Adaptive Supertwist Sliding Mode Control Method with Adjustable Micro Gyroscope Gain

Abstract

The invention discloses a self-adaptive super-twisting sliding mode control method for realizing a micro gyroscope with the adjustable gain. On the basis of a method of combination of equivalent sliding mode control and super-twisting control, a self-adaptive super-twisting sliding mode controller is designed; adaptive laws of a super-twisting sliding mode controller parameter and a micro gyroscope system uncertain parameter are designed; and a stability analysis is carried out on a micro gyroscope system by using a Lyapunov function to ensure asymptotic stability of the system. According to the invention, restrictions of known conditions of a first-order derivative boundary of a disturbance term in the traditional second-order sliding mode control are eliminated and the convergence of thesliding mode surface in the presence of interference is ensured; with combination of advantages of effective buffeting suppression by the high-order super-twist sliding mode controlling and the like,the system performances are controlled and improved effectively, the robustness of the micro gyroscope system against uncertainty and external disturbances is enhanced, and the stability of the system is guaranteed.

Description

Technical field [0001] The invention relates to an adaptive super twist sliding mode control method with adjustable gain of a micro gyroscope, belonging to the technical field of control of a micro gyroscope. Background technique [0002] Gyro is the basic measuring element of inertial navigation and inertial guidance system. Because of its huge advantages in cost, volume, structure, etc., micro gyros are widely used in civil and military fields such as navigation, aerospace, aviation, oilfield survey and development, and navigation and positioning of land vehicles. Because of the error and temperature influence in the design and manufacturing, it will cause the difference between the original characteristics and the design, which will lead to the decrease of the sensitivity and accuracy of the gyroscope system. The main problem of micro-gyro control is to compensate for the manufacturing error and measure the angular velocity. After decades of research and development, although...

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Problems solved by technology

Because of the influence of errors and temperature in design and manufacturing, it will lead to differences between the characteristics of the original and the design, resulting in a decrease in the sensitivity and accuracy of the gyroscope system. The main problem of micro-gyroscope control is to compensate for manufacturing errors and measure angular velocity

After decades of research and development, although the micro-gyroscope has made significant progress in structural design and precision, due to the limitations of its design principle itself and the limitations of the processing precision itself, it is difficult to achieve qualitative progress in the development of micro-gyroscopes. leap

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