Fuzzy sliding mode control method of mems gyroscope based on compound learning

A technology of fuzzy sliding mode control and gyroscope, applied in the direction of adaptive control, general control system, control/adjustment system, etc., can solve the problems of poor practicability, achieve good practicability and improve control accuracy

Active Publication Date: 2019-09-24
NORTHWESTERN POLYTECHNICAL UNIV +2
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Problems solved by technology

[0005] In order to overcome the shortcomings of poor practicability of existing MEMS gyroscope modal control methods, the present invention provides a MEMS gyroscope fuzzy sliding mode control method based on compound learning

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  • Fuzzy sliding mode control method of mems gyroscope based on compound learning
  • Fuzzy sliding mode control method of mems gyroscope based on compound learning
  • Fuzzy sliding mode control method of mems gyroscope based on compound learning

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Embodiment Construction

[0061] refer to figure 1 . The specific steps of the MEMS gyroscope fuzzy sliding mode control method based on compound learning of the present invention are as follows:

[0062] (a) The dynamic model of the MEMS gyroscope considering the quadrature error is:

[0063]

[0064] Among them, m is the mass of proof mass; Ω z Input the angular velocity for the gyro; is the electrostatic driving force; x * are the acceleration, velocity and displacement of the MEMS gyroscope proof mass along the drive axis; the y * are the acceleration, velocity and displacement of the proof mass along the detection 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.

[0065] In order to improve the accuracy of mechanism analysis, the MEMS gyroscope dynamic model is dimensionless. Take the dimensionless time t * = ω o t, and then divide both sides of equat...

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Abstract

The invention discloses an MEMS (micro-electromechanical system) gyroscope fuzzy sliding mode control method based on compound learning, and aims to solve the technical problem of poor practicabilityof an existing MEMS gyroscope mode control method. The technical scheme includes that compound adaptive laws of fuzzy logic weights are designed according to fuzzy prediction errors and tracking errors, weight coefficients of fuzzy logics are corrected, effective dynamic estimation of unknown dynamics is achieved, a system is indeterminate for parameters and insensitive to external interference ina sliding mode, and feed forward compensation of the unknown dynamics is achieved by the aid of a sliding mode controller. According to the method, the prediction errors and the tracking errors are considered, compound learning update laws of the fuzzy logic weights are designed, the weight coefficients of the fuzzy logics are corrected, effective dynamic estimation of the unknown dynamics is achieved, feed forward compensation of the MEMS gyroscope unknown dynamics is achieved according to sliding mode control theories, the control accuracy of an MEMS gyroscope is further improved, and the method is good in practicability.

Description

technical field [0001] The invention relates to a MEMS gyroscope mode control method, in particular to a MEMS gyroscope fuzzy sliding mode control method based on compound learning. Background technique [0002] MEMS gyroscopes are widely used in various angular motion measurement fields due to their small size, low power consumption, low cost, and easy integration with processing circuits. In order to ensure its measurement accuracy, it is required that the proof mass of the MEMS gyroscope must vibrate at a constant amplitude along the driving direction at the natural frequency of the driving shaft. However, due to changes in environmental factors and gyroscope manufacturing defects, conventional PID control cannot achieve high-precision control of MEMS gyroscopes, resulting in serious drift of gyroscopes. [0003] With the development of nonlinear control technology, Park S et al. introduced the nonlinear control theory into MEMS gyroscope control, weakened the boundary b...

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Application Information

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