论文标题
具有6D地震计的主动平台稳定
Active platform stabilisation with a 6D seismometer
论文作者
论文摘要
我们演示了具有六个自由度（6D）地震计的主动平台的控制方案。惯性传感器同时测量平台的自由度转化和倾斜度，并且不需要任何其他传感器才能进行稳定。我们表明，在数字控制方案中，馈电取消方案可以有效地将地震仪的倾斜到倾斜度耦合。我们将频带中的平台从250 MHz稳定到水平自由度的10 Hz，并在1 Hz左右达到100个抑制因子。地面振动的进一步抑制受到平台的压电执行器的非线性响应及其有限范围（5μm）的限制。在本文中，我们讨论了6D地震计，其控制方案以及测试床的局限性。
We demonstrate the control scheme of an active platform with a six degree of freedom (6D) seismometer. The inertial sensor simultaneously measures translational and tilt degrees of freedom of the platform and does not require any additional sensors for the stabilisation. We show that a feedforward cancellation scheme can efficiently decouple tilt-to-horizontal coupling of the seismometer in the digital control scheme. We stabilise the platform in the frequency band from 250 mHz up to 10 Hz in the horizontal degrees of freedom and achieve a suppression factor of 100 around 1 Hz. Further suppression of ground vibrations was limited by the non-linear response of the piezo actuators of the platform and by its limited range (5 μm). In this paper we discuss the 6D seismometer, its control scheme, and the limitations of the test bed.
