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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

Inactive Publication Date: 2013-10-09
HOHAI UNIV CHANGZHOU
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0006] The object of the present invention is to provide a kind of robust self-adaptive control method of the micro-gyroscope that adds robust term and feedback item in the control rule, to overcome the defective that existing micro-gyroscope control method exists, improve micro-gyroscope In the presence of various disturbances such as model uncertainty, parameter perturbation, and external disturbance forces, the tracking performance of the system to the ideal trajectory and the robustness of the entire system

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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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Abstract

The invention discloses a micro gyroscope robust self-adaptive control method, and the method is applied to a controller comprising a micro gyroscope. The method includes the following steps of establishing an ideal dynamics model, establishing a dimensionless dynamics model of the micro gyroscope, designing a sliding mode function and making the derivative of the sliding mode function to time be zero to acquire a control law, adding a feedback item and a robust item to the control law, wherein the control law with feedback item and the robust item is used as a robust self-adaptive control law, controlling the micro gyroscope based on the Lyapunov function method, and designing an self-adaptive law. According to the micro gyroscope robust self-adaptive control method, the feedback item is added to the control law, so that micro gyroscope two axle vibration trajectory tracking and parameter estimation speed is greatly improved, and vibration amplitude is reduced; the robust item is added to the control law, so that external interference and parameter uncertainty are removed, and robustness and dynamic characteristics of a system are improved; the self-adaptive law is designed based on the Lyapunov function method, so that globally asymptotic stability of the whole system is guaranteed, and reliability of the system and robustness to parameter change are improved.

Description

technical field [0001] The invention relates to a control method of a micro gyroscope, in particular to a robust adaptive control method of a micro gyroscope. 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 influence of ambient temperature, there will be diff...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/00
Inventor 吴丹费峻涛
Owner HOHAI UNIV CHANGZHOU
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