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Fractional order sliding mode control method of micro gyroscope double-recursion disturbance fuzzy neural network

A technology of fuzzy neural network and fractional sliding mode, applied in the direction of electric speed/acceleration control, steering sensing equipment, etc., can solve the problem that unknown parts cannot be obtained accurately

Active Publication Date: 2021-01-05
HOHAI UNIV CHANGZHOU
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Problems solved by technology

[0004] In order to solve the existing technical defects, the present invention provides a micro-gyroscope double recursive disturbance fuzzy neural network fractional sliding mode control method, using fuzzy system and neural network The combination of online and real-time estimation of the unknown part of the system, using the estimated value instead of its own true value, is used to solve the problem that the unknown part containing unknown parameters in the actual system cannot be accurately obtained

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  • Fractional order sliding mode control method of micro gyroscope double-recursion disturbance fuzzy neural network
  • Fractional order sliding mode control method of micro gyroscope double-recursion disturbance fuzzy neural network
  • Fractional order sliding mode control method of micro gyroscope double-recursion disturbance fuzzy neural network

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[0111] In order to enable those skilled in the art to better understand the technical solutions in the application, the technical solutions in the embodiments of the application are clearly and completely described below. Obviously, the described embodiments are only part of the embodiments of the application, and Not all examples. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without creative efforts shall fall within the scope of protection of this application.

[0112] A micro-gyroscope adaptive double recursive disturbance fuzzy neural network fractional-order sliding mode control method, comprising:

[0113] Step 1, establishing a mathematical model of the micro gyroscope.

[0114] The driving mode and detection mode of the micro gyroscope are regarded as a second-order system of "spring-mass-damping". Firstly, the rotating coordinate system of the dynamic model is established; then, based on the rot...

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Abstract

The invention discloses a fractional order sliding mode control method of a micro gyroscope double-recursion disturbance fuzzy neural network, which comprises the steps of S1, establishing a micro gyroscope mathematical model, and designing a fractional order sliding mode surface; S2, designing a fractional order sliding mode control law, and performing sliding mode control on the micro gyroscopeby taking the fractional order sliding mode control law as control input; and S3, designing an adaptive control algorithm based on the double-recursion disturbance fuzzy neural network and the Lyapunov stability, updating unknown parameters of the neural network in real time, and ensuring that the trajectory of a system motion point stably tracks the trajectory of the kinetic model. The fuzzy system and the neural network are combined, the unknown part of the system is estimated online in real time, and the estimated value is used for replacing the true value of the unknown part. The method isused for solving the problem that the unknown part containing unknown parameters in an actual system cannot be accurately obtained.

Description

technical field [0001] The invention relates to a micro-gyroscope double-recursive disturbance fuzzy neural network fractional-order sliding mode control method, 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. It is a device with the functions of sensing, maintaining direction stability and angular motion detection, and has a tendency to resist direction changes. Compared with traditional gyroscopes, micro gyroscopes have many advantages and a wide range of applications. They can be used in aviation, aerospace, navigation, automotive safety, bioengineering, geodetic surveying, environmental monitoring and other fields, especially in the fields of size and weight. In the strict field, compared with traditional gyroscopes, micro gyroscopes have extremely significant advantages. [0003] However, due to the limitations of the machining accurac...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D13/62G01C19/56
CPCG05D13/62G01C19/56Y02T90/00
Inventor 陈放费峻涛陈云
Owner HOHAI UNIV CHANGZHOU
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