Microgyroscope fuzzy self-adaptation control method based on T-S model

A technology of fuzzy self-adaptation and micro-gyroscope, which is applied in the direction of self-adaptive control, general control system, control/regulation system, etc. It can solve the problems that have not been considered, and achieve the effect of improving robustness and compensating manufacturing errors

Inactive Publication Date: 2013-07-10
HOHAI UNIV CHANGZHOU
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Problems solved by technology

However, the common micro-gyroscope control is based on its linear model, and the problem that the actual controlled model is closer to the nonlinear

Method used

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  • Microgyroscope fuzzy self-adaptation control method based on T-S model
  • Microgyroscope fuzzy self-adaptation control method based on T-S model
  • Microgyroscope fuzzy self-adaptation control method based on T-S model

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Embodiment Construction

[0065] The present invention will be further described below in conjunction with accompanying drawing and specific embodiment:

[0066] Such as figure 2 As shown, the micro-gyroscope fuzzy adaptive control method based on the T-S model mainly includes the following steps

[0067] 1. Establish the dimensionless nonlinear motion vector equation of the micro gyroscope

[0068] 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 driving device is to drive and maintain the constant amplitude of the vibration of the micro-vibration gyroscope; the sensing device is used to sense the position and speed of the mass block. The micro gyroscope can be regarded as a damped vibration system composed of a mass block and a spring. figure 1 A simplified model of the microvibration gyroscope in Cartesian coordinates is shown. The Z axis repres...

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Abstract

The invention discloses a microgyroscope fuzzy self-adaptation control method based on a T-S model. The microgyroscope fuzzy self-adaptation control method based on the T-S model comprises the following steps: establishing a T-S fuzzy module based on a microgyroscope nonlinearity model, and acquiring an fuzzy dynamic system model through single point fuzzification, product reasoning and center equal-weighted defuzzification; designing a reference model based on controlling tracks, designing a local linear state feedback controller to each T-S fuzzy submodel based on a parallel distribution compensation method, and enabling the fuzzy dynamic system model tracks to track the reference model tracks; and designing a parameter estimator due to the facts that both manufacturing errors and environmental interference exist and the parameters of the T-S fuzzy model are unknown. An improved type self-adaptation control algorithm is designed based on a Lyapunov theory for enabling an overall situation of both track control errors and parameter estimating errors to be gradual and stable. The microgyroscope fuzzy self-adaptation control method based on the T-S model is applied to the microgyroscope nonlinearity model, tests and verifies feasibility and effectiveness of the microgyroscop nonlinearity model which is controlled on a microgyroscope track control module.

Description

Technical field: [0001] The invention belongs to the technical field of micro-gyroscope control, and in particular relates to a fuzzy self-adaptive control method for a micro-gyroscope based on a T-S model. Background technique: [0002] Gyroscopes are the basic measurement components for inertial navigation and guidance. Compared with traditional gyroscopes, micro gyroscopes have huge advantages in size and cost, and have greatly improved measurement accuracy, so they have a broad application market, such as In navigation guidance, consumer electronics, navigation and national defense. But in fact, the manufacturing error and the influence of the ambient temperature in the manufacturing process 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 force, resulting in the difference between the characteristics of the original and the design, Reduced the...

Claims

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Application Information

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