Control method for neural network global sliding mode of micro gyroscope based on linearization feedback

A micro-gyroscope, neural network technology, applied in the field of navigation, can solve problems that rely on nonlinear system solution or stability analysis, and do not have universality.

Inactive Publication Date: 2015-12-16
HOHAI UNIV CHANGZHOU
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Problems solved by technology

However, these two patents do not convert the system into a linear system for analysis, relying on the solution or stability analysis of the nonlinear system, which is not universal

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  • Control method for neural network global sliding mode of micro gyroscope based on linearization feedback
  • Control method for neural network global sliding mode of micro gyroscope based on linearization feedback
  • Control method for neural network global sliding mode of micro gyroscope based on linearization feedback

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[0050] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

[0051] figure 1 It is a schematic flow chart of an embodiment of the linearized feedback-based micro-gyroscope neural network global sliding mode control method provided by the present invention, such as figure 1 shown, including steps:

[0052] S101. Establish an ideal dynamic equation of the micro gyroscope.

[0053] Wherein, said S101 specifically includes steps:

[0054] S1011, establishing an ideal dynamic equation of the micro gyroscope;

[0055] Wherein,...

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Abstract

The invention discloses a control method for a neural network global sliding mode of a micro gyroscope based on linearization feedback. The control method comprises the following steps of S101, establishing an ideal dynamical equation of the micro gyroscope; S102, establishing a dimensionless dynamical equation of the micro gyroscope according to Newton's law in a rotation system; S103, establishing a neural network global sliding mode control system based on the linearization feedback according to the ideal dynamical equation and the dimensionless dynamical equation, designing a control law, and taking the control law as the control input of the micro gyroscope; S104, designing a self-adaptive law based on the lyapunov function theory, thereby enabling the established control system to perform online update. The control method disclosed by the invention has the advantages that the universality is realized, and transient characteristic, robustness and stability of the system are improved.

Description

technical field [0001] The invention relates to the technical field of navigation, in particular to a linearized feedback-based micro-gyroscope neural network global sliding mode control method. Background technique [0002] Micro gyroscopes are fundamental measurement elements in inertial navigation and inertial guidance systems. Because of its huge advantages in size and cost, micro gyroscopes are widely used in aviation, aerospace, automotive, biomedical, military and consumer electronics fields. However, due to the existence of errors in design and manufacturing and temperature disturbances, there will be differences between the characteristics of the original and the design, which will reduce the performance of the micro gyroscope system. The micro gyroscope itself belongs to the multi-input multi-output system and the system parameters are uncertain and susceptible to the influence of the external environment. Compensating manufacturing errors and measuring angular v...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C25/00G01C21/18G05B13/04
CPCG01C21/005G01C21/18G05B13/04
Inventor 储云迪方韵梅费峻涛
Owner HOHAI UNIV CHANGZHOU
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