Adaptive fuzzy sliding mode controller for micro gyroscope

Abstract

The invention discloses an adaptive fuzzy sliding mode controller for a micro gyroscope, which is characterized by comprising an adaptive fuzzy control system based on a reference module, and a switching control system. In the adaptive fuzzy control system, a sliding mode surface is used as the input of the fuzzy controller, and the weight is automatically adjusted by a dynamic adaptive law so as to realize fuzzy approximation to an equivalent control law. The adaptive fuzzy sliding mode controller for the micro gyroscope of the invention has the following benefits that: when the system is in a steady state, the dynamic performance of the micro gyroscope is an ideal mode, and the manufacturing error and the environment interference are compensated; an adaptive algorithm designed based on a Lyapunov method can ensure the global asymptotic stability of the whole closed-loop system; and with adaptive adjustment on the upper bound of the approximation error, buffeting is reduced obviously.

Description

technical field [0001] The invention relates to the controller design of the micro gyroscope, in particular to the application of an adaptive fuzzy sliding mode control method on the micro gyroscope controller. Background technique [0002] Micro gyroscopes are inertial sensors that measure angular rates. Compared with traditional gyroscopes, micro gyroscopes have huge advantages in size and cost, so they have a broad application market, such as in navigation guidance, consumer electronics, navigation and national defense. . However, due to the existence of errors in the manufacturing process and the influence of the ambient temperature, the difference between the characteristics of the original and the design results in a coupled stiffness coefficient and damping coefficient, which reduces the sensitivity and accuracy of the micro gyroscope. In addition, the gyroscope itself is a multi-input and multi-output system, and there are parameter uncertainties and fluctuations in...

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Problems solved by technology

However, due to the existence of errors in the manufacturing process and the influence of the ambient temperature, the difference between the characteristics of the original and the design results, resulting in a coupled stiffness coefficient and damping coefficient, which reduces the sensitivity and accuracy of the micro gyroscope.

In addition, the gyroscope itself is a multi-input and multi-output system, and there are parameter uncertainties and fluctuations in system parameters caused by external disturbances. Compensating manufacturing errors and external disturbances has become the main problem of micro gyroscope control.

[0003] The traditional fuzzy controller design does not rely on the model of the controlled object, but it relies on the experience of control experts or operators, which is not convenient for self-learning and adjustment of control parameters, so it is difficult to ensure the stability of the control system

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