CN105527655A - Marine gravimeter stabilizing platform leveling device and method - Google Patents
Marine gravimeter stabilizing platform leveling device and method Download PDFInfo
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- CN105527655A CN105527655A CN201610143170.4A CN201610143170A CN105527655A CN 105527655 A CN105527655 A CN 105527655A CN 201610143170 A CN201610143170 A CN 201610143170A CN 105527655 A CN105527655 A CN 105527655A
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Abstract
The invention provides a marine gravimeter stabilizing platform leveling device and method and relates to the field of marine gravity measuring equipment. The method includes: utilizing an acceleration digital parameter acquiring module to acquire acceleration digital parameters of when a platform rotates; utilizing a correction module to perform digital control correction on acquired acceleration digital parameters and generating a control torque signal; utilizing digital-analog conversion module to convert the control torque signal into an analog voltage signal; utilizing a control module to control the platform to maintain horizontal according to the acquired analog voltage signal. The marine gravimeter stabilizing platform leveling device and method has the advantages of short adjusting time, small overshoot, high steady-state accuracy and small dynamic error under the condition of angular motion of a carrier.
Description
Technical field
The present invention relates to marine gravimetric survey apparatus field, in particular to a kind of sea gravimeter stable platform levelling device and method.
Background technology
Sea gravimeter is the gravity meter used on ships or in submarine.In ocean under uniform rectilinear's navigation condition, carry out gravimetry continuously, because instrument is placed on the hull of motion, the impact being subject to normal acceleration and horizontal acceleration and basement tilt is very large.Therefore; usually can whole gravity meter be positioned on stable platform; the major function of stable platform is pitching and the roll equal angular movement of the carriers such as isolation naval vessel; the sensor making sea gravimeter all the time with ground vertical line keeping parallelism; sea gravimeter is not disturbed by extraneous moment, thus improves the measuring accuracy of sea gravimeter.
But the existing platform for stable sea gravimeter exists complex structure mostly, operation is inconvenient, regulation time is long, overshoot is large, lasting accuracy is low, and under carrier angular motion condition, dynamic error is larger.
Summary of the invention
In view of this, the object of the embodiment of the present invention is to provide a kind of sea gravimeter stable platform levelling device and method.
First aspect, a kind of sea gravimeter stable platform levelling device that the embodiment of the present invention provides, it comprises stage body, and described device comprises:
Acceleration digital parameters obtains module, for obtaining the acceleration digital parameters that described stage body rotates;
Correction module, for carrying out digital control correction to the acceleration digital parameters obtained and generate controlled quentity controlled variable;
D/A converter module, for converting described controlled quentity controlled variable to analog voltage signal;
Control module, keeps horizontality for controlling described stage body according to the analog voltage signal obtained.
Second aspect, the embodiment of the present invention additionally provides a kind of sea gravimeter stable platform leveling method, and it comprises stage body, and described method comprises:
Obtain the acceleration digital parameters that described stage body rotates;
The acceleration digital parameters obtained is carried out to digital control correction and generated control torque signal;
Convert described control torque signal to analog voltage signal;
Control module, keeps horizontality for controlling described stage body according to the analog voltage signal obtained.
Compared with prior art, a kind of sea gravimeter stable platform leveling method that the embodiment of the present invention provides and device, the acceleration digital parameters that module obtains stage body rotation is obtained by utilizing acceleration digital parameters, recycling correction module carries out digital control correction to the acceleration digital parameters obtained and generates control torque signal, and utilize D/A converter module to convert described control torque signal to analog voltage signal, finally utilize control module to control described stage body according to the analog voltage signal obtained and keep horizontality.Can by stage body because the pitching of the carriers such as naval vessel and roll angle motion cause stage body and surface level deviation angle to eliminate by above-mentioned mode, thus make stage body and plane-parallel, thus the sensor making sea gravimeter all the time with ground vertical line keeping parallelism, sea gravimeter do not disturbed by extraneous moment, thus improves the measuring accuracy of sea gravimeter.These sea gravimeter stage body antihunt means and device have that regulation time is short, overshoot is little, stable state accuracy is high, under carrier angular motion condition, and the feature that dynamic error is little.
For making above-mentioned purpose of the present invention, feature and advantage become apparent, preferred embodiment cited below particularly, and coordinate appended accompanying drawing, be described in detail below.
Accompanying drawing explanation
In order to be illustrated more clearly in the technical scheme of the embodiment of the present invention, be briefly described to the accompanying drawing used required in embodiment below, be to be understood that, the following drawings illustrate only some embodiment of the present invention, therefore the restriction to scope should be counted as, for those of ordinary skill in the art, under the prerequisite not paying creative work, other relevant accompanying drawings can also be obtained according to these accompanying drawings.
The circuit of the sea gravimeter stable platform levelling device that Fig. 1 provides for present pre-ferred embodiments connects block diagram.
The structural representation of the sea gravimeter stable platform that Fig. 2 provides for present pre-ferred embodiments.
The process flow diagram of the sea gravimeter stage body antihunt means that Fig. 3 provides for present pre-ferred embodiments.
The process flow diagram in the A portion in Fig. 3 that Fig. 4 provides for present pre-ferred embodiments.
Main element symbol description: acceleration digital parameters obtains module 101, correction module 102, D/A converter module 103, power amplifier module 104, control module 105, housing 100, framework 200, stage body 300, handle 400, access panel 500, shock-damping structure 600.
Embodiment
Below in conjunction with accompanying drawing in the embodiment of the present invention, be clearly and completely described the technical scheme in the embodiment of the present invention, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.The assembly of the embodiment of the present invention describing and illustrate in usual accompanying drawing herein can be arranged with various different configuration and design.Therefore, below to the detailed description of the embodiments of the invention provided in the accompanying drawings and the claimed scope of the present invention of not intended to be limiting, but selected embodiment of the present invention is only represented.Based on embodiments of the invention, the every other embodiment that those skilled in the art obtain under the prerequisite not making creative work, all belongs to the scope of protection of the invention.
It should be noted that: represent similar terms in similar label and letter accompanying drawing below, therefore, once be defined in an a certain Xiang Yi accompanying drawing, then do not need to define further it and explain in accompanying drawing subsequently.Meanwhile, in describing the invention, term " first ", " second " etc. only for distinguishing description, and can not be interpreted as instruction or hint relative importance.
Refer to Fig. 1, it is a kind of sea gravimeter stable platform levelling device that present pre-ferred embodiments provides, described sea gravimeter stable platform levelling device comprises acceleration digital parameters and obtains module 101, correction module 102, D/A converter module 103, power amplifier module 104 and control module 105, and acceleration digital parameters obtains module 101, correction module 102, D/A converter module 103, power amplifier module 104 and control module 105 and is electrically connected successively.
Acceleration digital parameters obtains module 101, for obtaining the acceleration digital parameters that described stage body 300 rotates.
In the present embodiment, acceleration digital parameters obtains module 101 and selects quartz accelerometer, and quartz accelerometer has the features such as precision is high, volume is little, the life-span is long, practical.As shown in Figure 2, the sea gravimeter stable platform that the embodiment of the present invention provides comprises pedestal, framework 200 and stage body 300, in the present embodiment, pedestal comprises the housing 100 of upper and lower opening, open-topped for housing 100 object is the installation and the adjustment that facilitate sea gravimeter, the object of housing 100 bottom opening is the deadweight alleviating on the one hand whole pedestal, thus alleviates the load that this stable platform causes carrier.The outer wall of housing 100 is removably connected with multiple handle 400, the object arranging multiple handle 400 is the carrying facilitating this sea gravimeter stable platform.The bottom of housing 100 is provided with multiple shock-damping structure 600.Shock-damping structure 600 object is set and is to weaken or eliminate stable platform with the vibrations in carrier moving process, thus both can ensure the structural stability of stable platform, stable platform is effectively avoided to be damaged, stability when sea gravimeter is measured can be ensured again, thus ensure the accuracy of its Measuring Oceanic gravity.
Framework 200 is rotationally connected with on the inwall of housing 100.Pedestal is provided with container cavity, framework 200 is rotationally connected with in container cavity, stage body 300 is rotationally connected with in the cavity that framework 200 surrounds, framework 200 is provided with the direct current torque motor for driving stage body 300 to rotate, framework 200 is mutually vertical relative to the turning axle of framework 200 with stage body 300 relative to the turning axle of pedestal, quartz accelerometer is arranged at stage body 300, can be used for the acceleration of the rotation responding to stage body 300.
In the present embodiment, electric connector is provided with in container cavity, the position of the corresponding electric connector of housing 100 is provided with access hole and the access panel 500 for blocking access hole, and access panel 500 is removably connected on housing 100 outer wall, access panel 500 is provided with mate with electrical connector interface keep away a hole.The object arranging access hole and access panel 500 is when electric connector and relevant electric part break down, maintenance personal can be pulled down access panel 500 and be overhauled faulty component by access hole, and faulty component need not be pulled down in pedestal, thus substantially increase the convenience of this stable platform maintenance.
Correction module 102, for carrying out digital control correction to the acceleration digital parameters obtained and generate controlled quentity controlled variable.
Correction module 102 for carrying out digital control correction to the acceleration digital parameters obtained and generate controlled quentity controlled variable, according to G
p(s)=(1/K
d)/(T
mand controlled quentity controlled variable calculated torque transport function, and generate control torque signal according to moment of torsion transport function s+1).Wherein G
ps () is moment of torsion transport function, T
mfor the time coefficient of control module 105 response simulation voltage signal, K
dfor the scale-up factor of the moment of torsion of controlled quentity controlled variable and described stage body 300.
Particularly, correction module 102 comprises comparison sub-module and regulates submodule, and described comparison sub-module is electrically connected with described adjustment submodule.
Comparison sub-module is for the correction difference of the normal acceleration digital parameters of the acceleration digital parameters and pre-stored that calculate acquisition.
In the present embodiment, comparison sub-module adopts comparer, and comparer can be used for comparing two data item, to determine that whether they are equal, or determines magnitude relationship between them and puts in order to be called and to compare, and export the difference between two data.In addition, it should be noted that, standard angle speed digital signal is herein the acceleration digital parameters of stage body 300 when being in horizontality.The acceleration digital parameters gathered by quartz accelerometer and the normal acceleration digital parameters of pre-stored are carried out subtracting each other and can be obtained correcting difference, and generate controlled quentity controlled variable according to correcting difference.
Described adjustment submodule is used for generating control torque signal according to correcting difference.
In the present embodiment, said control torque signal refers to the electric signal being in a kind of quantification of the angular dimension of horizontality for controlling stage body 300 revolution, stage body 300 needs pivotal angle larger, control torque signal is larger, stage body 300 needs pivotal angle less, then control torque signal is less.
In addition, described correction module 102 is also for carrying out filtering to the acceleration digital parameters obtained.
In the present embodiment, correction module 102 adopts digital control circuit, and this digital control circuit is arranged in control circuit board, and control circuit board is arranged in above-mentioned container cavity.This digital control circuit mainly comprises dsp controller, pulse-scaling circuit, RDC circuit, serial expanded circuit, this dsp controller adopts Harvard's pipeline organization, interrupt response can be performed fast, and there is unified memory management pattern, there is the advantages such as precision is high, cost is low, power consumption is little, integrated level is high, memory capacity is large.
Consider that quartz accelerometer may have other undesired signal in the acceleration digital parameters collected, because other ground undesired signals are different from the frequency of acceleration digital parameters, therefore also wave filter is comprised in correction module 102, utilize wave filter only allow to meet signal content in the frequency range of acceleration digital parameters normal through, and stop the undesired signal of other frequency ranges to be passed through, filtering is carried out to acceleration digital parameters, the correction difference that filtered acceleration digital parameters and normal acceleration digital parameters are generated is more accurate, thus the stable state accuracy making stage body 300 final is higher.
Dsp controller inside is integrated with timer and PWM module, can be used for program timing design; PWM module can provide 2 tunnel PWM able to programme to export, by outputting to H switch after light-coupled isolation, for drive control module 105.
In the present embodiment, dsp controller uses serial ports control chip 16C854 to expand 4 road RS-422 serial ports, and every road has 128 byte FIFO.In 4 road serial ports, two-way receives optical fibre gyro digital quantity, and 1 tunnel and gravity meter control display system communication, and 1 tunnel is reserved to be used.CPLD is used to realize decoding and the logic control of peripheral components.The output step-by-step counting of acceleration analog to digital conversion circuit is completed by CPLD, and all pulse input signals all carry out light-coupled isolation, does suitable hardware filtering process simultaneously, filters disturbing pulse signal; CPLD inner paired pulses input signal high-speed sampling, guarantees not lose count pulse in each count cycle from software.Dsp controller expansion design 4 road I/O exports, and 4 road I/O input.Reserved 1 tunnel external interrupt interface, adopts Phototube Coupling design, look-at-me Low level effective, synchronous for time reference.
D/A converter module 103, for converting described controlled quentity controlled variable to analog voltage signal.
Control torque signal is converted to analog voltage signal, and control module 105 can make corresponding Angle ambiguity according to the analog voltage signal received.
Control module 105, keeps horizontality for controlling described stage body 300 according to the analog voltage signal obtained.
In practical operation, analog voltage signal intensity after only utilizing control torque signal to transform is very weak, control module 105 directly utilizes this analog voltage signal that stage body 300 cannot be driven to rotate, and therefore needs to utilize power amplifier module 104 to be carried out amplifying by analog voltage and be delivered to control module 105 again.In the present embodiment, after analog voltage signal is amplified 50 ~ 100 times, control module 105 can drive stage body 300 to rotate according to the analog voltage signal after amplification.
In the present embodiment, control module 105 adopts direct current torque motor, and direct current torque motor is the topworks of gravity meter stable platform, and its effect is according to formula G
p(s)=(1/K
d)/(T
ms+1) convert the analog voltage signal that power amplifier module 104 exports to electromagnetic torque, thus balance extraneous disturbance torque, the angular motion of isolation carrier, wherein, G
ps () is moment of torsion transport function, moment of torsion transport function is larger, and electromagnetic torque is larger.Particularly, when designing, according to load weight, centroid motion and bearing friction situation, suitable direct current torque motor can be selected.Specific formula for calculation is:
wherein: M
ffor electromagnetic torque, M
mfor motor brush moment of friction; M
cfor control moment; M
zfor bearing frictional torque.
Owing to there is no the environmental baselines such as large shock and vibration, acceleration in the work of gravity meter measuring system, select the control moment M mainly considering direct current torque motor during direct current torque motor capacity
c, wherein,
j is electric machine rotation inertia,
for electric machine rotation angular acceleration.According to preresearch estimates gimbal moment of intertia J≤1Kgm
2, angular acceleration
thus continuous stall control moment M
c≤ 5Nm.
Generally, motor brush moment of friction M
m≤ 5.5 × 10
-3nm, bearing frictional torque M
z≤ 1 × 10
-2nm, thus the continuous stalling torque of motor is chosen as:
Particularly, suppose to set α, β as the fleet angle of the X-axis fleet angle with respect to the horizontal plane of stage body 300 and Y-axis with respect to the horizontal plane, then α, β computing formula of stage body 300 when quiet pedestal is:
Quiet pedestal leveling precision depends primarily on zero of quartz accelerometer partially, if require roll axle leveling precision β≤δ
1, then zero of acceleration digital parameters X-axis with respect to the horizontal plane need meet partially
if require pitch axis leveling precision β≤δ
1, then zero of acceleration digital parameters Y-axis with respect to the horizontal plane need meet partially
In order to improve the leveling precision of this sea gravimeter stable platform levelling device, described acceleration digital parameters obtains zero inclined also for obtaining acceleration digital parameters X-axis with respect to the horizontal plane according to described acceleration digital parameters of module 101
y-axis with respect to the horizontal plane zero inclined
Described correction module 102 is also for judging
whether be less than g × δ
2if,
be less than g × δ
2, then inclined according to zero of X-axis
generate the 3rd adjustment amount signal, and for judging
whether be less than g × δ
2if,
be less than g × δ
2, inclined according to zero of Y-axis
generate the 4th adjustment amount signal, described control module 105 comprises the first control submodule and second and controls submodule, described first controls submodule controls the described plane at stage body 300 place and the angle of surface level X-direction reduces according to the 3rd adjustment amount signal, zero of X-axis inclined to make
be less than g × δ
2, described second controls submodule reduces the described plane at stage body 300 place of control and the angle of surface level according to the 4th adjustment amount signal, zero of Y-axis inclined to make
be less than g × δ
2, δ
2for the second presetting high precision deviation angle, g is universal gravitational constant.
On the other hand, when platform is rocking disturbing acceleration a (t)=a
msin (ω
ht) time under effect, if α, β will be met be less than δ respectively
2, need reasonable design loop bandwidth.If levelling device open-loop transfer function is G (s)=gG
h(s), the closed loop transfer function, formula of the levelling device under disturbing acceleration effect is:
As s → j ω
htime, if | G
h(j ω
h) | >>1, then have
now system bandwidth ω
c> ω
h, levelling device is more weak to the rejection ability rocking interference, is difficult to meet index request.So at s → j ω
htime, generally make | G
h(j ω
h) | <<1, the i.e. bandwidth omega of open-loop transfer function
c< ω
h.Now have:
If at interfering frequency ω
hplace will obtain comparatively high attenuation amplitude
then loop open-loop transfer function must meet
Therefore in order to improve the leveling precision of this sea gravimeter stable platform levelling device further, it is also inclined for zero of zero Y-axis partially and with respect to the horizontal plane that obtains acceleration digital parameters X-axis with respect to the horizontal plane according to described acceleration digital parameters that acceleration digital parameters obtains module 101.
Described correction module 102 is also for judging G
ps whether () be less than δ
1/ a
1mg, if not, then generates the first adjustment amount signal; And for judging G
ps whether () be less than δ
1/ a
2mg, if not, then generate the second adjustment amount signal, described control module 105 comprises the first control submodule and second and controls submodule, the angle that described first control submodule controls described stage body 300 place plane and surface level X-direction according to the first adjustment amount signal reduces, to make G
ps () is less than δ
1/ a
1mg, described second controls submodule reduces, to make G the angle controlling described stage body 300 place plane and surface level Y direction according to the second adjustment amount signal
ps () is less than δ
1/ a
2mg, wherein, δ
1for the first presetting high precision deviation angle, a
1mfor zero of X-axis inclined peak value, a
2mfor zero of Y-axis inclined peak value, g is universal gravitational constant.
On the other hand, by choose reasonable performance bound w
1the uncertain bound function w of (s), object
2s () can make sensitivity function S (s) and mending sensitivity function T (s) the rule change desirably of closed-loop system, the system of guarantee has stronger stability, good tracking power and antijamming capability.In addition, by choose reasonable weighting function w
3s () can limit the amplitude of control signal, to meet the Engineering constraint requirement of topworks.Function w1 (s), w
2(s), w
3s () deterministic process is as follows: 1, basis
can obtain at interfering frequency ω
hthe attenuation multiple of place's open-loop transfer function, thus the uncertain bound function W of rational object can be obtained
2s (), realizes ω
hfrequency rocks the suppression of interference; 2, by selectivity bound function W
1s (), to meet regulation time index; 3, by determining rational controller weighting function W
3s (), to limit the amplitude of correction link front signal, meets the physical constraint requirement corrected.Due in levelling device design, must meet suppression and rock this index request of interference, regulation time is as far as possible little on this basis, according to Mixed Sensitivity robust control theory, requires:
Wherein, R (s) is correction module 102 sensitivity function.
Therefore, multiple performance bound function w is pre-stored with at described correction module 102
1(s), the uncertain bound function w of multiple object
2(s), multiple weighting function w
3s (), multiple levelling device sensitivity function S (s), multiple mending sensitivity function T (s), multiple correction module 102 sensitivity function R (s), selects one of them w
1(s), w
2(s), w
3s (), S (s), T (s), R (s) bring equation into respectively
judge
whether equal 1, if not, then reselect w
1(s), w
2(s), w
3s (), S (s), T (s), R (s), to make
equal 1.
Referring to Fig. 3, is the process flow diagram of the sea gravimeter stable platform leveling method that present pre-ferred embodiments provides.Be described in detail to the idiographic flow shown in Fig. 3 below.It should be noted that, the sea gravimeter stage body antihunt means that the present embodiment provides, the technique effect of its ultimate principle and generation is identical with above-described embodiment, in order to concise and to the point description, the not mentioned part of the present embodiment part, can with reference to corresponding contents in the above embodiments.Be described in detail to the idiographic flow shown in Fig. 3 below.
Step S301: obtain the acceleration digital parameters that described stage body 300 rotates.
Acceleration digital parameters can be utilized to obtain module 101 (e.g., being installed on the quartz accelerometer of stage body 300), obtain the acceleration digital parameters that stage body 300 rotates.
Step S302: filtering is carried out to the acceleration digital parameters obtained.
Diagonal angle speed digital signal filtering can be carried out, to improve the stable state accuracy that control module 105 balances stage body 300 by correction module 102.
Step S303: for carrying out digital control correction to the acceleration digital parameters obtained and generate controlled quentity controlled variable.
Can be calculated the correction difference of the normal acceleration digital parameters obtaining acceleration digital parameters and pre-stored by correction module 102, correction module 102 can generate controlled quentity controlled variable according to correction difference.
Step S304: according to G
p(s)=(1/K
d)/(T
mand controlled quentity controlled variable calculated torque transport function, and generate control torque signal according to moment of torsion transport function s+1).Wherein, G
ps () is moment of torsion transport function, T
mfor the time coefficient of control module 105 response simulation voltage signal, K
dfor the scale-up factor of the moment of torsion of controlled quentity controlled variable signal and described stage body 300.
Step S305: convert described control torque signal to analog voltage signal.
By D/A converter module 103, control torque signal is converted to analog voltage signal.
Step S306: power amplification is carried out to described analog voltage signal.
By power amplifier module 104, analog voltage signal is carried out power amplification.
Step S307: keep horizontality for controlling described stage body 300 according to the analog voltage signal obtained.
In order to improve the leveling precision of this sea gravimeter stable platform levelling device, described method also comprises:
Step S308: judge G
ps whether () be less than δ
1/ a
1mg, and for judging G
ps whether () be less than δ
1/ a
2mg, if G
ps () is less than δ
1/ a
1mg, then perform step S309, if G
ps () is less than δ
1/ a
2mg, then perform step S311.
Step S309: generate the first adjustment amount signal.
Step S310: the angle controlling described stage body 300 place plane and surface level X-direction according to the first adjustment amount signal reduces, to make G
ps () is less than δ
1/ a
1mg.
Step S311: generate the second adjustment amount signal.
Described control module 105 comprises the first control submodule and second and controls submodule, and the first control submodule and the second control submodule can be respectively the direct current torque motor for driving roll axle and pitch axis.The angle controlling described stage body 300 place plane and surface level X-direction according to the first adjustment amount signal by the first control submodule reduces.Wherein, δ
1for the first presetting high precision deviation angle, a
1mfor zero of X-axis inclined peak value.
Step S312: the angle controlling described stage body 300 place plane and surface level Y direction is reduced, to make G according to the second adjustment amount signal
ps () is less than δ
1/ a
2mg.The angle controlling described stage body 300 place plane and surface level Y direction according to the second adjustment amount signal by the second control submodule reduces.Wherein, a
2mfor zero of Y-axis inclined peak value, g is universal gravitational constant.
As shown in Figure 4, in order to improve the leveling precision of this sea gravimeter stable platform levelling device, described method also comprises:
Step S313: inclined according to zero of described acceleration digital parameters acquisition acceleration digital parameters X-axis with respect to the horizontal plane
y-axis with respect to the horizontal plane zero inclined
Step S314: judge
whether be less than g × δ
2, judge
whether be less than g × δ
2if,
whether be less than g × δ
2, then perform step S315, if
be less than g × δ
2, then step S317 is performed.
Step S315: inclined according to zero of X-axis
generate the 3rd adjustment amount signal.
Step S316: control the described plane at stage body 300 place and the angle of surface level X-direction reduces according to the 3rd adjustment amount signal, zero of X-axis inclined to make
be less than g × δ
2.
The angle controlling described stage body 300 place plane and surface level X-direction according to the 3rd adjustment amount signal by the first control submodule reduces.Wherein, δ
2for the second presetting high precision deviation angle, g is universal gravitational constant.
Step S317: inclined according to zero of Y-axis
generate the 4th adjustment amount signal.
Step S318: the described plane at stage body 300 place of control and the angle of surface level are reduced according to the 4th adjustment amount signal, zero of Y-axis inclined to make
be less than g × δ
2.
The angle controlling described stage body 300 place plane and surface level Y direction according to the 4th adjustment amount signal by the second control submodule reduces.
It is emphasized that in the present embodiment, between step S308 ~ S312, step S313 ~ S318, there is no sequencing.
To sum up, a kind of sea gravimeter stable platform leveling method that the embodiment of the present invention provides and device, the acceleration digital parameters that module 101 obtains stage body 300 rotation is obtained by utilizing acceleration digital parameters, recycling correction module 102 carries out digital control correction to the acceleration digital parameters obtained and generates control torque signal, and utilize D/A converter module 103 to convert described control torque signal to analog voltage signal, finally utilize control module 105 to control described stage body 300 according to the analog voltage signal obtained and keep horizontality.Can by stage body 300 because the pitching of the carriers such as naval vessel and roll angle motion cause stage body 300 and surface level deviation angle to eliminate by above-mentioned mode, thus make stage body 300 and plane-parallel, thus the sensor making sea gravimeter all the time with ground vertical line keeping parallelism, sea gravimeter do not disturbed by extraneous moment, thus improves the measuring accuracy of sea gravimeter.These sea gravimeter stage body 300 antihunt means and device have that regulation time is short, overshoot is little, stable state accuracy is high, under carrier angular motion condition, and the feature that dynamic error is little.
In several embodiments that the application provides, should be understood that disclosed apparatus and method also can realize by another way.Device embodiment described above is only schematic, and such as, the process flow diagram in accompanying drawing and block diagram show device according to multiple embodiment of the present invention, the architectural framework in the cards of method and computer program product, function and operation.In this, each square frame in process flow diagram or block diagram can represent a part for module, program segment or a code, and a part for described module, program segment or code comprises one or more executable instruction for realizing the logic function specified.Also it should be noted that at some as in the implementation of replacing, the function marked in square frame also can be different from occurring in sequence of marking in accompanying drawing.Such as, in fact two continuous print square frames can perform substantially concurrently, and they also can perform by contrary order sometimes, and this determines according to involved function.Also it should be noted that, the combination of the square frame in each square frame in block diagram and/or process flow diagram and block diagram and/or process flow diagram, can realize by the special hardware based system of the function put rules into practice or action, or can realize with the combination of specialized hardware and computer instruction.
In addition, each functional module in each embodiment of the present invention can integrate formation one independently part, also can be modules individualism, also can form an independently part by two or more module integrations.
If described function using the form of software function module realize and as independently production marketing or use time, can be stored in a computer read/write memory medium.Based on such understanding, the part of the part that technical scheme of the present invention contributes to prior art in essence in other words or this technical scheme can embody with the form of software product, this computer software product is stored in a storage medium, comprising some instructions in order to make a computer equipment (can be personal computer, server, or the network equipment etc.) perform all or part of step of method described in each embodiment of the present invention.And aforesaid storage medium comprises: USB flash disk, portable hard drive, ROM (read-only memory) (ROM, Read-OnlyMemory), random access memory (RAM, RandomAccessMemory), magnetic disc or CD etc. various can be program code stored medium.It should be noted that, in this article, the such as relational terms of first and second grades and so on is only used for an entity or operation to separate with another entity or operational zone, and not necessarily requires or imply the relation that there is any this reality between these entities or operation or sequentially.And, term " comprises ", " comprising " or its any other variant are intended to contain comprising of nonexcludability, thus make to comprise the process of a series of key element, method, article or equipment and not only comprise those key elements, but also comprise other key elements clearly do not listed, or also comprise by the intrinsic key element of this process, method, article or equipment.When not more restrictions, the key element limited by statement " comprising ... ", and be not precluded within process, method, article or the equipment comprising described key element and also there is other identical element.
The foregoing is only the preferred embodiments of the present invention, be not limited to the present invention, for a person skilled in the art, the present invention can have various modifications and variations.Within the spirit and principles in the present invention all, any amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.It should be noted that: represent similar terms in similar label and letter accompanying drawing below, therefore, once be defined in an a certain Xiang Yi accompanying drawing, then do not need to define further it and explain in accompanying drawing subsequently.
The above; be only the specific embodiment of the present invention, but protection scope of the present invention is not limited thereto, is anyly familiar with those skilled in the art in the technical scope that the present invention discloses; change can be expected easily or replace, all should be encompassed within protection scope of the present invention.Therefore, protection scope of the present invention should described be as the criterion with the protection domain of claim.
Claims (10)
1. a sea gravimeter stable platform levelling device, it comprises stage body, it is characterized in that, described device comprises:
Acceleration digital parameters obtains module, for obtaining the acceleration digital parameters that described stage body rotates;
Correction module, for carrying out digital control correction to the acceleration digital parameters obtained and generate controlled quentity controlled variable;
D/A converter module, for converting described controlled quentity controlled variable to analog voltage signal;
Control module, keeps horizontality for controlling described stage body according to the analog voltage signal obtained.
2. sea gravimeter stable platform levelling device according to claim 1, is characterized in that, described correction module is also for carrying out filtering to the acceleration digital parameters obtained.
3. sea gravimeter stable platform levelling device according to claim 1, it is characterized in that, described device also comprises power amplifier module, described D/A converter module, described power amplifier module and control module are electrically connected successively, the analog voltage signal that described power amplifier module transmits for obtaining described D/A converter module, power amplification is carried out to described analog voltage signal, and the analog voltage signal after amplifying is passed to control module.
4. sea gravimeter stable platform levelling device according to claim 1, is characterized in that, described correction module comprises comparison sub-module and regulates submodule, and described comparison sub-module is electrically connected with described adjustment submodule,
Described comparison sub-module is for the correction difference of the normal acceleration digital parameters of the acceleration digital parameters and pre-stored that calculate acquisition;
Described adjustment submodule is used for generating controlled quentity controlled variable according to correcting difference.
5. sea gravimeter stable platform levelling device according to claim 1, is characterized in that, the acceleration digital parameters that described correction module is used for obtaining is carried out digital control correction and generates controlled quentity controlled variable, according to G
p(s)=(1/K
d)/(T
mand controlled quentity controlled variable calculated torque transport function s+1), and generate control torque signal according to moment of torsion transport function, described control module is used for controlling described stage body according to the control torque signal obtained and keeps horizontality, wherein G
ps () is moment of torsion transport function, T
mfor the time coefficient of control module response simulation voltage signal, K
dfor the scale-up factor of the moment of torsion of controlled quentity controlled variable and described stage body.
6. sea gravimeter stable platform levelling device according to claim 5, it is characterized in that, described acceleration digital parameters obtains module also for obtaining zero of zero Y-axis partially and with respect to the horizontal plane of acceleration digital parameters X-axis with respect to the horizontal plane according to described acceleration digital parameters partially, and described correction module is also for judging G
ps whether () be less than δ
1/ a
1mg, if not, then generates the first adjustment amount signal; And for judging G
ps whether () be less than δ
1/ a
2mg, if not, then generate the second adjustment amount signal, described control module comprises the first control submodule and second and controls submodule, the angle that described first control submodule controls described stage body place plane and surface level X-direction according to the first adjustment amount signal reduces, to make G
ps () is less than δ
1/ a
1mg, described second controls submodule reduces, to make G the angle controlling described stage body place plane and surface level Y direction according to the second adjustment amount signal
ps () is less than δ
1/ a
2mg, wherein, δ
1for the first presetting high precision deviation angle, a
1mfor zero of X-axis inclined peak value, a
2mfor zero of Y-axis inclined peak value, g is universal gravitational constant.
7. sea gravimeter stable platform levelling device according to claim 1, is characterized in that, described acceleration digital parameters obtains zero inclined also for obtaining acceleration digital parameters X-axis with respect to the horizontal plane according to described acceleration digital parameters of module
y-axis with respect to the horizontal plane zero inclined
described correction module is also for judging
whether be less than g × δ
2if,
be less than g × δ
2, then inclined according to zero of X-axis
generate the 3rd adjustment amount signal, and for judging
whether be less than g × δ
2if,
be less than g × δ
2, inclined according to zero of Y-axis
generate the 4th adjustment amount signal, described control module comprises the first control submodule and second and controls submodule, described first angle controlling the plane and surface level X-direction that submodule controls described stage body place according to the 3rd adjustment amount signal reduces, zero of X-axis inclined to make
be less than g × δ
2, described second controls submodule reduces the control plane at described stage body place and the angle of surface level according to the 4th adjustment amount signal, zero of Y-axis inclined to make
be less than g × δ
2, δ
2for the second presetting high precision deviation angle, g is universal gravitational constant.
8. sea gravimeter stable platform levelling device according to claim 1, is characterized in that, described correction module is pre-stored with multiple performance bound function w
1(s), the uncertain bound function w of multiple object
2(s), multiple weighting function w
3s (), multiple levelling device sensitivity function S (s), multiple mending sensitivity function T (s), multiple correction module sensitivity function R (s), selects one of them w
1(s), w
2(s), w
3s (), S (s), T (s), R (s) bring equation into respectively
judge
whether equal 1, if not, then reselect w
1(s), w
2(s), w
3s (), S (s), T (s), R (s), to make
equal 1.
9. a sea gravimeter stable platform leveling method, it comprises stage body, it is characterized in that, described method comprises:
Obtain the acceleration digital parameters that described stage body rotates;
The acceleration digital parameters obtained is carried out to digital control correction and generated control torque signal;
Convert described control torque signal to analog voltage signal;
Control module, keeps horizontality for controlling described stage body according to the analog voltage signal obtained.
10. sea gravimeter stable platform leveling method according to claim 9, is characterized in that, the described acceleration digital parameters to obtaining is carried out digital control correction and generates control torque signal, comprising:
The acceleration digital parameters obtained is carried out to digital control correction and generated controlled quentity controlled variable, according to formula G
p(s)=(1/K
d)/(T
mand controlled quentity controlled variable calculated torque transport function, and generate control torque signal according to moment of torsion transport function, wherein G s+1)
ps () is moment of torsion transport function, T
mfor the time coefficient of control module response simulation voltage signal, K
dfor the scale-up factor of the moment of torsion of controlled quentity controlled variable and described stage body.
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