A self-adaptive fractional-order sliding mode control method for micro-gyroscope

Abstract

The invention discloses a micro-gyroscope self-adaptive fractional-order sliding mode control method in the technical field of micro-gyroscope control, aiming at solving the problem of sensitivity and precision in the prior art due to the high processing accuracy requirements, which lead to the expected performance indicators of the micro-gyroscope. There are technical issues that may vary. The method comprises the steps of: establishing a dynamic model of the micro-gyroscope, and designing a fractional-order sliding mode surface model; designing a fractional-order sliding mode control law based on the dynamic model and the fractional-order sliding mode surface model, as a control input to the micro-gyroscope Carry out sliding control, the control law includes equivalent control law and switching control law; design an adaptive control algorithm based on Lyapunov stability, update the system unknown parameters of the control law in real time, and promote the trajectory stability of the system moving point to track dynamics The trajectory of the 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...

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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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