Adaptive fractional-order sliding form control method of micro gyroscope

Abstract

The invention discloses an adaptive fractional-order sliding form control method of a micro gyroscope, and aims solving the technical problem that the sensitivity, precision and the like are different from corresponding predicted performance indexes due to high requirement for the processing precision of the micro gyroscope in the prior art. The method comprises the following steps that a dynamic model of the micro gyroscope is established, and the fractional-order sliding form surface model is designed; fractional order sliding form control laws, including equivalency and switching control laws, are designed on the basis of the dynamic model and the fractional-order sliding form surface model, and serve as control input to carry out sliding form control on the micro gyroscope; and an adaptive control algorithm is designed based on the Lyapunov stability, system unknown parameters of the control laws are updated in real time, and a track of a system movement point stably tracks that of the dynamic model.

Description

technical field [0001] The invention relates to a micro-gyroscope adaptive fractional-order sliding mode control method, which belongs to the technical field of micro-gyroscope control. Background technique [0002] Gyroscope is a device with the functions of sensing, maintaining direction stability and angular motion detection. Its operation is mainly based on the law of conservation of angular momentum. Under the action of angular momentum, it can resist the trend of direction change. It is often used as an angular velocity meter. The basic measurement element of the inertial navigation system is used in military, aviation, aerospace and other fields. Compared with traditional gyroscopes, micro gyroscopes have many advantages such as small size and light weight, and have been more widely used in technical fields that have strict requirements on size and weight. Taking the silicon micro gyroscope as an example, because it is made by micro-machining technology, its structur...

AI Technical Summary

Problems solved by technology

Taking the silicon micro gyroscope as an example, because it is made by micro-machining technology, its structural size is usually in the order of microns, and after integrated packaging, the size is only in the order of millimeters, so it requires extremely high processing accuracy. Due to these problems, the sensitivity and accuracy of silicon micro-gyroscopes are different from the expected performance indicators, which in turn leads to the slow development of micro-gyroscope technology.

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