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Inversion adaptive fuzzy sliding mode control method for micro gyroscope

An adaptive fuzzy, micro-gyroscope technology, applied in adaptive control, gyroscope/steering sensing equipment, gyro effect for speed measurement, etc., can solve problems that have not yet been applied

Inactive Publication Date: 2014-06-25
HOHAI UNIV CHANGZHOU
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Problems solved by technology

However, so far, inversion adaptive fuzzy sliding mode control has not been applied in microgyroscope systems

Method used

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  • Inversion adaptive fuzzy sliding mode control method for micro gyroscope
  • Inversion adaptive fuzzy sliding mode control method for micro gyroscope
  • Inversion adaptive fuzzy sliding mode control method for micro gyroscope

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Embodiment Construction

[0081] The present invention will be further described below in conjunction with accompanying drawing and specific implementation:

[0082] The inversion self-adaptive fuzzy sliding mode control method of the micro gyroscope of the present invention comprises the following parts:

[0083] 1. Establish the non-dimensional dynamic equation of the micro gyroscope

[0084] A general micromechanical vibrating gyroscope consists of three parts: a suspended mass supported by an elastic material, an electrostatic drive device, and a sensing device. It is simplified as a damped oscillation system composed of a mass block and a spring. Such as figure 1 , which shows a simplified z-axis micromechanical vibratory gyroscope model in a Cartesian coordinate system.

[0085] For the z-axis micro-gyroscope, it can be considered that the mass block is restricted to move only in the x-y plane, but not along the z-axis. Assuming that the input angular velocity remains constant for a long enoug...

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Abstract

The invention discloses an inversion adaptive fuzzy sliding mode control method for a micro gyroscope. On the basis of advantages of inversion design and Lyapunov stability theory proof, the control law of the system is obtained step by step through a regression method, the fuzzy control does not need to rely on a mathematical model of a controlled object, the adaptive algorithm and the fuzzy control algorithm are combined, the defect that the fuzzy control cannot conduct parameter adjustment in time is overcome, a controller has the learning capacity, and in the control process, parameters have the self-learning and adjustment capacity. According to the method, the tracking performance of the micro gyroscope system can be effectively improved, the overall stability of the system is ensured, the robustness and the reliability of the system are improved, and the dependency on a controlled system model is avoided.

Description

technical field [0001] The invention relates to a control system of a micro gyroscope, in particular to an inversion self-adaptive fuzzy sliding mode control method of a micro gyroscope. Background technique [0002] Micro gyroscopes are sensors for measuring the angular velocity of inertial navigation and inertial guidance systems. Because of their advantages in structure, volume, and cost, they are widely used in military and civilian applications such as navigation and positioning of aviation, aerospace, marine, and land vehicles, as well as oilfield exploration and development. In the field, it is one of the key technologies developed by various countries. However, due to the existence of errors in the manufacturing process and the influence of the external environment temperature, the difference between the characteristics of the original and the design is caused, resulting in the coupled stiffness coefficient and damping coefficient, which reduces the sensitivity and a...

Claims

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Application Information

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IPC IPC(8): G05B13/04G01C19/00
Inventor 袁珠莉费峻涛
Owner HOHAI UNIV CHANGZHOU
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