Method of global sliding mode control of neural network of micro-gyroscope

Abstract

The invention discloses a method of a global sliding mode control of a neural network of a micro-gyroscope, which comprises the following steps of establishing a global sliding mode control system of the neural network, designing a control law and taking as a control input of the micro-gyroscope, designing a self-adaptive law based on an Lyapunov function theory, and verifying the stability of a closed-loop system. The global sliding mode control is realized by designing a dynamic nonlinear sliding mode surface, the defect of no robustness in a reach movement stage of the sliding mode control is eliminated, the system has robustness in the whole process of response, and the respective defects of the global sliding mode control and the neural network are reduced by utilizing the intelligent control function of global sliding mode and the neural network. According to the method, the selection of sliding mode coefficients is simplified, the transient performance and the robustness of the sliding mode control system are improved, so that the closed-loop control system has global robustness, buffeting in the sliding mode control is eliminated, and thus a powerful foundation is provided for expansion of an 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 neural network 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 th...

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to overcome the defects in the existing micro-gyroscope control method, especially to improve the micro-gyroscope system in the presence of various disturbances such as model uncertainty, parameter perturbation and external noise, and eliminate system chattering. It does not affect the tracking performance of the ideal trajectory and the robustness of the whole system, and provides a global sliding mode control method for the neural network of the micro gyroscope

Images