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
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[0081] The present invention will be further explained below in conjunction with the drawings and specific implementations:
[0082] The inversion adaptive fuzzy sliding mode control method of the micro gyroscope of the present invention includes the following parts:
[0083] 1. Establish the non-dimensional dynamic equation of the micro gyroscope
[0084] A general micromechanical vibratory gyroscope consists of three parts: a mass supported and suspended by elastic materials, an electrostatic driving device, and a sensing device. It is simplified into a damped oscillation system composed of a mass and a spring. Such as figure 1 As shown, it 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 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 enough time, the following f...
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