Indirect self-adaptive fuzzy sliding-mode control method of micro gyroscope system

An adaptive fuzzy, micro-gyroscope technology, applied in the direction of adaptive control, general control system, control/adjustment system, etc., can solve parameter uncertainty, micro-gyroscope trajectory tracking control is difficult to achieve, and reduce the sensitivity of micro-gyroscope And accuracy and other issues to achieve the effect of ensuring stability

Inactive Publication Date: 2013-10-09
HOHAI UNIV CHANGZHOU
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Problems solved by technology

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, resulting 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 multiple-input multiple-output system, and there are parameter uncertainties and external disturbances, which make the trajectory tracking control of the micro-gyroscope difficult to achieve, and the robustness is low
The traditional control method is completely based on the precise model design of the micro gyroscope, and ignores the effect of orthogonal error and external disturbance. Although the system is still stable in most cases, the tracking effect is far from ideal. This design for a single environment The controller has great limitations

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  • Indirect self-adaptive fuzzy sliding-mode control method of micro gyroscope system
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  • Indirect self-adaptive fuzzy sliding-mode control method of micro gyroscope system

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Embodiment Construction

[0041] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0042] An indirect adaptive fuzzy sliding mode control method for micro-gyroscope systems, such as figure 1 shown, including the following steps,

[0043] 1. Establish the non-dimensional dynamic equation of the controlled object—three-axis micro-gyroscope

[0044] The controlled object is a three-axis micro-gyroscope system. It is assumed 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 can be ignored. After non-dimensionalization and etc. After effect transformation, the dynamic equation of the three-axis micro-gyroscope is as follows:

[0045] q · · + Dq · + K b ...

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Abstract

The invention discloses an indirect self-adaptive fuzzy sliding-mode control method of a micro gyroscope system. The method can achieve trajectory tracking control of the micro gyroscope system. The indirect self-adaptive fuzzy sliding-mode control method can approximate unknown terms in the micro gyroscope system in a fuzzy mode without an accurate mathematical model of the system and can approximate an upper bound value of parameter uncertainty and external interference amount in a fuzzy mode. Through the fuzzy approximation to the upper bound value, switching terms in a sliding-mode controller can be serialized, and buffeting is greatly reduced. By the adoption of the indirect self-adaptive fuzzy sliding-mode control method, satisfactory tracking performance can be acquired, and robustness to the parameter change and external interference is possessed.

Description

technical field [0001] The invention relates to a control method of a micro gyroscope, in particular to an indirect self-adaptive fuzzy sliding mode control method of a micro gyroscope system. 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 multiple-input multiple-output system, and there are parameter uncertainties and external disturbances, which make the trajectory tracking control of the micro-gyroscope difficult...

Claims

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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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