Z-axis gyroscope neural network sliding mode control method based on disturbance observer

Abstract

The invention discloses a Z-axis gyroscope neural network sliding mode control method based on a disturbance observer. According to the method, an RBF neural network is adopted to estimate a time-varying angular velocity parameter matrix on the basis of obtaining a micro-gyroscope tracking error and a designed sliding mode surface, an interference observer is designed to estimate external interference under the condition that the external interference is unknown, and a micro-gyroscope control law is designed according to the estimated time-varying angular velocity parameter matrix and the interference observer. Finally, a continuously changing angular velocity signal and unknown external interference are estimated correctly. According to the method, the neural network can be adopted to estimate the time-varying angular velocity under the condition that the angular velocity is continuously changed, and the adaptive adjustment of the weight is completed by designing the neural network weight adaptive rule. Meanwhile, under the condition that the external interference of the system is unknown, the interference observer is adopted to estimate the external interference, so that the buffeting of the system is effectively reduced, and the measurement precision of the MEMS gyroscope is improved.

Description

technical field [0001] The invention relates to the field of automatic control systems, in particular to a Z-axis gyroscope neural network sliding mode control method based on disturbance observers. Background technique [0002] MEMS gyroscope is a sensor produced by micro-electromechanical system processing technology, which is used to measure angular velocity. MEMS gyroscopes can be divided into vibration type, microfluidic type, solid type and suspended rotor type. The most common of these is the vibrating MEMS gyroscope. The MEMS gyroscope uses the Coriolis theorem to convert the angular velocity of a rotating object into a DC voltage signal proportional to the angular velocity, thereby calculating the angular velocity. MEMS gyroscopes have the advantages of small size, low power consumption, and low cost, and have broad application prospects in inertial navigation, consumer electronics, and modern defense. Due to defects in manufacturing technology, the structure of ...

AI Technical Summary

Problems solved by technology

However, in practical situations, the upper bound of external interference is unknown

At this time, a larger switching gain needs to be selected, which will cause stronger chattering

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