Inversion Adaptive Fuzzy Sliding Mode Control Method for Micro Gyroscope
An adaptive fuzzy, micro-gyroscope technology, applied in adaptive control, gyroscope/steering sensing equipment, gyroscope effect for speed measurement, etc., can solve problems that have not yet been applied
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[0087] The present invention will be further described below in conjunction with accompanying drawing and specific implementation:
[0088] The inversion self-adaptive fuzzy sliding mode control method of the micro gyroscope of the present invention comprises the following parts:
[0089] 1. Establish the non-dimensional dynamic equation of the micro gyroscope
[0090] 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.
[0091] 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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