Inversion Adaptive Fuzzy Dynamic Sliding Mode Control Method for 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
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[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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