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Mems Gyro Sliding Mode Chattering Suppression Method Based on Disturbance Observer

A technology that interferes with observers and gyroscopes. It is applied in the direction of gyroscope effect for speed measurement, gyroscope/steering sensing equipment, instruments, etc., and can solve problems such as poor practicability.

Active Publication Date: 2019-08-09
NORTHWESTERN POLYTECHNICAL UNIV +2
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Problems solved by technology

[0004] In order to overcome the shortcomings of the poor practicability of the existing MEMS gyroscope modal control method, the present invention provides a MEMS gyroscope sliding mode chattering suppression method based on an interference observer

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  • Mems Gyro Sliding Mode Chattering Suppression Method Based on Disturbance Observer
  • Mems Gyro Sliding Mode Chattering Suppression Method Based on Disturbance Observer
  • Mems Gyro Sliding Mode Chattering Suppression Method Based on Disturbance Observer

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Embodiment Construction

[0073] Reference figure 1 . The specific steps of the MEMS gyroscope sliding mode chattering suppression method based on the interference observer of the present invention are as follows:

[0074] (a) The dynamic model of the MEMS gyroscope considering the orthogonal error is:

[0075]

[0076] Among them, m is the quality of the test mass; Ω z Enter the angular velocity for the gyro; Is the electrostatic driving force; x * They are the acceleration, velocity and displacement of the MEMS gyroscope detection mass along the drive shaft; y * They are the acceleration, velocity and displacement of the test mass along the test axis; d xx , D yy Is the damping coefficient; k xx , K yy Is the stiffness coefficient; d xy Is the damping coupling coefficient, k xy Is the stiffness coupling coefficient.

[0077] In order to improve the accuracy of mechanism analysis, the MEMS gyroscope dynamic model is processed without dimension. Take dimensionless time Then divide both sides of equati...

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Abstract

The invention discloses an MEMS gyroscope sliding mode buffeting inhibition method based on a disturbance observer, which is used for solving the technical problem of poor practicability of the existing MEMS gyroscope mode control method. According to the technical scheme, the steps are as follows: designing a disturbance observer firstly, estimating and compensating disturbance in sliding mode control, thereby reducing buffeting; meanwhile, according to the prediction error and the tracking error of a neutral network, designing the combined self-adaptive rule of a neural network weight, and correcting the weight coefficient of the neural network, thereby realizing the effective dynamic estimation of unknown dynamics. According to the method, the effective dynamic estimation of unknown dynamics can be realized by designing the combined self-adaptive rule of the neural network weight and correcting the weight coefficient of the neutral network. In combination with the sliding mode control theory, the feed-forward compensation of the unknown dynamics of an MEMS gyroscope can be realized, and further, the control precision of the MEMS gyroscope can be improved. The disturbance observer is designed for estimating and compensating the external disturbance and effectively reducing the buffeting of a sliding mode, and is good in practicability.

Description

Technical field [0001] The invention relates to a MEMS gyroscope modal control method, in particular to a MEMS gyroscope sliding mode chattering suppression method based on an interference observer. Background technique [0002] With the development of nonlinear control technology, Park S et al. introduced advanced intelligent learning and nonlinear control theory into the modal control process of MEMS gyroscopes, and made important contributions to improving the robustness of the system and improving the performance of MEMS gyroscopes. . Considering the uncertainty and interference of unknown and dynamic changes in the MEMS gyroscope system, how to realize effective learning of unknown dynamics and feedforward compensation of sliding mode control is the key to improving the performance of the gyroscope. [0003] In the article "Robust adaptive sliding mode control of MEMS gyroscope using T-Sfuzzy model" (Shitao Wang and Juntao Fei, "Nonlinear Dynamics", 2014 Vol. 77 No. 1–2), Fei...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C19/5776G01C25/00G05B13/04
Inventor 许斌张睿张安龙刘瑞鑫吴枫成宇翔邵添羿赵万良谷丛林建华刘洋慕容欣刘美霞应俊
Owner NORTHWESTERN POLYTECHNICAL UNIV
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