Micro-gyroscope fractional order self-adaptive fuzzy neural inversion terminal sliding mode control method

An adaptive fuzzy, terminal sliding mode technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve the problem of poor system parameter and angular velocity estimation effect, poor tracking effect of micro gyroscope, and easy to be affected by external environment. impact, etc.

Active Publication Date: 2018-06-29
HOHAI UNIV CHANGZHOU
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Problems solved by technology

However, there are errors in the production and manufacturing process and are susceptible to temperature, resulting in differences between the characteristics of the components and the design, resulting in a decrease in the performance of the micro gyroscope
In addition, the micro-gyroscope is a multi-input and multi-output system, and the system parameters are uncertain and easily affected by the external environment, which makes the g

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  • Micro-gyroscope fractional order self-adaptive fuzzy neural inversion terminal sliding mode control method
  • Micro-gyroscope fractional order self-adaptive fuzzy neural inversion terminal sliding mode control method
  • Micro-gyroscope fractional order self-adaptive fuzzy neural inversion terminal sliding mode control method

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[0081] The present invention will be further described in detail below through the specific examples, the following examples are only descriptive, not restrictive, and cannot limit the protection scope of the present invention with this.

[0082] Such as figure 1 As shown, the micro-gyroscope fractional-order adaptive fuzzy neural inversion terminal sliding mode control method includes the following steps:

[0083] 1. Establishment of the dimensionless dynamic equation mathematical model of the micro-gyroscope system

[0084] A general micromechanical vibrating gyroscope consists of three parts: a suspended mass supported by an elastic material, an electrostatic drive device, and a sensing device. It is simplified as a damped oscillation system composed of a mass block and a spring. For the z-axis micro-gyroscope, it can be considered that the mass block is restricted to move only in the x-y plane, but not along the z-axis, and only rotates around the z-axis.

[0085] Accord...

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Abstract

The invention discloses a micro-gyroscope fractional order self-adaptive fuzzy neural inversion terminal sliding mode control method. The method includes the steps of establishing a dimensionless kinetic equation mathematical model and a reference trajectory model of a micro-gyroscope system, and establishing a fractional-order-based inversion terminal sliding mode controller. By means of the method, a micro-gyroscope can track a target in real time, so that errors are converged to zero within limited time; the robustness of the system is enhanced, and good performance is still kept under thecondition that external interference exists; a fractional order adaptive law is designed according to a fractional order terminal sliding mode surface, a self-adaptive identification method is designed on the basis of a Lyapunov stability criterion, and various unknown system parameters of the micro-gyroscope are estimated online in real time; compared with an integer order, adjustable items are added, so that the control effect and the parameter estimation effect are improved.

Description

technical field [0001] The invention relates to the technical field of micro-gyroscope control, in particular to a fractional-order self-adaptive fuzzy neural inversion terminal sliding mode control method for a micro-gyroscope. Background technique [0002] Micro-gyro is a sensor for measuring the angular velocity of inertial navigation and inertial guidance systems. Because it can navigate autonomously in any environment, it has attracted widespread attention since its appearance, and has been widely used in aerospace, navigation, aviation and military fields. application. However, there are errors in the production and manufacturing process and are susceptible to temperature effects, resulting in differences between the characteristics of the components and the design, resulting in a decrease in the performance of the microgyroscope. In addition, the micro gyroscope is a multi-input multi-output system and the system parameters are uncertain and easily affected by the ex...

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 梁霄费峻涛李思扬方韵梅
Owner HOHAI UNIV CHANGZHOU
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