Adaptive Inversion Control System and Method for Micro Gyroscope

Abstract

The invention discloses a self-adaptive inversion control system and method of a micro gyroscope. The control system comprises a reference trajectory module, a middle signal generating module, a self-adaptive inversion controller, a parameter self-adaptive mechanism module, an angular speed estimation module and a micro gyroscope system with unknown parameters. The control system controls the two axle vibration trajectory of the micro gyroscope to track a given reference trajectory and estimates the unknown parameters of the micro gyroscope, wherein the unknown parameters comprise the external input angular rate and a control law, and a self-adaptive algorithm of the parameters is designed based on the Lyapunov stability theory. Therefore, global stability of the control system and asymptotic convergence of tracking errors are guaranteed. An anti-interference robust item is further added to the control law, so that the anti-interference performance of the system is improved. The self-adaptive inversion control system and method of the micro gyroscope provide an excellent foundation for expanding the application range of the micro gyroscope.

Description

technical field [0001] The invention relates to a control system and method of a micro gyroscope, in particular to an adaptive inversion control system and method of a micro gyroscope. Background technique [0002] Micro 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, ...

AI Technical Summary

Problems solved by technology

However, the traditional adaptive control design process is more complex, the amount of calculation is large, and the robustness to external disturbances is very low, which easily makes the system unstable.

[0005] This shows that above-mentioned existing gyroscope obviously still has inconvenience and defect in use, and urgently needs to be further improved

In order to solve the problems existing in the use of existing gyroscopes, relevant manufacturers have tried their best to find a solution, but no suitable design has been developed for a long time

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