Micro gyroscope robust self-adaptive control method
A robust self-adaptive, micro-gyroscope technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., to achieve the effect of ensuring global stability
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[0051] In order to further explain the technical means and effects of the present invention to achieve the intended purpose of the invention, the following combined with the accompanying drawings and specific implementation methods, a micro-control based on the addition of robust items and feedback items in the control law proposed according to the present invention. The detailed description of the gyro robust adaptive control method is as follows.
[0052] The robust adaptive control method of the micro gyroscope mainly includes the following steps:
[0053] (1) Establish an ideal kinetic model
[0054] Design the ideal model as two sine waves of different frequencies: x m =A 1 sin(w 1 t), y m =A 2 sin(w 2 t), where w 1 ≠w 2 and both are zero, A 1 、A 2 are the amplitudes of the gyroscope in the direction of the x and y coordinate axes, t is the time, and w 1 、w 2 are the vibration frequencies of the micro gyroscope in the directions of the x and y coordinate axes;...
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