Adaptive Iterative Learning Control Method for Micro Gyroscope

Abstract

The invention discloses a self-adaption iterative learning control method for a micro-gyroscope. The method includes the following steps that firstly, a non-dimensional kinetic model of the micro-gyroscope is established; secondly, a reference trajectory module outputs reference trajectories of x axis vibration and y axis vibration of the micro-gyroscope, wherein the reference trajectories include position signals and speed signals; thirdly, a self-adaption law module receives the reference trajectories and output of a micro-gyroscope system and estimates the increments of parameters according to the self-adaption law; fourthly, a controller module receives new parameter estimation and acts together with trajectory tracking errors and speed tracking errors to generate control signal output of the self-adaption iterative learning control method; fifthly, output signals of the controller module are received, and position information and speed information of vibrating parts of the micro-gyroscope are output; sixthly, the third step, the fourth step and the fifth step are repeatedly executed according to an iterative method, and the final position information and the final speed information of the vibrating parts of the micro-gyroscope are obtained. By means of the method, the reference trajectory tracking performance of the micro-gyroscope system can be improved.

Description

technical field

[0001] The invention relates to a control system and method of a vibrating micro gyroscope, in particular to an adaptive iterative learning control system and method of a vibrating micro gyroscope. Background technique

[0002] Vibrating micro gyroscopes (MEMS Vibratory Gyroscopes, hereinafter referred to as micro gyroscopes) are sensor devices processed by microelectronics and micromachining technologies to sense angular velocity. It detects angular velocity through a vibrating micromechanical component made of silicon, so the micro gyroscope is very easy to miniaturize and mass produce, and has the characteristics of low cost and small size, so it is widely used in aviation, aerospace, navigation, land Vehicle navigation and positioning, consumer electronics and oilfield exploration and development and other military and civilian fields. However, due to the inevitable processing errors in the manufacturing process and the influence of ambient temperature, ...

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