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

A technology of adaptive fuzzy and control methods, which is applied in the directions of adaptive control, general control system, control/adjustment system, etc. It can solve the problems of reducing the sensitivity and accuracy of micro gyroscopes, reducing system chattering, and easy fluctuation of parameters and system parameters.

Inactive Publication Date: 2016-04-13
HOHAI UNIV CHANGZHOU
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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 acc...

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

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[0081] The technical scheme of the present invention will be described in further detail below in conjunction with the accompanying drawings and specific embodiments, so that those skilled in the art can better understand the present invention and implement it, but the examples given are not intended to limit the present invention.

[0082] The micro-gyroscope adaptive fuzzy sliding mode control method based on the dynamic surface includes the following steps:

[0083] Step 1. Establish the mathematical model of the micro gyroscope:

[0084] Step 2, using the fuzzy control method to approximate the dynamic characteristics of the micro gyroscope and the sum of external disturbances;

[0085] Step 3, designing an adaptive fuzzy sliding mode controller based on the dynamic surface;

[0086] Step 4, controlling the micro gyroscope based on the adaptive fuzzy sliding mode controller.

[0087] Such as figure 1 As shown, a general micro gyroscope is composed of the following parts...

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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...

Claims

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/04
Inventor 雷单单曹頔王腾腾费峻涛
Owner HOHAI UNIV CHANGZHOU
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