Adaptive Fuzzy Sliding Mode Control Method for Micro Gyroscope 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 an adaptive fuzzy sliding mode control method of a micro gyro based on a dynamic surface. Background technique [0002] Microgyroscopes are sensors that measure the angular velocity of inertial navigation and inertial guidance systems. They are widely used in aviation, aerospace, navigation and land vehicle navigation and positioning, oilfield exploration and development, and other military and civilian fields. Compared with traditional gyroscopes, micro gyroscopes have huge advantages in volume and cost, and therefore 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 original characteristics 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 belon...

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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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