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Self-adaptive fuzzy super-twisting sliding mode control method for micro-gyroscope system

An adaptive fuzzy, micro-gyroscope technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve the problems of the traditional control method of micro-gyroscope, etc., to suppress input chattering and improve robustness performance, optimized control effects

Active Publication Date: 2019-01-18
HOHAI UNIV CHANGZHOU
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Problems solved by technology

[0005] Purpose: In order to improve the performance of the micro-gyroscope system, improve its robustness, and solve the existing defects of the micro-gyroscope and the shortcomings of traditional control methods, the present invention makes full use of the advantages of fuzzy control, adaptive control and super-twist sliding mode control, Provide an adaptive fuzzy super-twist sliding mode control method for micro-gyroscope system

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  • Self-adaptive fuzzy super-twisting sliding mode control method for micro-gyroscope system
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Embodiment Construction

[0043] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0044] 1. Mathematical model of micro gyroscope:

[0045] A micro-vibration gyroscope is usually composed of three parts: a suspended mass supported by an elastic material, an electrostatic drive device, and a sensing device, which can be simplified as figure 1 A damped oscillatory system consisting of a mass and a spring is shown, which shows a simplified z-axis micromechanical vibratory gyroscope model in Cartesian coordinates.

[0046] According to Newton's law in the rotating system, and comprehensively considering the influence of various manufacturing errors on the micro-gyroscope, the mathematical model of the micro-mechanical gyroscope is obtained as follows:

[0047]

[0048] In the above formula (12), m is the quality of the mass block, x, y are the position vectors of the mass block on the two axes of the driving axis and the sensing axis...

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Abstract

The invention discloses a self-adaptive fuzzy super-twisting sliding mode control method for a micro-gyroscope system. The method comprises the following steps of (1) building a dimensionless kineticequation of the micro-gyroscope system; (2) designing a self-adaptive fuzzy super-twisting sliding mode controller of the micro-gyroscope system, wherein the controller is composed of an equivalent control term and a switching control term based on a super-twisting control algorithm; and (3) approximating parameters of the super-twisting sliding mode controller by using a fuzzy system, identifyingan estimated gain term on line, and realizing self-adaptive adjustment of the parameters of the controller. The control method provided by the invention is simple in design and convenient to apply; the application range of a micro-gyroscope is further expanded; and the effective control on the controlled system can be realized, so that the trajectory tracking of the micro-gyroscope system has relatively strong robustness, relatively high convergence speed and relatively high precision.

Description

technical field [0001] The invention relates to an adaptive fuzzy super-distortion sliding mode control method of a micro gyroscope system, belonging to the control technical field of the micro gyroscope system. Background technique [0002] Gyroscopes are the basic measurement elements of inertial navigation and inertial guidance systems. Because of its huge advantages in cost, volume, and structure, micro gyroscopes are widely used in civil and military fields such as navigation, aerospace, aviation, and oil field survey and development, and land vehicle navigation and positioning. Because of the influence of errors and temperature in design and manufacturing, it will lead to differences between the characteristics of the original and the design, resulting in a decrease in the sensitivity and accuracy of the gyroscope system. The main problem of micro gyroscope control is to compensate for manufacturing errors and measure angular velocity . After decades of research and ...

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 冯治琳费峻涛
Owner HOHAI UNIV CHANGZHOU
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