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Adaptive inversion nonsingular terminal sliding mode control method of micro gyroscope

A non-singular terminal, micro-gyroscope technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve problems such as vibration, improve reliability, and ensure the effect of global gradual stability

Inactive Publication Date: 2014-04-16
HOHAI UNIV CHANGZHOU
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Problems solved by technology

The disadvantage of this method is that when the state trajectory reaches the sliding surface, it is difficult to slide strictly along the sliding surface toward the equilibrium point, but crosses back and forth on both sides of the sliding surface, resulting in vibration

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  • Adaptive inversion nonsingular terminal sliding mode control method of micro gyroscope
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  • Adaptive inversion nonsingular terminal sliding mode control method of micro gyroscope

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Embodiment Construction

[0051] The above description is only an overview of the present invention. In order to understand the technical means of the present invention more clearly and implement it according to the contents of the description, the micro gyroscope self-adaptive The inverse non-singular terminal sliding mode control method is described in detail.

[0052] 1. Constructing the mathematical model of the micro-gyroscope system

[0053] Such as figure 1 As shown, according to Newton's law in the rotating system, considering manufacturing defects and processing errors, and then through the dimensionless processing of the model, the lumped parameter mathematical model of the actual micro gyroscope is obtained as:

[0054] q · · + D q · + Kq = u - 2 Ω q · + ...

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Abstract

The invention provides an adaptive inversion nonsingular terminal sliding mode control method of a micro gyroscope. An inversion method and a terminal sliding mode are combined, an inversion terminal sliding mode control law is designed according to the Lyapunov stability theory, and therefore, system status can be converged to a balance point within the short limited time. Furthermore, by means of self-adaptive control, angular velocity and other system parameters of the micro gyroscope can be identified. Nonsingular terminal sliding mode control is introduced in consideration of singularity in the existing terminal sliding mode control, whole nonsingular control of the system is achieved, response speed of a controller is completely comparable to the traditional terminal sliding mode, and therefore, the adaptive inversion nonsingular terminal sliding mode control method has important theoretical and practical application value. By means of the adaptive inversion nonsingular terminal sliding mode control method of the micro gyroscope, the rate of convergence and tracking performance are ensured while strong robustness and adaptive ability to external disturbance are achieved.

Description

technical field [0001] The invention relates to a control system of a micro gyroscope, in particular to a self-adaptive inversion non-singular terminal sliding mode control method of a micro gyroscope. Background technique [0002] Micro gyroscopes are the basic measurement components of inertial navigation and inertial guidance systems. Because of their huge advantages in size and cost, micro gyroscopes are widely used in aviation, aerospace, automotive, biomedical, military and consumer electronics. 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. In addition, the micro gyroscope itself is a 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 angul...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
Inventor 严维锋费峻涛
Owner HOHAI UNIV CHANGZHOU
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