Micro gyroscope self-adaptive fuzzy sliding mode control method based on dynamic surface

Abstract

The invention discloses a micro gyroscope self-adaptive fuzzy sliding mode control method based on a dynamic surface. The micro gyroscope self-adaptive fuzzy sliding mode control method is characterized by comprising the steps of a first step, establishing a mathematical model of a micro gyroscope; a second step, approximating a summation of a dynamic characteristic of the micro gyroscope and an outer interference by means of a fuzzy control method; a third step, designing a self-adaptive fuzzy sliding mode controller based on the dynamic surface; and a fourth step, controlling the micro gyroscope based on the self-adaptive fuzzy sliding mode controller. A system can reach a stable state in a high speed. The dynamic characteristic of the micro gyroscope is an ideal mode. A manufacture error and an environment interference are compensated. The algorithm which is designed based on the dynamic surface method has advantages of reducing number of introduced parameters, simplifying calculation and reducing buffeting. The self-adaptive fuzzy sliding mode control can compensate the system designing parameter error and the outer interference and furthermore improves system validity.

Description

technical field [0001] The invention relates to a micro-gyroscope self-adaptive fuzzy sliding mode control method based on a dynamic surface. 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 coupling stiffness coefficient and damping coefficient, which reduces the sensitivity and accuracy of the micro gyroscope. In addition, the gyroscop...

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Problems solved by technology

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 coupling stiffness coefficient and damping coefficient, which reduces the sensitivity and accuracy of the micro gyroscope.

In addition, the gyroscope itself is a multi-input multi-output system, and there is uncertainty in the parameters and the system parameters are easy to fluctuate under external disturbances. Therefore, reducing system chattering has become one of the main problems in the control of micro gyroscopes.

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