24b is electrically connected to the second rectangular hole 111b and the third rectangular hole 121a. The square pillar rail 220 is received and limited in the fourth rectangular hole 124b. . The flexible steel wire 420 is connected to the clamp 220 through the rectangular rail 220. 410 is permanently connected. A first force sensor 230 is provided at one end of the square prism rail 220 away from the fixed pulley 250. It will be installed. The first force sensor 230 has a ball bearing 240 at one end thereof facing away from the fixed pulley 250. The ball bearing 240 is fitted with a section of flexible steel wire 420. The clamp 410 is fixedly connected to the clamp 410 . Specifically, when the pulley component 200 follows the first center of mass in the vertical direction, The flexible steel wire 420 passes through the fixed pulley 250. After that, the direction of the force is changed, and in the process of following the first center of mass, the flexible steel The large displacement linear motion of the coil wire 420 causes vibrations, and these vibrations are gravity compensated. To eliminate vibrations as much as possible, a flexible steel wire is used. One section of the ear 420 is replaced by a square-post rail 220. is limited by the fourth rectangular hole 124b, and the limiting The ball bearing 240 also functions as a flexible steel wire 42. These structures are for damping the vibration of the flexible steel wire 420. The first force sensor 230 is mounted on a flexible steel wire 420. It is used to monitor the pulling force of the The rectangular rail 220 according to the present application is replaced with a flexible steel wire 420. The square rail 220 is limited by the fourth rectangular hole 124b. The square pillar 124b is supported by the fourth rectangular hole 124b and slides under the limiting action of the fourth rectangular hole 124b. The rail 220 effectively damps the vibration of the flexible steel wire 420 and moves it vertically. This improves the accuracy of gravity compensation that moves with the first center of mass. As shown in FIG. 7, in one embodiment of the present application, the electromagnetic compensation mechanism 300 is Casing 310, weight magnetic core 320, coil fixing member 330, coil 340, magnetic The magnetic yoke 360 ​​includes a magnetic steel 350 . The casing 310 is a hollow column. The weight magnetic core 320 is accommodated and installed in the center of the casing 310, and the It is fixedly connected to one end of a flexible steel wire 420 . The coil fixing member 330 is fitted onto the weight magnetic core 320 . The coil 340 is fitted onto the coil fixing member 330 . The magnetic yoke 360 ​​is a hollow column, and the outer wall of the magnetic yoke 360 ​​is the case. It is attached to the inner wall of the Thing 310. The magnetic steel 350 is attached to the inner wall of the magnetic yoke 360 ​​. Specifically, the casing 310 is snap-fitted into the third through-hole 124a, and the second rectangular hole The weight magnetic core 320 is housed in the casing 111b and the third rectangular hole 121a. 310 and fixedly connected to one end of the flexible steel wire 420. The weight magnetic core 320 can slide along the central axis of the inner cavity of the casing 310. The gravity of the weight magnetic core 320 is adjustable, so it can be used as a passive gravity compensation mechanism. The coil fixing member 330 is fitted onto the weight magnetic core 320. The coil 340 is fitted onto the coil fixing member 330, and the magnetic yoke 360 ​​is fitted onto the casing. The magnetic steel 350 adheres to the magnetic yoke 360, and the coil 340 When electricity is applied to the magnetic steel 350, the magnetic yoke 360 ​​is magnetized, and the coil 340 and the magnetic yoke It generates electromagnetic force in the work 360 to achieve active gravity compensation. The electromagnetic compensation mechanism 300 according to the present application is an electromagnetic compensation mechanism that realizes vertical gravity compensation by magnetomotive force. The compensation mechanism 300 outputs a magnetomotive force that is generated by the weight magnetic core 3 during movement. 20This compensation method is used to compensate for inertia. This compensation method has a fast response and the output is smooth. Therefore, when a torque motor is used as a compensation element in the direction of gravity, it is necessary to use a constant tension system. Effectively solves existing problems such as slow motor movement, delayed response, poor mechanical collision and shock resistance can be avoided. As shown in FIG. 4 and FIG. 8, in one embodiment of the present application, the wobble plate A pair of mounting holes 521 are provided on the side of the 520 facing away from the first exercise platform 110, and each The mounting hole 521 accommodates a mounting shaft 522, and the mounting shaft 522 is fitted with a rolling bearing 5 23 is fitted and installed, and the rolling bearing 523 is connected to the outer It is connected to a rigid structure b that rotates around an axis. The wobble plate 520 has a pair of screw holes 524 on the side that faces the first motion platform 110. Once installed, the screw holes 524 are used to connect the weight structure. Specifically, the wobble plate 520 is mounted on the second bearing seat 510 through a mounting shaft 522. This mounting method ensures that the wobble plate 520 is mounted on the ZOY plane along the OX axis. The only degree of freedom is rotation around the axis, and this degree of freedom is When the radar is in a pitching motion, the degree of freedom of the two-axis scanning radar is that it rotates around the outer axis rigid structure b. The wobble plate 520 has two mounting holes 521 on both sides of the top edge. The bearings 523 are mounted in two holes in the wobble plate 520 and are mounted on the servo pendulum 500. The opening position of the end hole is designed according to the relative position of the second mass center, and the servo pendulum 500 Two screw holes 524 are provided on both sides of the end, in a symmetrical relationship with the upper end holes. The role of 524 is to mount the weight, because its structure is similar to that of a servo pendulum. The center of mass of the servo pendulum 500 and related components is aligned with the axis of the rotation shaft. This is because the introduction of interference forces can be avoided by placing the sensor in this manner. The wobble plate 520 involved in this application uses a passive gravity compensation mechanism at the second center of mass. The second center of mass is the core element. When it operates on a two-axis scanning radar, the spatial movement No movement occurs, and in principle, the second center of mass is simply suspended using a single steel wire. , monitoring that the tension on a single steel wire always maintains the center of mass gravity However, in accordance with the actual situation of the process, the second center of mass is located on both rotation axes of the radar. When the steel wire is located at the intersection of the two axes, it is no longer possible to hang the steel wire directly. The suspended mounting interface provided by the canning radar allows for accurate pitching motion. The casing moves with the shaft and does not move during the pendulum motion. It is fixed on the second mass center casing through a positive connection mechanism, and its core principle is The resultant force generated by the compensation connection mechanism of the second chamber is passed through the second center of mass, and the second chamber is indirectly The goal is to achieve gravity correction at the center of the material. As shown in FIG. 4 and FIG. 8, in one embodiment of the present application, the correction connection mechanism 5 30 is a second force sensor 531, an adjustment screw 532, and a steel wire mounting member 53 Includes 3. One end of the second force sensor 531 is connected to the rolling bearing 523, The other end of the adjuster 531 is connected to the adjusting screw 532, and the other end of the adjuster 53 2 is connected to the second force sensor 531, and the other end of the adjusting screw 532 is connected to the steel wire 533, and one end of the steel wire mounting member 533 is The other end of the steel wire mounting member 533 is connected to the adjusting screw 532. It is connected to a rigid structure b that rotates around the outer axis. Specifically, the rolling bearing 523 is fitted to the mounting shaft 522, and the second center of mass is Z It provides rotational freedom around the OX axis in the OY plane, as well as a second center of mass in the ZOX plane. It provides a degree of rotation around the OY axis within the The second center of mass is compensated for in the vertical direction by the steel wire mounting member 533 and the second center of mass is compensated for in the vertical direction by the steel wire mounting member 532 and the steel wire mounting member 533. Even if the second mass center rotates around the OY axis in the ZOX plane, the servo pendulum 500 Does not affect gravity compensation accuracy. In the compensation mechanism 530 according to the present application, the second force sensor 531 is made of two steel wires. The adjustment screw 532 is used to adjust the length of the still wire. It is used to adjust the pretension of the steel wire in the initial state. The corrective connection mechanism 530 is connected to the wobble plate 520, and the wobble plate 520 is mounted on the second bearing seat 510 in a rotational engagement, thereby forming a fixed pulley-like The structure can achieve passive gravity compensation. This structure is more efficient than a simple fixed pulley. It has the advantage of tracking a superior second center of mass. As shown in FIGS. 5 and 6, in one embodiment of the present application, the clamp 410 includes a hanger 411, a connecting rod 412, and a vertical adjustment member 413. The hanger 411 includes a pair of parallel bars 411a and a connecting bar 411b. The parallel bars 411a are fixedly connected through a connecting rod 411b. The vertical adjustment member 413 is connected to the end of the parallel rod 411a that is farther from the connecting rod 411b. Connected. The connecting member 412 is fixedly connected to the vertical surface adjusting member 413 . Specifically, a spherical slide is provided at the connection between the flexible steel wire 420 and the connecting rod 411b. The bearing is pressed into place and the spherical plain bearing ensures rotational freedom of the clamp in the OZ direction. , which is useful for following the hanger 411 of the flexible steel wire 420. The scanning radar's multiple mounting screws are all on the arc surface of the antenna (first center of mass The first center of mass of the tracking mechanism is inconvenient to hang, and the antenna structure is Under the condition that the structure is not destroyed, the suspension plane is fixed to the position where the center of mass is located using the two connecting members 412. To ensure that the first center of mass is accurately suspended, The vertical plane adjustment member 413 is a Y-axis adjustment member. and Z-axis adjustment member, and the hanger 411 is connected to the vertical adjustment member 4 through a rolling ball bearing. 13, which ensures the rotational freedom of the clamp in the OX direction. Adjust the position of the suspension axis of the gar, and in the initial state of the test, is suspended to prevent interference with the scanning radar. The primary function of the clamp 410 in this application is to provide a tracking mechanism for conveniently suspending the first center of mass. At the same time, the clamp 410 is used for the two-axis scanning radar operation. The clamp 410 can adapt to the movement of the object and does not interfere with the two-axis scanning radar. No interference occurs with moving dual-axis scanning radar. One embodiment of the present application further provides a method for controlling a two-axis scanning radar gravity correction system. The method includes the steps of: A dynamic equation system model of the active tracking platform is constructed, and the first dynamic equation system model The first dynamic equation system model is analyzed. The first dynamic equation system model is simplified and synthesized. Together, we form a second dynamic equation system model. Each force of each force sensor in each mechanical direction is A set of force receiving information in each dynamic direction is used as the second dynamic equation model. The correction signal is sent to the X-axis linear motor and the Y-axis linear motor. Feedback is provided to the axial linear motor and Z-axis electromagnetic compensation mechanism. Drives the motor and Y-axis linear motor to perform gravity compensation, and drives the Z-axis electromagnetic compensation mechanism After one gravity correction is completed, the force sensors in the individual mechanical directions are Return to the stage of accepting the force reception information for each set of As shown in FIG. 9, one embodiment of the present application further includes a two-axis scanning radar. - A gravity compensation system is provided, and the two-axis scanning radar gravity compensation system described in the above content is The two-axis scanning radar gravity compensation system is used to implement a control method for a system, A system for controlling a two-axis scanning radar gravity correction system according to the present invention is provided. Computer A100 and The active tracking platform includes the horizontal tracking structure A210 and the Z-axis electromagnetic compensation mechanism A220. Room A200 and The X-axis linear motor A211 and the Y-axis linear motor A212 are included. The near motor A211 and the Y-axis linear motor A212 perform gravity compensation in the X-axis and Y-axis directions. a horizontal tracking structure A210 for carrying out the a Z-axis electromagnetic correction mechanism A220 used to perform Z-axis gravity correction; The motors used for detecting and driving the X-axis linear motor A211 and the Y-axis linear motor A212 the computer control module A300, and Electromagnetic compensation controller module A used for detecting and driving the Z-axis electromagnetic compensation mechanism A220 400, inclusive.

[0009] The technical features of the above embodiments can be arbitrarily combined, and the steps of each method can be implemented in any order. Without being limited to the above, for the convenience of explanation, all possible combinations of the technical features in the above embodiments are included. Although the method is not explained, as long as the combination of these technical features is not mutually exclusive, Both of these are considered to fall within the scope of the present specification. The above examples only describe some embodiments of the present application, and the descriptions are relatively detailed. However, this should not be construed as limiting the scope of the claims of this application. It should be noted that a person skilled in the art would be able to make many variations without departing from the idea of ​​the present application. Various modifications and improvements can be made, all of which fall within the scope of protection of this application. The scope of protection of this application is defined by the claims attached hereto.

Claims

1. Based on the measurement method of two-axis gravity compensation under microgravity environment, the error variables of the power amplifier are determined. and accounting for system and mechanical errors in the microgravity environment of the power amplifier; introducing system errors of the power amplifier into an electromagnetic environment analysis algorithm; The mechanical error of the power amplifier is smoothed and the mechanical error of the power amplifier is suppressed. introducing it into the Rie analysis algorithm; Based on the electromagnetic environment analysis algorithm and Fourier analysis algorithm, the error change of the power amplifier obtaining a physical source of numerical error; calling a material repository of the acoustic measurement equipment according to the physical source of the error of the error variable; selecting a material from a material warehouse; Based on the surface treatment algorithm, the thickness of the coating is calculated in relation to the mechanical tolerances of the selected material. and the stage of acquiring Return to the step of selecting one material from the material warehouse and repeat until all materials have been selected. Repeating steps and determining a solute system based on the normal salt of the material to be coated; Establishing a critical temperature threshold for the coating using a solute system; selecting a pH value (in the order of 0.1) from the solute system; receiving current data through the solute system; Based on the current data passing through the solute system, determine whether the current data passing through the solute system is 0 A. The decision stage and If the current data through the solute system is 0 A, the coating thickness is measured as a two-axis gravity correction. determining that the equipment configuration is suitable; and If the current through the solute system is not 0 A, the coating thickness is measured using a two-axis gravity correction. determining that the equipment configuration is incompatible. A measurement method for biaxial gravity compensation.

2. Based on the electromagnetic environment analysis algorithm and Fourier analysis algorithm, The step of obtaining the error physical sources of the error variables includes: retrieving an error sample set of the original mechanical error of the power amplifier; receiving a smoothed power amplifier mechanical error error sample set; The error sample set of the original mechanical error of the power amplifier and the smoothed mechanical error of the power amplifier determining whether the mechanical error sample sets match; The error sample set of the original mechanical error of the power amplifier and the smoothed mechanical error of the power amplifier If the mechanical error sample sets do not match, the mechanical error of the power amplifier will cause delay. determining that the error is an error; The error sample set of the original mechanical error of the power amplifier and the smoothed mechanical error of the power amplifier If the mechanical error sample sets match, the mechanical error of the power amplifier is within a reasonable threshold range. determining that the value falls within the range; retrieving an error sample set of the original mechanical error of the power amplifier; Based on the Fourier analysis algorithm, the error sample set of the original mechanical error of the power amplifier is determining whether the sampled data has a sawtooth waveform; The error sample set of the original mechanical error of the power amplifier has sawtooth waveform sample data. In this case, it is determined that the physical source of error in the measurement equipment for two-axis gravity compensation is the machine wall friction error. and The error sample set of the original mechanical error of the power amplifier has sawtooth waveform sample data. If not, the wall friction error of the measurement equipment for two-axis gravity compensation must be within the error threshold range. and determining 2. The method for measuring two-axis gravity compensation according to claim 1.

3. 3. The method for measuring biaxial gravity compensation according to claim 1, wherein the a host computer used for a power amplifier, a light source, and a calibration piston, the power amplifier being electrically connected to the light source; The light source is connected to the host computer, and the calibration piston is connected to the host computer. a piston measuring device installed close to the light source; a two-axis scanning radar gravity correction system located adjacent to the beam source. nothing A measurement control device for two-axis gravity compensation.

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