Microgyroscope adaptive sliding mode control method with error limitation

A technology of adaptive sliding mode and control method, which is applied in the direction of adaptive control, general control system, control/adjustment system, etc., and can solve the problems that the micro gyroscope error index cannot meet the design requirements, etc.

Inactive Publication Date: 2018-07-03
NANTONG UNIVERSITY
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Problems solved by technology

[0005] Purpose of the invention: the purpose of the present invention is to overcome the problem that the traditional control method cannot guarantee that the MEMS micro-gyroscope error index meets the design requirements, including the transient boundedness of the micro-gyroscope error and the rapidity of error convergence. The limited micro-gyroscope adaptive sliding mode control method, this method can artificially design the required error index curve before the micro-gyroscope control, so as to ensure the high-quality response of the micro-gyroscope system and ensure the stability of the system

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  • Microgyroscope adaptive sliding mode control method with error limitation
  • Microgyroscope adaptive sliding mode control method with error limitation
  • Microgyroscope adaptive sliding mode control method with error limitation

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Embodiment Construction

[0081] The technical solutions of the present invention will be further described in detail below in conjunction with specific embodiments.

[0082] Such as figure 1 A micro-gyroscope adaptive sliding mode control method with error limitation shown includes the following steps:

[0083] 1) Establish a mathematical model of the micro gyroscope;

[0084] 2) The design of the error limit boundary;

[0085] 3) Equivalent error transformation;

[0086] 4) Sliding mode surface design using equivalent error;

[0087] 5) Design of control force;

[0088] 6) Adaptive law design;

[0089] 7) Proof of stability.

[0090] The mathematical model of the micro-gyroscope in the aforementioned step 1) is:

[0091]

[0092] in

[0093] Where x, y represent the displacement of the gyroscope in the direction of the XY axis, d xx d yy is the elastic coefficient of the spring in the direction of X and Y axes, k xx k yy is the damping coefficient in the direction of X and Y axes, ...

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Abstract

The invention discloses a microgyroscope adaptive sliding mode control method with error limitation. The method comprises the steps of 1) establishing a mathematical model of a microgyroscope; 2) designing an error limitation boundary; 3) performing equivalent error transform; 4) performing sliding mode surface design using an equivalent error; 5) performing control force design; 6) performing adaptive law design; and 7) proving the stability. The invention provides the microgyroscope adaptive sliding mode control method with error limitation, and the method can artificially design a requirederror index curve before the microgyroscope control, thereby ensuring high quality response of a microgyroscope system and ensuring the stability of the system.

Description

technical field [0001] The invention belongs to the technical field of automatic control systems, and in particular relates to a micro-gyroscope self-adaptive sliding mode control method with error limitation. Background technique [0002] Micro gyroscopes are very common sensors for measuring angular velocity and are used in many fields, such as navigation, mobile phones, aircraft models, and military guidance. A micro gyroscope is a device that can transfer energy from one axis to another. The principle is to use the Coriolis force (that is, the deflection force of the earth's rotation). The process of measuring angular velocity needs to add a vibration signal with stable amplitude and frequency to the driving shaft. The sensing axis and the driving shaft are in the same plane and perpendicular to each other. When there is an angular velocity input perpendicular to both the driving shaft and the sensing axis, the sensing axis The Coriolis force will be sensed, and the mag...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/045
Inventor 卢成陈海龙郭云翔沈彦池张新松华亮
Owner NANTONG UNIVERSITY
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