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Fast start-up method of mems gyroscope based on compound learning of parallel estimation

A fast-start, gyroscope technology, used in instruments, adaptive control, measurement devices, etc., can solve problems such as poor practicability

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

[0004] In order to overcome the shortcomings of poor practicability of existing MEMS gyroscope modal control methods, the present invention provides a MEMS gyroscope quick start method based on parallel estimation compound learning

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  • Fast start-up method of mems gyroscope based on compound learning of parallel estimation
  • Fast start-up method of mems gyroscope based on compound learning of parallel estimation
  • Fast start-up method of mems gyroscope based on compound learning of parallel estimation

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Embodiment Construction

[0070] refer to figure 1 . The present invention is based on the MEMS gyroscope quick-starting method of parallel estimation compound learning The specific steps are as follows:

[0071] (a) The dynamic model of the MEMS gyroscope considering the quadrature error is:

[0072]

[0073] 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.

[0074] 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 ...

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Abstract

The invention discloses a quick start method of an MEMS (microelectromechanical systems) gyroscope based on parallel estimation composite learning and is intended to solve the technical problem that existing MEMS gyroscope modal control methods are poor in practicality. According to the technical scheme, a neural network prediction error is constructed according to a parallel estimation model anda kinetic model; the neural network prediction error is combined with a tracking error to design composite adaptive law of neural network weight, a weight coefficient of the neural network is corrected, and effective dynamic estimation of unknown kinetics is achieved; a sliding mode controller is designed according to a sliding mode hypersurface and double-exponential reaching law, feedforward compensation of unknown kinetics is achieved, a vibration error of a detection mass block is quickly converged, and the need for quick start of the gyroscope is met. BY designing the composite adaptive law of neural network weight, correcting the weight coefficient of the neural network and introducing the sliding mode controller designed based on the sliding mode hypersurface and the double-exponential reaching law, the vibrational error of the detection mass block is quickly converged, and the need for quick start of the gyroscope is met; the method of the invention has good practicality.

Description

technical field [0001] The invention relates to a MEMS gyroscope mode control method, in particular to a MEMS gyroscope quick start method based on parallel estimation compound learning. Background technique [0002] It usually takes more than ten minutes for MEMS gyroscopes to reach the nominal accuracy from power-on. During this period, the gyroscopes are in a wide range of temperature changes, and various factors affect the output of the gyroscopes, resulting in a large start-up drift. , which is a fatal flaw for some systems that need to be used quickly. How to design a nonlinear controller to realize the effective dynamic estimation of the unknown dynamics of the gyroscope and the fast convergence of the vibration error of the gyroscope proof mass are two important research contents to realize the fast start-up. [0003] "Terminal sliding mode control of Z-axis MEMS gyroscope with observer based rotation rate estimation" (M Saif, B Ebrahimi and M Vali, "American Contro...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04G05B13/02
CPCG05B13/027G05B13/042G01C25/005
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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