Fractional order adaptive fast terminal sliding mode control method for micro gyroscope

Abstract

The invention discloses a fractional order self-adaptive fast terminal sliding mode control method of a micro gyroscope, comprising: establishing a dimensionless dynamic equation mathematical model and a reference trajectory model of the micro gyroscope system; constructing a fractional order based self-adaptive fast terminal Sliding mode controller. The invention can realize the real-time tracking target of the micro gyroscope, make the error quickly converge to zero within a limited time, enhance the robustness of the system, and still maintain good performance in the case of external interference; according to the fractional order fast terminal Sliding mode surface design fractional order adaptive law, design an adaptive identification method based on Lyapunov stability criterion, online real-time estimation of various unknown system parameters of micro gyroscope, compared with integer order, more adjustable items, improve The control effect and parameter estimation effect are improved; the adaptive control method is used to estimate the parameters of the upper bound of the system uncertainty and the sum of external disturbances, so as to achieve automatic tracking of manufacturing errors and external disturbances.

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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