Micro-gyroscope RBF (Radial Basis Function) network self-adapting control method based on model global approximation

A technology of RBF network and self-adaptive control, applied in self-adaptive control, general control system, control/regulation system, etc., can solve problems such as inconvenience, system instability and low robustness, and achieve boundedness and guarantee Global stability, the effect of improving trajectory tracking accuracy

Inactive Publication Date: 2013-02-06
HOHAI UNIV CHANGZHOU
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Problems solved by technology

However, the robustness of adaptive control to external disturbances is very low, and it is easy to make the system unstable.
[0005] This shows that above-mentioned existing gyroscope obviously still has inconvenience and defect in use, a

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  • Micro-gyroscope RBF (Radial Basis Function) network self-adapting control method based on model global approximation
  • Micro-gyroscope RBF (Radial Basis Function) network self-adapting control method based on model global approximation
  • Micro-gyroscope RBF (Radial Basis Function) network self-adapting control method based on model global approximation

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[0045]In order to further explain the technical means and effects that the present invention adopts to achieve the intended invention purpose, below in conjunction with the accompanying drawings and preferred embodiments, a kind of micro-gyroscope RBF network adaptive control based on model overall approximation proposed according to the present invention The specific implementation, structure, features and effects of the system and method are described in detail below.

[0046] Establishment of filtering error model based on micro gyroscope

[0047] Considering the manufacturing error and external interference, the dynamic equation of the two-axis micromachined gyroscope is:

[0048] m x · · + d xx x · + d xy y · + k ...

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Abstract

The invention discloses a micro-gyroscope RBF (Radial Basis Function) network self-adapting control method based on model global approximation. According to the control method, based on a tracking error deign after filtering, a controller comprises a proportion differential item and an RBF neural network item. The RBF neural network item is approximated to an unknown function of a micro-gyroscope system and an updating algorithm based on a weight guarantees the global stability of the system based on a Lyapunov stability theory design. A robust item is added into the updating algorithm to guarantee the boundedness of control input; and the proportion differential item finally maintains a tracking error in any small range. The control method disclosed by the invention can realize high-precision tracking control on the micro-gyroscope system under the condition of no need of knowing about the structure or non-structure parameters of a micro-gyroscope, and in the presence of external interferences; and meanwhile, the robustness and the reliability of the system are improved.

Description

technical field [0001] The invention relates to a control method of a micro gyroscope, in particular to an adaptive control method of a micro gyroscope RBF network based on model integral approximation. Background technique [0002] Micromachined gyroscope (MEMS Gyroscope) is an inertial sensor processed by microelectronics and micromachining technology to sense angular velocity. It detects angular velocity through a vibrating micromechanical component made of silicon, so the micromechanical gyroscope is very easy to miniaturize and mass-produce, and has the characteristics of low cost and small size. In recent years, micromachined gyroscopes have been paid close attention to in many applications, for example, gyroscopes combined with micromachined acceleration sensors for inertial navigation, image stabilization in digital cameras, wireless inertial mice for computers, and so on. However, due to the inevitable processing errors in the manufacturing process and the influenc...

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Application Information

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IPC IPC(8): G05B13/04
Inventor 杨玉正费峻涛
Owner HOHAI UNIV CHANGZHOU
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