Micro-gyroscope backstepping control method based on neural network state observer

Abstract

The invention discloses a micro-gyroscope backstepping control method based on a neural network state observer. A micro-gyroscope, the neural network state observer and a backstepping controller are included. Displacement in a Z-axis micro-gyroscope XY-axis direction acts as input of the state observer, and uncertain part of the micro-gyroscope is estimated via a neural network so that estimation of micro-gyroscope position and speed signals is completed. The estimated signal of the state observer is adopted by the backstepping controller to act as input so that vibration amplitude and frequency in the micro-gyroscope XY-axis direction are controlled. According to the micro-gyroscope backstepping control method based on the neural network state observer, backstepping control based on the neural network state observer is applied to the micro-gyroscope so that system stability and reliability are enhanced, error is effectively reduced and the control effect is great.

Description

technical field [0001] The invention relates to a micro-gyroscope inversion control method based on a neural network state observer, belonging to the field of automatic control systems. Background technique [0002] Micro gyroscopes are very common sensors for measuring angular velocity and are used in many fields, such as navigation, mobile phones, aircraft models, and military guidance. A micro gyroscope is a device that can transfer energy from one axis to another. The principle is to use the Coriolis force (that is, the deflection force of the earth's rotation). The process of measuring angular velocity needs to add a vibration signal with stable amplitude and frequency to the driving shaft. The sensing axis and the driving shaft are in the same plane and perpendicular to the driving shaft. When there is an angular velocity input perpendicular to both the driving shaft and the sensing axis, The Coriolis force is sensed on the sensing axis, and the magnitude of the Corio...

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Problems solved by technology

However, many control methods need to measure the position signal, velocity signal and even acceleration signal of the micro gyroscope during design, which is difficult to implement

[0004] In order to stabilize the vibration amplitude and frequency of the micro gyroscope on the drive axis and sensing axis when the position and speed signals of the micro gyroscope are difficult to obtain, major manufacturers are looking for solutions, but they have not found a complete solution to the problem. way

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