发表机构
SUPSI ISEA（瑞士应用科学与艺术大学信息与工程学院）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
该研究针对高精度摆式倾斜仪的干扰振荡问题，开发六线圈电磁驱动系统及矢量控制框架，通过实验将主导振荡衰减31.11 dB，大幅缩短瞬态时间，为高精度倾斜仪提供了实用设计框架。
AI 中文摘要
本文针对基于摆的高精度倾斜仪中由干扰引起的振荡问题展开研究，尽管重力参考传感具备长期稳定性，但这类振荡会降低测量可用性。为主动抑制该振荡，研究人员开发了一套非接触式六线圈电磁驱动系统，同时设计了一套控制框架，该框架需考虑电磁驱动的非线性、单侧性及有界特性，实时生成控制器所需的平面阻尼力。所提方法结合了面向控制的球面摆非线性模型、基于观测器的反馈控制，以及将期望矢量力映射为可行线圈电流的约束力分配方案。对原型机的实验验证显示，主导振荡模式的衰减可达31.11 dB，瞬态持续时间显著缩短，50%衰减时间从无控制时的11.10 s降至最优工作点下的1.01 s。结果还表明瞬态速度与残余振荡间存在权衡关系，验证了所提阻尼策略的有效性，及其作为高精度倾斜仪系统实用设计框架的价值。
英文摘要
This paper addresses disturbance-induced oscillations in high-precision pendulum-based inclinometers, which reduce measurement availability despite the long-term stability of gravity-referenced sensing. To actively suppress these oscillations, a contactless six-coil electromagnetic actuation system is developed, together with a control framework that generates, in real time, the planar damping force required by the controller despite the nonlinear, unilateral, and bounded nature of magnetic actuation. The proposed approach combines a control-oriented nonlinear model of the spherical pendulum, observer-based feedback control, and a constrained force-allocation scheme that maps the desired vector force into feasible coil currents. Experimental validation on a prototype demonstrates attenuation of the dominant oscillatory mode up to 31.11 dB and a marked reduction in transient duration, with the 50\% decay time decreasing from 11.10 s without control to 1.01 s at the most favorable operating point. The results also highlight a trade-off between transient speed and residual oscillation, demonstrating both the effectiveness of the proposed damping strategy and its value as a practical design framework for high-precision inclinometer systems.
