Optimized control method and control circuit for hemispherical resonator gyro fuzzy PID based on genetic algorithm and clone algorithm

A technology of hemispherical resonant gyroscope and genetic algorithm, applied in gyroscope/steering sensing equipment, gyroscope effect for speed measurement, instrument and other directions, can solve the problems of poor adjustment ability of control parameters and inability to dynamically adjust fuzzy coefficients, etc.

Active Publication Date: 2019-01-04
SOUTHEAST UNIV
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Problems solved by technology

[0003] Purpose of the invention: In order to overcome the disadvantages of the existing hemispherical resonant gyroscope fuzzy PID technology control parameter adjustment ability is poor, the fuzzy coefficient can not be dynamically adjusted according to the operating characteristics of the force balance control system, the purpose of the present invention is to provi

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  • Optimized control method and control circuit for hemispherical resonator gyro fuzzy PID based on genetic algorithm and clone algorithm
  • Optimized control method and control circuit for hemispherical resonator gyro fuzzy PID based on genetic algorithm and clone algorithm
  • Optimized control method and control circuit for hemispherical resonator gyro fuzzy PID based on genetic algorithm and clone algorithm

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[0069] In order to better understand the present invention, the content of the present invention will be further explained below in conjunction with the accompanying drawings and specific embodiments, but the content of the invention is not limited to the following examples.

[0070] Such as figure 1 and figure 2 As shown, a sixteen-electrode controlled hemispherical resonant gyroscope includes a glass cap 1 , a hemispherical resonator 2 (ie, a hemispherical housing), an electrode signal circuit board 3 and a signal processing circuit board 4 . The spherical face of the hemispherical resonator is downward, and sixteen external electrodes are evenly distributed around the hemispherical resonator.

[0071] Such as figure 2 As shown, it is a schematic diagram of the structure of the electrode signal circuit board. The electrodes are arranged in a circle. For the convenience of description, the interval is 22.5°, starting from the 0° electrode, and the electrodes are marked co...

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Abstract

The invention discloses an optimized control method and control circuit for hemispherical resonator gyro fuzzy PID based on a genetic algorithm and a clone algorithm. The method comprises the following steps that a dynamic model of a hemispherical resonator is established; a rotation rate error signal of a hemispherical resonator gyro is calculated; a fuzzy PID controller structure is designed, and an initial value of a fuzzy PID controller parameter is preliminarily selected by using an immune cloning algorithm; the fuzzy PID controller parameter is optimized through the genetic algorithm. The control circuit is achieved based on FPGA and comprises a PID control unit, a fuzzy control unit, a clone algorithm unit and a genetic algorithm unit, wherein the PID control unit is used for achieving PID control of the hemispherical resonator gyro, the fuzzy control unit is used for adjusting a control parameter of the fuzzy PID controller, the clone algorithm unit is used for preliminarily selecting the initial value of the fuzzy PID controller parameter, and the genetic algorithm unit is used for achieving the optimization of the fuzzy PID controller parameter. The optimized control method and control circuit for the hemispherical resonator gyro fuzzy PID based on the genetic algorithm and the clone algorithm improve the stability, optimization time, robustness and control precisionof the gyroscope, and greatly increase the computing speed.

Description

technical field [0001] The invention relates to a hemispherical resonant gyroscope force balance control method, in particular to a hemispherical resonant gyroscope fuzzy PID control method and a control circuit optimized based on a genetic algorithm and a cloning algorithm. Background technique [0002] The hemispherical resonant gyroscope is characterized by high precision, long service life, good robustness, strong impact resistance, and can shield various radiation interference in space. In the field of aerospace, especially the attitude adjustment of spacecraft in the air, the measurement and control of stable platforms in complex environments are widely used. Compared with foreign research frontiers, domestic hemispherical resonant gyroscopes start late, have poor accuracy, and there is a big gap. The stability of force-balanced hemispherical resonant gyroscopes is greatly affected by rate control, and whether they can be quickly adjusted to maintain a non-precession s...

Claims

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Application Information

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IPC IPC(8): G01C19/5691
CPCG01C19/5691
Inventor 夏敦柱任皓麟
Owner SOUTHEAST UNIV
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