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Dynamic fractional-order sliding mode control method of micro-gyroscope with double feedback fuzzy neural network

A technology of fuzzy neural network and fractional sliding mode, which is applied in the direction of adaptive control, general control system, control/adjustment system, etc., can solve the problem of poor control accuracy of micro gyroscope, high processing accuracy of micro gyroscope, performance Susceptible to problems such as machining accuracy, to achieve the effect of improving online identification efficiency, realizing online automatic tuning, and improving control performance and control accuracy

Active Publication Date: 2022-04-26
HOHAI UNIV CHANGZHOU
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Problems solved by technology

[0004] Aiming at the deficiencies of the prior art, the object of the present invention is to provide a dynamic fractional-order sliding mode control method of the micro-gyroscope with double-feedback fuzzy neural network, so as to solve the problem that the performance of the micro-gyroscope in the prior art is too high due to the high machining accuracy. Affected by machining accuracy, it leads to the technical problem of poor control accuracy of the micro gyroscope

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  • Dynamic fractional-order sliding mode control method of micro-gyroscope with double feedback fuzzy neural network
  • Dynamic fractional-order sliding mode control method of micro-gyroscope with double feedback fuzzy neural network
  • Dynamic fractional-order sliding mode control method of micro-gyroscope with double feedback fuzzy neural network

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[0050] The present invention will be further described below in conjunction with the accompanying drawings. The following examples are only used to illustrate the technical solutions of the present invention more clearly, and cannot be used to limit the protection scope of the present invention.

[0051] The specific embodiment of the present invention provides a dual-feedback fuzzy neural network dynamic fractional sliding mode control method for a micro-gyro, comprising the following steps:

[0052] The first step is to establish a mathematical model of the micro-gyroscope.

[0053] The driving mode and detection mode of the micro-gyroscope are regarded as a "spring-mass-damping" second-order system. First, the rotating coordinate system of the dynamic model is established; then, the basic dynamic model of the micro-gyroscope driving mode and detection mode is established based on the rotating coordinate system.

[0054] The established rotation coordinate system is as fol...

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Abstract

The invention discloses a dynamic fractional-order sliding mode control method of a micro-gyro double-feedback fuzzy neural network in the technical field of micro-gyroscope control, aiming to solve the problem of micro-gyroscopes in the prior art because their performance is easily affected by machining accuracy Technical problem with poor control accuracy of the gyroscope. The method includes the steps of: constructing a dynamic fractional-order switching function based on a pre-designed sliding mode surface; designing a dynamic fractional-order sliding mode control law based on a pre-established micro-gyroscope mathematical model and a dynamic fractional-order switching function, the dynamic The fractional-order sliding mode control law includes equivalent control law and switching control law; the adaptive control algorithm is designed with the goal of minimizing the tracking error of the sliding mode surface; the adaptive control algorithm is used to update the unknown parameters of the micro-gyroscope mathematical model in real time, Obtain the estimated dynamic fractional-order sliding-mode control law as a control input for sliding-mode control of the microgyroscope.

Description

technical field [0001] The invention relates to a dynamic fractional-order sliding mode control method of a dual-feedback fuzzy neural network of a micro-gyroscope, and belongs to the technical field of micro-gyroscope control. Background technique [0002] The principle used by the gyroscope is mainly the law of conservation of angular momentum. Compared with traditional gyroscopes, micro gyroscopes have many advantages and have a wide range of applications. They can be used in aviation, aerospace, navigation, automotive safety, bioengineering, geodetic surveying, environmental monitoring and other fields, especially when the requirements for size and weight are very strict. Compared with traditional gyroscopes, micro gyroscopes have extremely significant advantages. [0003] Taking silicon micro-gyroscope as an example, it is made by micro-machining process, and its structure size is usually micron level. After integrated packaging, the size is only in the order of millim...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04
CPCG05B13/042G05B13/0265
Inventor 陈放费峻涛陈云
Owner HOHAI UNIV CHANGZHOU
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