Fractional order adaptive rapid terminal sliding mode control method of micro-gyroscope

Abstract

The invention discloses a fractional order adaptive rapid terminal sliding mode control method of a micro-gyroscope. The method comprises steps of establishing a dimensionless kinetic equation mathematical model and a reference trajectory model of a micro-gyroscope system; and constructing a fractional order-based adaptive rapid terminal sliding mode controller. According to the invention, an objective of real-time tracking of the micro-gyroscope can be achieved; errors can be rapidly converged into zero in the limited time; robustness of the system is enhanced; under the condition that thereis external interference, good performance can be kept; according to a fractional order adaptive rapid terminal sliding mode surface, a fractional order adaptive rule is designed; based on the Lyapunov stability criterion, an adaptive identification method is designed; all kinds of unknown system parameters of the micro-gyroscope are estimated in an online real-time manner; compared with an integer order, adjustable items are added, so control effects and parameter estimation effects are improved; and by use of the adaptive control method, system non-determinacy and parameters of the upper bound of the external disturbance sum are estimated, and automatic tracking of manufacturing errors and external disturbance is achieved.

Description

technical field [0001] The invention relates to the technical field of micro gyroscope control, in particular to a fractional-order self-adaptive fast terminal sliding mode control method of a micro gyroscope. Background technique [0002] The micro-gyroscope 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 received widespread attention since its appearance, and has been widely used in aerospace, navigation, aviation and military fields. Applications. 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 micro gyroscope. In addition, the micro gyroscope is a multi-input multi-output system and the system parameters are uncertain and easily affected by the external en...

AI Technical Summary

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 multi-output system and the system parameters are uncertain and easily affected by the external environment, which makes the tracking effect of the gyroscope unsatisfactory.

In the traditional sliding mode control method, the design of the sliding mode surface is based on the linear combination of the error ratio, differential or integral, where the order of the differential or integral is an integer, and the tracking effect of the micro gyroscope is relatively poor, and the system parameters and angular velocity It is estimated that the effect is relatively poor, and it is easy to cause chattering

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