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Method for controlling inversion adaptive fuzzy dynamic sliding mode of micro gyroscope

An adaptive fuzzy, micro-gyroscope technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve the problems that have not been applied, and achieve the effect of ensuring stability

Inactive Publication Date: 2014-11-19
HOHAI UNIV CHANGZHOU
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Problems solved by technology

However, so far, inversion adaptive fuzzy dynamic sliding mode control has not been applied in the control of micro-gyroscopes

Method used

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  • Method for controlling inversion adaptive fuzzy dynamic sliding mode of micro gyroscope
  • Method for controlling inversion adaptive fuzzy dynamic sliding mode of micro gyroscope
  • Method for controlling inversion adaptive fuzzy dynamic sliding mode of micro gyroscope

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Embodiment Construction

[0059] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0060] 1. Establish the non-dimensional dynamic equation of the micro gyroscope

[0061] 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.

[0062] 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 enough time, the following formula can be obtained:

[0063] m x ...

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Abstract

The invention discloses a method for controlling an inversion adaptive fuzzy dynamic sliding mode of a micro gyroscope. On the basis of dynamic sliding mode control, a dynamic control rule and a fuzzy adaptive rule are gradually obtained through an inversion method. In the design of the dynamic sliding mode control, discontinuous items are shifted to a controlled first-order or higher-order derivative, and thus the dynamic sliding mode control rule essentially continuous in terms of time is obtained, thereby effectively reducing system buffeting. In the design of the fuzzy adaptive rule, a practical model of a micro gyroscope system is approached by estimating interference items of a micro gyroscope sensor. With the adoption of the invention, the system buffeting can be effectively reduced, manufacturing errors and environmental interference are offset, and system sensitivity and robustness are improved.

Description

technical field [0001] The invention relates to an inversion self-adaptive fuzzy dynamic sliding mode control method of a micro gyroscope, which belongs to the technical field of micro gyroscope control. Background technique [0002] Micro gyroscopes are sensors for measuring the angular velocity of inertial navigation and inertial guidance systems, and are widely used in military and civilian fields such as navigation and positioning of aviation, aerospace, navigation and land vehicles, and oilfield exploration and development. Compared with traditional gyroscopes, micro gyroscopes have huge advantages in size and cost, so they have a broader application market. 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 an...

Claims

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Application Information

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