Fuzzy wavelet neural control method of MEMS (micro electro mechanical system) gyroscope with no overshoot and guaranteed cost

A control method and gyroscope technology, applied to gyroscope/steering sensing equipment, gyroscope effect for speed measurement, instrument and other directions, can solve the problem of MEMS gyroscope tracking error transient no overshoot guaranteed performance control, low calculation complexity issues such as accuracy, closed-loop stability, and robustness deterioration

Active Publication Date: 2019-11-12
ZHONGBEI UNIV
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Problems solved by technology

[0004] The present invention provides a MEMS gyroscope with no overshoot guaranteed performance in order to solve the problem that the existing research method cannot realize the MEMS gyroscope tracking error transient non-overshoot guaranteed performance control and the closed-loop stability and robustness deterioration under multi-source interference The fuzzy wavelet neural control method, firstly, establishes a dimensionless strict feedback dynamic model of MEMS gyroscope including lumped disturbance; secondly, designs a unilateral non-overshoot fast Convergence-guaranteed performance mechanism is used to construct the gyros

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  • Fuzzy wavelet neural control method of MEMS (micro electro mechanical system) gyroscope with no overshoot and guaranteed cost
  • Fuzzy wavelet neural control method of MEMS (micro electro mechanical system) gyroscope with no overshoot and guaranteed cost
  • Fuzzy wavelet neural control method of MEMS (micro electro mechanical system) gyroscope with no overshoot and guaranteed cost

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[0049] The present invention will be further described below in conjunction with specific examples.

[0050] A MEMS gyroscope fuzzy wavelet neural control method with no overshoot and guaranteed performance, such as figure 1 shown, including the following steps:

[0051] (1) Establish a dimensionless strict feedback dynamics model of the MEMS gyroscope including lumped disturbances:

[0052] The dimensionless strict feedback dynamics model of the MEMS gyroscope is given as follows:

[0053]

[0054] In the formula, q 1 =[x,y] T , x and y are the dimensionless displacements of the driving and detecting modes of the gyroscope mass, respectively; and are the dimensionless velocities of the two modes of the gyroscope respectively, u=[u x , u y ] T , u x and u y is the dimensionless control input of the two modes of the gyroscope; F=[F x , F y ] T =-(D+2Ω)q 2 -Kq 1 +ξ is the lumped disturbance of the drive / detection mode including gyroscope spring coefficient...

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Abstract

The invention discloses a fuzzy wavelet neural control method of an MEMS (micro electro mechanical system) gyroscope with no overshoot and guaranteed cost, and relates to the technical field of automatic control of MEMS gyroscope. Firstly, an MEMS gyroscope dimensionless strict feedback dynamics model containing lumped interference is established; then a one-sided no-overshoot fast-convergence guaranteed-cost mechanism which is based on hyperbolic cosecant characteristics and does not rely on exact initial values of tracking errors is designed, and a gyroscope displacement tracking error conversion model is constructed; then a minimal learning parameter (MLP) method is used to design an FWNN (fuzzy wavelet neural networks) approximator with low computational complexity and high generalization performance to identify lumped interference in a gyroscope system online; and finally, a fuzzy wavelet neural control law of the MEMS (micro electro mechanical system) gyroscope with no overshootand the guaranteed cost is given on the basis of the unilateral no-overshoot guaranteed-cost displacement tracking error conversion model and FWNN lumped interference estimation. The method solves thedifficult problem of MEMS gyroscope error tracking transient performance no-overshoot guaranteed-cost control and closed-loop stability and robustness deterioration under the multi-source interference.

Description

technical field [0001] The invention relates to the technical field of automatic control of MEMS gyroscopes, in particular to a fuzzy wavelet neural control method for MEMS gyroscopes without overshoot and guaranteed performance, which is applied to the MEMS gyroscope tracking error transient control method that does not depend on the precise zero point of the system under multi-source interference. Robust Tracking Control with Overshoot Fast Convergence Guaranteed Performance. Background technique [0002] As a common inertial angular velocity sensor, a micro electromechanical system (MEMS for short) gyroscope is the preferred angular velocity sensor for measuring carrier angular velocity information in the military guidance process. In order to adapt to the high-precision dynamic measurement of angular rate under the influence of multi-source interference, it is very important to design a robust control law with no overshoot, fast convergence and strong performance in trac...

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Application Information

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IPC IPC(8): G01C19/5776
CPCG01C19/5776
Inventor 邵星灵杨卫石燚苏敏
Owner ZHONGBEI UNIV
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