Global sliding mode control method of micro gyroscope

A technology of micro gyroscope and control method, which is applied in the direction of adaptive control, general control system, control/adjustment system, etc., and can solve problems such as system instability, low robustness, and inconvenience

Inactive Publication Date: 2013-11-13
HOHAI UNIV CHANGZHOU
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  • Abstract
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  • Claims
  • Application Information

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Problems solved by technology

However, the robustness of adaptive control to external disturbances is very low, and it is easy to make the system unstable.
[0004] 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

Method used

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  • Global sliding mode control method of micro gyroscope
  • Global sliding mode control method of micro gyroscope
  • Global sliding mode control method of micro gyroscope

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Embodiment Construction

[0043] Below in conjunction with accompanying drawing, the present invention will be further described:

[0044] The global sliding mode control method of the micro gyroscope comprises the steps:

[0045] 1. According to Newton's law in the rotating system, the dimensionless dynamic equation of the micro gyroscope is obtained

[0046] A micro-vibration gyroscope generally consists of three components: a mass supported by an elastic material, an electrostatic drive device, and a sensing device. The main function of the electrostatic driving circuit is to drive and maintain the constant amplitude of the vibration of the micro-vibration gyroscope, and the sensing circuit is used to sense the position and speed of the mass. The micro gyroscope can be simplified as a damped vibration system composed of a mass block and a spring. figure 1 A simplified model of the microvibration gyroscope in Cartesian coordinates is shown. For the z-axis micro-gyroscope, it can be considered that...

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Abstract

The invention discloses a global sliding mode control method of a micro gyroscope. A global sliding mode control system is established, a signal which can be measured by the micro gyroscope is taken as an input, the stability of a closed-loop system is verified on the basis of a Lyapunov stability theory, and the global sliding mode control is realized through designing a dynamic nonlinear sliding mode surface equation. According to the global sliding mode control, the defect that the sliding mode control doesn't have the robustness when reaching a movement stage is eliminated, so that a system has the robustness in a whole response process, and the disadvantage that a mode reached in conventional sliding mode variable structure control doesn't have the robustness is overcome. According to the control method, the selection of sliding mode coefficients can be simplified, the transient characteristic and the robustness of the sliding mode control system are improved, a closed-loop control system has the global robustness, the contradiction between the transient characteristic and the robustness is resolved, and a powerful foundation is provided for expansion of the application range of the micro gyroscope.

Description

technical field [0001] The invention relates to a control method of a micro gyroscope, in particular to a global sliding mode control method of a micro gyroscope. Background technique [0002] Micro gyroscopes are fundamental measurement elements in inertial navigation and inertial guidance systems. Because of its huge advantages in size and cost, micro gyroscopes are widely used in aviation, aerospace, automotive, biomedical, military and consumer electronics fields. However, due to the existence of errors in design and manufacturing and temperature disturbances, there will be differences between the characteristics of the original and the design, which will reduce the performance of the micro gyroscope system. The micro gyroscope itself belongs to the multi-input multi-output system and the system parameters are uncertain and susceptible to the influence of the external environment. Compensating manufacturing errors and measuring angular velocity become the main problems...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
Inventor 储云迪费峻涛
Owner HOHAI UNIV CHANGZHOU
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