Dynamic sliding-mode control system of miniature gyroscope

Abstract

The invention discloses a dynamic sliding-mode control system of a miniature gyroscope. The miniature gyroscope is controlled by using a dynamic sliding-mode control method based on a dynamic switching function, discontinuous terms are transferred to first-order control derivatives to obtain a time-continuous dynamic sliding-mode control law, buffeting of the system is reduced, expectation in terms of trajectory tracking of the miniature gyroscope and global asymptotic stability of the system are guaranteed, and robustness and flexibility of the system are improved. The system particularly comprises a controller, an integration link, the miniature gyroscope, a first-order derivation link, a second-order derivation link and an adder. The dynamic sliding-mode control system of the miniature gyroscope has the advantages that a dynamic characteristic of the miniature gyroscope becomes an ideal mode after the miniature gyroscope is stable, and manufacture errors and environmental disturbance are compensated; the global asymptotic stability of the integral closed-loop system can be guaranteed by a dynamic sliding-mode control algorithm designed by using the method based on the dynamic switching function; and owing to dynamic sliding-mode control, robustness of the system to change of parameters is improved, and buffeting of the system is reduced.

Description

technical field [0001] The invention relates to a micro gyroscope control method, in particular to the application of the dynamic sliding mode control method to the micro gyroscope control. Background technique [0002] Micro gyroscopes are sensors for measuring the angular velocity of inertial navigation and inertial guidance systems, and are widely used in military and civilian fields such as navigation and positioning of aviation, aerospace, navigation and land vehicles, and oilfield exploration and development. Compared with traditional gyroscopes, micro gyroscopes have huge advantages in size and cost, so they have a broader application market. However, due to the existence of errors in the manufacturing process and the influence of the external environment temperature, the difference between the characteristics of the original and the design is caused, resulting in the coupled stiffness coefficient and damping coefficient, which reduces the sensitivity and accuracy of ...

AI Technical Summary

Problems solved by technology

However, so far, the existing technologies are all related to the design and manufacture of micro-gyroscopes, and dynamic sliding mode control has not been applied in the control of micro-gyroscopes.

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