Angular velocity estimation based self-adaptive fuzzy sliding mode control method for micro gyroscope

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 inconvenient control parameter learning and adjustment, difficult to ensure the stability of the control system, etc.

Inactive Publication Date: 2013-10-02
HOHAI UNIV CHANGZHOU
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Problems solved by technology

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

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  • Angular velocity estimation based self-adaptive fuzzy sliding mode control method for micro gyroscope
  • Angular velocity estimation based self-adaptive fuzzy sliding mode control method for micro gyroscope
  • Angular velocity estimation based self-adaptive fuzzy sliding mode control method for micro gyroscope

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Embodiment Construction

[0064] The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0065] Adaptive fuzzy sliding mode control method based on angular velocity estimation for micro gyroscope, including the following parts

[0066] 1. Establish the dimensionless dynamic equation of the three-axis micro-gyroscope

[0067] For a three-axis micro-gyroscope, it can be considered that the mass block can move in space. Assuming that the three-axis micro-gyroscope can rotate at a uniform angular velocity in the three directions of x-axis, y-axis and z-axis respectively, and the centrifugal force is negligible, the dynamic equation of the three-axis micro-gyroscope is as follows:

[0068] m x . . + d xx x . + d xy y ...

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Abstract

The invention provides an angular velocity estimation based self-adaptive fuzzy sliding mode control method, applies the self-adaptive fuzzy sliding mode control method to a micro three-axis gyroscope control system, and can realize the trajectory tracking control and parameter estimation of a micro gyroscope system. According to the self-adaptive fuzzy sliding mode control method, a controller is designed on the basis the state-space equation of a micro gyroscope. Firstly, on the basis of the sliding mode controller, a novel self-adaptive identification method is designed, and the angular velocity of the micro gyroscope and the estimated valves of other systematic parameters are updated on line and in real time; besides, a fixed gain in a sliding mode control toggle item is adjusted by virtue of a self-adaptive fuzzy system, and fuzzy approximation is performed to the upper bound of the fixed gain, so that a chattering phenomenon arising in sliding mode control can be reduced. Through the adoption of the self-adaptive fuzzy sliding mode control method, a favorable tracking performance can be obtained, and the self-adaptive fuzzy sliding mode control method has robustness in parameter variation and external disturbance.

Description

technical field [0001] The invention relates to a control method of a micro gyroscope, in particular to an adaptive fuzzy sliding mode control method based on angular velocity estimation. Background technique [0002] Micro gyroscopes are sensors for measuring angular velocity. Because of their advantages in structure, volume, and cost, they are widely used in aviation, marine biomedicine, automobiles, military, and consumer electronics. 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 of system parameters caused by external disturbances. Therefore, compensating manufacturing...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
Inventor 辛明缘费峻涛
Owner HOHAI UNIV CHANGZHOU
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