Micro-gyroscope tracking control method based on adaptive fuzzy sliding mode

An adaptive fuzzy, micro-gyroscope technology, applied in the direction of adaptive control, general control system, control/adjustment system, etc., can solve the problems of low control accuracy and unconsidered parameter changes, etc.

Inactive Publication Date: 2012-03-28
HOHAI UNIV CHANGZHOU
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Problems solved by technology

[0004] In order to solve the problem that the traditional micro-gyroscope control system does not consider parameter changes and the influence of environmental changes, resulting in low control accuracy, the

Method used

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  • Micro-gyroscope tracking control method based on adaptive fuzzy sliding mode
  • Micro-gyroscope tracking control method based on adaptive fuzzy sliding mode
  • Micro-gyroscope tracking control method based on adaptive fuzzy sliding mode

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Embodiment Construction

[0071] The present invention will be further described below in conjunction with the accompanying drawings.

[0072] 1. Dynamic equation of micro gyroscope

[0073] A micro-vibration gyroscope generally consists of three components: a mass supported by an elastic material, an electrostatic drive device, and a sensing device. The main function of the electrostatic drive circuit is to drive and maintain the constant amplitude of the vibration of the micro-vibration gyroscope; the sensing circuit is used to sense the position and speed of the mass. The micro gyroscope can be simplified as a damped vibration system composed of a mass block and a spring. figure 1 A simplified model of a microvibrating gyroscope is shown. Considering the coupled stiffness and damping coefficients caused by manufacturing errors, the mathematical model of the lumped parameters of the actual micro-gyroscope is:

[0074] (1)

[0075] in is the mass of the mass block, are the coordina...

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Abstract

The invention discloses a micro-gyroscope tracking control method based on an adaptive fuzzy sliding mode. The method comprises the following steps of: designing a control law according to the linear feedback technology and a micro-gyroscope dynamic equation; adding the sliding mode control to the control law based on the method to obtain a sliding mode control law; approaching to a practical system with a fuzzy system to obtain a fuzzy sliding mode control law; and determining an adaptive law of parameters based on the method. As the fuzzy approaching error is greater than or equal to the least approaching error, a parameter in the control law is selected as the absolute value of the approaching error plus a constant greater than 0, thus the unconditional stability of the system is ensured, the system response is accelerated and the system buffeting is reduced. Through the invention, the problems that the control accuracy of a traditional micro-gyroscope control system is relatively low due to the influence of environment change as the parameter variation is not considered and the like are solved, the micro-gyroscope can be effectively and reliably controlled in the case of uncertain parameters caused by the manufacturing error or unknown and existing environmental interference, and the overall stability of the system is ensured.

Description

technical field [0001] The invention belongs to the technical field of tracking control of micro gyroscopes, in particular to an improved adaptive fuzzy sliding mode control based on linearized feedback and used for tracking control methods of micro gyroscopes. Background technique [0002] Gyroscopes are the fundamental measurement element for inertial navigation and guidance. But in fact, the manufacturing error in the manufacturing process and the influence of the ambient temperature lead to the existence of coupled stiffness coefficient and damping coefficient, resulting in the inherent interference of the system in the form of mechanical and electrostatic forces, resulting in the difference between the characteristics of the original and the design, reducing the The sensitivity and precision of the micro gyroscope. In addition, the gyroscope itself is a multi-input multi-output system, and the uncertainty of parameters and external interference will cause fluctuations ...

Claims

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Application Information

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IPC IPC(8): G05B13/04
Inventor 费峻涛王世涛
Owner HOHAI UNIV CHANGZHOU
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