Dynamic independent estimation and self-adaptive control method for elastic coefficient of micro-mechanical electronic gyroscope

Abstract

The invention provides a dynamic independent estimation and self-adaptive control method for an elastic coefficient of a micro-electromechanical electronic gyroscope. The method comprises the following steps: establishing a dynamic model of the micro-electromechanical electronic gyroscope and extracting an elastic dynamic state in the gyroscope model; constructing an elastic dynamic estimation error equation of the independent convergence type gyroscope; designing a dynamic self-adaptive estimator for the elastic coefficient of the gyroscope and a corresponding self-adaptive adjustment algorithm; constructing a gyro tracking error dynamic equation; designing a self-adaptive controller combined with elastic coefficient dynamic independent estimation; and designing a Lyapunov function to prove the stability of the gyro control system, and selecting corresponding system parameters. According to the method, dynamic, independent and correct estimation of the elastic coefficient of the gyroscope can be realized, dynamic estimation and gyroscope trajectory tracking can be realized, coupling and separation can be realized, parameter adjustment of a gyroscope control system can be simplified, the design complexity of the system can be reduced, and the driving problem when parameters of a gyroscope spring change can be solved.

Description

Technical Field

[0001] The present invention relates to the technical field of dynamic independent estimation and adaptive control methods for elastic coefficients of micro-mechanical electronic gyroscopes, and in particular to a dynamic independent estimation and adaptive control method for elastic coefficients of micro-mechanical electronic gyroscopes. Background Art

[0002] A micro-machined electronic gyroscope is a precision angular velocity sensor that integrates advanced manufacturing processes such as micro-mechanical manufacturing and micro-electronics manufacturing. Compared with traditional mechanical gyroscopes, fiber optic gyroscopes, laser gyroscopes, etc., micro-machined electronic gyroscopes have high integration, are easy to mass produce, are small in size, and have low power consumption. They have been widely used in consumer electronic products.

[0003] Since the manufacturing of micro-mechanical electronic gyroscopes integrates a variety of precision manufacturing technologies, manufacturing deviations are inevitable during the manufacturing process of the gyroscope body, resulting in a certain deviation between the actual value and the design value of the spring that supports the vibration of the gyroscope vibrator in the gyroscope system. As the gyroscope is used, the parameters of the supporting spring will also deviate from their design values ​​due to spring aging.

[0004] In order to cope with the changes in system parameters caused by manufacturing deviations or gyro aging, the traditional method uses adaptive control technology to design an adaptive algorithm to cope with the changes in spring parameters. However, this adaptive control method, which relies on the principle of equivalent determinism, is strongly dependent on the system control performance and cannot separate parameter estimation from system control. The system debugging is difficult, and when the gyro system control performance is poor, it is impossible to correctly estimate the spring parameters. Summary of the Invention

[0005] This invention provides a method for independent dynamic estimation and adaptive control of the elastic coefficient of a micro-mechanical electronic gyroscope. First, based on a dynamic model of a micro-mechanical electronic gyroscope constructed using Newtonian dynamics theory, the model dynamics related to the elastic coefficient are extracted. Second, an independent, convergent error equation for the gyroscope's elastic dynamic estimation, independent of the controller, is designed. A dynamic equation for the gyroscope tracking error is constructed to design a dynamic adaptive estimator for the gyroscope's elastic coefficient and a corresponding adaptive adjustment algorithm. Finally, a dynamic equation for the gyroscope tracking error is constructed, and an adaptive controller incorporating independent dynamic estimation of the elastic coefficient is designed. Finally, a suitable Lyapunov function is designed to prove the stability of the gyroscope control system and select appropriate system parameters. This method aims to design an estimation and control method that can separate dynamic estimation of the gyroscope's elastic coefficient from gyroscope tracking control.

[0006] To achieve the above object, according to one aspect of the present invention, a method for dynamic independent estimation and adaptive control of elastic coefficients of a micro-mechanical electronic gyroscope is provided, comprising the following steps:

[0007] Extracting elastic coefficient-related dynamics in gyroscopic models;

[0008] Construct an independent convergence type gyro elastic dynamic estimation error equation;

[0009] Design a dynamic adaptive estimator of gyroscope elastic coefficient and the corresponding adaptive adjustment algorithm;

[0010] Construct the dynamic equation of gyro tracking error;

[0011] Design an adaptive controller incorporating dynamic independent estimation of elastic coefficients;

[0012] Design a suitable Lyapunov function to prove the stability of the gyro control system and select appropriate system parameters.

[0013] Furthermore, the dynamic model of the micro-mechanical electronic gyroscope is established and the elastic dynamics in the gyroscope model are extracted, including:

[0014] According to Newton's dynamics theory, the mathematical model of the micro-mechanical electronic gyroscope is as follows:

[0015]

[0016] Where q1 = [xy] T is the displacement vector of the mass block, is the mass velocity vector, u=[u x u y ] T is the control force vector, is the damping coefficient matrix, is the elastic coefficient matrix, is the input angular velocity matrix.

[0017] Among them, x and y are the displacements of the micro gyroscope vibrator in the X and Y axis directions, d xx , d yy are the damping coefficients in the X and Y axis directions, ω xx 、ω yy is the damping coefficient in the X and Y axis directions, d xy ,ω xy are the coupling damping coefficient and elastic coefficient caused by manufacturing errors, u x ,u y They are the control inputs for the X and Y axis directions respectively.

[0018] In order to achieve the correct estimation of the system dynamics of the gyro spring parameters, the system dynamics including the elastic coefficient in the micro-mechanical electronic gyroscope model is extracted as A, and the system model is changed to the following form:

[0019]

[0020] The system dynamics including the elastic coefficient in the gyroscope model is: A=kq1=[ω xx x+ω xy yω xy x+ω yy y] T .

[0021] Furthermore, the independent convergence gyro elastic dynamic estimation error equation is constructed, including:

[0022] In order to realize the independent adaptive estimation of the gyro elastic coefficient dynamics, a convergent elastic coefficient dynamic error dynamic equation is designed. By reasonably designing the elastic coefficient dynamic estimator and the corresponding adaptive adjustment algorithm, the elastic coefficient dynamic error dynamics satisfies the following convergent error dynamic equation.

[0023]

[0024] Where z is the elastic dynamic estimation error, defined as is the estimated value of the system elastic dynamics A, μ is a positive real number, and the differential equation satisfied by the gyro elastic dynamics estimation error equation can ensure that the elastic dynamics estimation error z converges to 0.

[0025] Furthermore, the design of a dynamic adaptive estimator of the gyroscope elastic coefficient and a corresponding adaptive adjustment algorithm includes:

[0026] In order to realize the convergent gyro elastic dynamic estimation error equation in the previous step, the gyro elastic coefficient dynamic adaptive estimator is designed as:

[0027]

[0028] in, It is the dynamic update function for dynamic estimation of elastic coefficient in the adaptive estimator, and β(q1,q2) is the static correction function.

[0029] The elastic dynamic estimation error By taking the derivative, we can get the dynamic equation of the estimated error:

[0030]

[0031] Furthermore, the adaptive adjustment algorithm of the dynamic update function is designed as follows:

[0032]

[0033] At the same time, the static correction function is designed as:

[0034] β(q1,q2)=-μq2

[0035] By introducing the dynamic update function adaptive adjustment algorithm and the static correction function into the estimated error dynamic equation, we can further obtain the error dynamic equation of the gyro elastic coefficient dynamics:

[0036]

[0037] At this point, the dynamic equation of the estimated deviation of the gyro system elastic coefficient can independently meet the independent convergence condition, that is, it satisfies:

[0038]

[0039] Furthermore, the dynamic equation of the gyro tracking error is constructed as follows:

[0040] The gyro system tracking error is defined as:

[0041]

[0042] Among them, q d =[x d y d ] T is the reference trajectory of the gyro system, x d 、y d is the reference trajectory of the micro gyroscope vibrator in the X and Y axis directions, e1 is the position tracking error, and e2 is the velocity tracking error.

[0043] By derivatizing the gyro system tracking error equation and substituting it into the system dynamics equation and the gyro elastic coefficient dynamic adaptive estimator, the gyro tracking error dynamic equation can be obtained as follows:

[0044]

[0045] Furthermore, the design of an adaptive controller incorporating dynamic independent estimation of elastic coefficients includes:

[0046] The gyro system control force is designed as:

[0047]

[0048] Where p is the controller parameter and is a positive number.

[0049] Substituting the designed control force into the gyro tracking error dynamic equation, the gyro system error dynamic equation can be obtained as follows:

[0050]

[0051] Dynamic error of elastic coefficient Substituting into the gyro system error dynamic equation, the gyro system error dynamic equation can be obtained as follows:

[0052]

[0053] Furthermore, a suitable Lyapunov function is designed to prove the stability of the gyro control system and to select appropriate system parameters, including:

[0054] The Lyapunov function for constructing the gyro control system is:

[0055]

[0056] By taking the derivative of the designed Lyapunov function, we can get

[0057]

[0058] Taking ζ=min(p,μ), that is, taking ζ as the smaller of the parameters p and μ, we can get

[0059]

[0060] Among them, some terms satisfy the following inequalities

[0061]

[0062] Substitute the derivative inequality of the Lyapunov function into it, and we can get

[0063]

[0064] To ensure system stability, you can select Based on the above requirement of ζ=min(p,μ), that is, taking ζ as the smaller of the parameters p and μ, we can choose

[0065] Through the designed Lyapunov function, appropriate system parameters ζ, μ, and p are selected to satisfy It can ensure that the system tracking error e2 converges to 0, and the system elastic dynamic estimation error can converge to 0 independently of the system tracking error.

[0066] According to one aspect of the present invention, a storage medium is provided, wherein instructions are stored in the storage medium. When a computer reads the instructions, the computer is caused to execute any one of the above-mentioned methods for dynamic independent estimation and adaptive control of elastic coefficients of a micro-mechanical electronic gyroscope.

[0067] According to another aspect of the present invention, an electronic device is provided, comprising a processor and the above-mentioned storage medium, wherein the processor executes instructions in the storage medium.

[0068] Compared with the prior art, the present invention has the following beneficial effects:

[0069] The present invention realizes the decoupling of the gyro system controller and the elastic coefficient dynamic estimator, realizes independent and correct dynamic estimation of the gyro elastic coefficient, and the dynamic estimation effect of the gyro elastic coefficient is not affected by the gyro trajectory tracking effect, thereby improving the gyro operation quality and the elastic coefficient dynamic estimation effect, and can realize independent estimation and position tracking control of the elastic coefficient-related system dynamics when the elastic coefficient of the micro-mechanical electronic gyroscope changes due to aging, manufacturing deviation, etc., and provide estimation data for gyro spring performance detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0070] To make the purpose, technical solutions and advantages of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments.

[0071] Unless otherwise defined, technical or scientific terms used herein shall have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.

[0072] Figure 1 A schematic diagram of a method for dynamic independent estimation and adaptive control of elastic coefficients of a micro-mechanical electronic gyroscope provided by an embodiment of the present invention;

[0073] Figure 2 The position tracking curves of the X and Y axes in the embodiment of the present invention;

[0074] Figure 3 The position tracking error curve of the X and Y axes in the embodiment of the present invention;

[0075] Figure 4 is the control force in the X and Y axis directions in the embodiment of the present invention;

[0076] Figure 5 is a dynamic estimation curve of elastic coefficients in the X and Y axis directions in an embodiment of the present invention;

[0077] Figure 6 : This is the dynamic estimation error curve of the elastic coefficient in the X and Y axis directions in the embodiment of the present invention. DETAILED DESCRIPTION

[0078] In order to make the objectives, technical solutions and advantages of the present invention more clear, the present invention is described in detail below with reference to the accompanying drawings and specific embodiments.

[0079] Example 1: Figure 1 As shown, the present invention provides a method for dynamic independent estimation and adaptive control of elastic coefficients of a micro-mechanical electronic gyroscope, comprising the following steps:

[0080] Step (1): Extract the elastic coefficient related dynamics in the gyro model;

[0081] Step (2): construct an independent convergence type gyro elastic dynamic estimation error equation;

[0082] Step (3): Design a dynamic adaptive estimator of the gyroscope elastic coefficient and a corresponding adaptive adjustment algorithm;

[0083] Step (4): construct the gyro tracking error dynamic equation;

[0084] Step (5): Design an adaptive controller that combines dynamic independent estimation of elastic coefficients;

[0085] Step (6): Design a suitable Lyapunov function to prove the stability of the gyro control system and select appropriate system parameters.

[0086] Furthermore, in step (1), establishing a micro-mechanical electronic gyroscope dynamic model and extracting elastic dynamics in the gyroscope model includes:

[0087] According to Newton's dynamics theory, the mathematical model of the micro-mechanical electronic gyroscope is as follows:

[0088] In the step (1), establishing a dynamic model of a micro-mechanical electronic gyroscope and extracting elastic dynamics in the gyroscope model includes:

[0089] According to Newton's dynamics theory, the mathematical model of the micro-mechanical electronic gyroscope is as follows:

[0090]

[0091] Among them, x and y are the displacements of the micro gyroscope in the X and Y axis directions, d xx , d yy are the damping coefficients in the X and Y axis directions, ω xx 、ω yy is the damping coefficient in the X and Y axis directions, d xy ,ω xy are the coupling damping coefficient and elastic coefficient caused by manufacturing errors, u x ,u y They are the control inputs for the X and Y axis directions respectively.

[0092] Rewriting it into vector form, we get:

[0093]

[0094] Where q1 = [xy] T is the displacement vector of the mass block, is the mass velocity vector, u=[u x uy ] T is the control force vector, is the damping coefficient matrix, is the elastic coefficient matrix, is the input angular velocity matrix.

[0095] Among them, x and y are the displacements of the micro gyroscope vibrator in the X and Y axis directions, d xx , d yy are the damping coefficients in the X and Y axis directions, ω xx 、ω yy is the damping coefficient in the X and Y axis directions, d xy ,ω xy are the coupling damping coefficient and elastic coefficient caused by manufacturing errors, u x ,u y They are the control inputs for the X and Y axis directions respectively.

[0096] In order to achieve the correct estimation of the system dynamics of the gyro spring parameters, the system dynamics including the elastic coefficient in the micro-mechanical electronic gyroscope model is extracted as A, and the system model is changed to the following form:

[0097]

[0098] The system dynamics including the elastic coefficient in the gyroscope model is: A=kq1=[ω xx x+ω xy yω xy x+ω yy y] T .

[0099] Furthermore, in step (2), constructing an independent convergence type gyro elastic dynamic estimation error equation includes:

[0100] In order to realize the independent adaptive estimation of the gyro elastic coefficient dynamics, a convergent elastic coefficient dynamic error dynamic equation is designed. By reasonably designing the elastic coefficient dynamic estimator and the corresponding adaptive adjustment algorithm, the elastic coefficient dynamic error dynamics satisfies the following convergent error dynamic equation.

[0101]

[0102] Where z is the elastic dynamic estimation error, defined as is the estimated value of the system elastic dynamics A, μ is a positive real number, and the differential equation satisfied by the gyro elastic dynamics estimation error equation can ensure that the elastic dynamics estimation error z converges to 0.

[0103] Furthermore, in step (3), designing a gyroscope elastic coefficient dynamic adaptive estimator and a corresponding adaptive adjustment algorithm includes:

[0104] In order to realize the convergent gyro elastic dynamic estimation error equation in the previous step, the gyro elastic coefficient dynamic adaptive estimator is designed as:

[0105]

[0106] in, It is the dynamic update function for dynamic estimation of elastic coefficient in the adaptive estimator, and β(q1,q2) is the static correction function.

[0107] The elastic dynamic estimation error By taking the derivative, we can get the dynamic equation of the estimated error:

[0108]

[0109] Furthermore, the adaptive adjustment algorithm of the dynamic update function is designed as follows:

[0110]

[0111] At the same time, the static correction function is designed as:

[0112] β(q1,q2)=-μq2

[0113] By introducing the dynamic update function adaptive adjustment algorithm and the static correction function into the estimated error dynamic equation, we can further obtain the error dynamic equation of the gyro elastic coefficient dynamics:

[0114]

[0115] At this point, the dynamic equation of the estimated deviation of the gyro system elastic coefficient can independently meet the independent convergence condition, that is, it satisfies:

[0116]

[0117] Furthermore, in step (4), constructing the gyro tracking error dynamic equation includes:

[0118] The gyro system tracking error is defined as:

[0119]

[0120] Among them, q d =[x d y d ] T is the reference trajectory of the gyro system, x d 、y d is the reference trajectory of the micro gyroscope vibrator in the X and Y axis directions, e1 is the position tracking error, and e2 is the velocity tracking error.

[0121] By derivatizing the gyro system tracking error equation and substituting it into the system dynamics equation and the gyro elastic coefficient dynamic adaptive estimator, the gyro tracking error dynamic equation can be obtained as follows:

[0122]

[0123] Furthermore, in step (5), the design of the adaptive controller combined with the dynamic independent estimation of the elastic coefficient includes:

[0124] The gyro system control force is designed as:

[0125]

[0126] Where p is the controller parameter and is a positive number.

[0127] Substituting the designed control force into the gyro tracking error dynamic equation, the gyro system error dynamic equation can be obtained as follows:

[0128]

[0129] Dynamic error of elastic coefficient Substituting into the gyro system error dynamic equation, the gyro system error dynamic equation can be obtained as follows:

[0130]

[0131] Furthermore, in step (5), the design of a suitable Lyapunov function to prove the stability of the gyro control system and the selection of suitable system parameters specifically include:

[0132] The Lyapunov function for constructing the gyro control system is:

[0133]

[0134] By taking the derivative of the designed Lyapunov function, we can get

[0135]

[0136] Taking ζ=min(p,μ), that is, taking ζ as the smaller of the parameters p and μ, we can get

[0137]

[0138] Among them, some terms satisfy the following inequalities

[0139]

[0140] Substitute the derivative inequality of the Lyapunov function into it, and we can get

[0141]

[0142] To ensure system stability, you can select Based on the above requirement of ζ=min(p,μ), that is, taking ζ as the smaller of the parameters p and μ, we can choose

[0143] Through the designed Lyapunov function, appropriate system parameters ζ, μ, and p are selected to satisfy It can ensure that the system tracking error e2 converges to 0, and the system elastic dynamic estimation error can converge to 0 independently of the system tracking error.

[0144] (5) Computer simulation experiment

[0145] According to a method for dynamic independent estimation and adaptive control of elastic coefficients of a micro-mechanical electronic gyroscope, a computer simulation experiment of the control method of the present invention is carried out in MATLAB / SIMULINK.

[0146] After non-dimensionalization, the parameters of the micro gyroscope in the simulation experiment are as follows: ω xx =355.3,ω yy =532.9,d xx =0.01,d yy =0.01,ω xy =70.99,d xy =0.002,Ω z =0.1.

[0147] The reference trajectory of the gyro vibration mode is q d =[sin(4.17t) 0.7sin(5.67t)] T , the starting position and speed of the oscillator are set to X0 = [0.1 0 0.1 0] T .

[0148] The adjustable parameter μ in the independent convergence gyro elastic dynamic estimation error equation is 300.

[0149] The controller parameter p in the adaptive controller combined with the dynamic independent estimation of the elastic coefficient is 15.

[0150] In order to explore the control effect of the dynamic independent estimation and adaptive control method of the elastic coefficient of a micro-mechanical electronic gyroscope proposed in this patent, the displacement and velocity tracking trajectory of the gyroscope system under the control system is obtained as follows: Figure 2 As shown in the figure, the dotted line is the given position and the solid line is the actual position. The displacement and velocity tracking trajectory errors are shown in the figure. Figure 3The results show that the displacement and velocity tracking effects are ideal, and the displacement and velocity states output by the system can stably and accurately track the given displacement and velocity instructions.

[0151] Control force simulation Figure 4 As shown in the figure, it can be seen that the control signal control force is bounded and tends to be stable over time, is relatively smooth, and there is no obvious chattering phenomenon, which shows that the dynamic independent estimation and adaptive control method of the elastic coefficient of the micro-mechanical electronic gyroscope proposed in this paper has a good control effect.

[0152] Figure 5 It is the dynamic estimation curve of the elastic coefficient in the X and Y axis directions. The solid line is the actual value and the dotted line is the estimated value. Figure 6 is the dynamic estimation error curve of the elastic coefficient in the X and Y axis directions, from Figure 5 and Figure 6 It can be seen that the designed gyroscope elastic coefficient dynamic adaptive estimator can well estimate the gyroscope elastic coefficient dynamic A in real time.

[0153] In summary, the method for independent dynamic estimation and adaptive control of the elastic coefficient of a micro-mechanical electronic gyroscope designed in the present invention can not only accurately and quickly estimate the dynamics of the elastic coefficient of the gyroscope, but also the controller based on this design can enable the displacement and velocity states output by the gyroscope system to stably and accurately track the given displacement and velocity instructions.

[0154] Example 2:

[0155] The computer-readable storage medium of this embodiment stores a computer program, which, when executed by a processor, implements the steps of the method for dynamic independent estimation and adaptive control of elastic coefficients of a micro-mechanical electronic gyroscope of embodiment 1.

[0156] The computer-readable storage medium of this embodiment may be an internal storage unit of the terminal, such as a hard disk or memory of the terminal; the computer-readable storage medium of this embodiment may also be an external storage device of the terminal, such as a plug-in hard disk, a smart memory card, a secure digital card, a flash memory card, etc. equipped on the terminal; further, the computer-readable storage medium may also include both an internal storage unit of the terminal and an external storage device.

[0157] The computer-readable storage medium of this embodiment is used to store computer programs and other programs and data required by the terminal. The computer-readable storage medium can also be used to temporarily store data that has been output or is to be output.

[0158] Example 3:

[0159] The computer device of this embodiment includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, the steps of the method for dynamic independent estimation and adaptive control of elastic coefficients of a micro-mechanical electronic gyroscope of embodiment 1 are implemented.

[0160] In this embodiment, the processor can be a central processing unit, or other general-purpose processors, digital signal processors, application-specific integrated circuits, off-the-shelf programmable gate arrays or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc. The memory can include read-only memory and random access memory, and provide instructions and data to the processor. A part of the memory can also include non-volatile random access memory. For example, the memory can also store information about the device type.

[0161] Those skilled in the art will appreciate that the disclosed contents of the embodiments may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a hardware embodiment, a software embodiment, or an embodiment combining software and hardware. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage and optical storage, etc.) containing computer-usable program code.

[0162] The present invention is described with reference to the flowcharts and / or block diagrams of the methods and computer program products according to the embodiments of the present invention. It should be understood that each process and / or block in the flowcharts and / or block diagrams, as well as the combination of the processes and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions; these computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowcharts and / or block diagrams. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0163] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0164] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0165] Those skilled in the art will appreciate that all or part of the processes in the above-described method embodiments can be implemented by instructing related hardware through a computer program. The program can be stored in a computer-readable storage medium, and when executed, the program can include the processes in the above-described method embodiments. The storage medium can be a magnetic disk, an optical disk, a read-only memory (ROM), or a random access memory (RAM).

[0166] The examples described in the present invention are merely descriptions of the preferred embodiments of the present invention and are not intended to limit the concept and scope of the present invention. Without departing from the design concept of the present invention, various modifications and improvements made to the technical solutions of the present invention by engineers and technicians in this field should fall within the scope of protection of the present invention.

Claims

1. A method for dynamic independent estimation and adaptive control of elastic coefficients of a micro-machined electronic gyroscope, characterized in that: The steps include: Establish a dynamic model of a micro-mechanical electronic gyroscope and extract the elastic dynamics in the gyroscope model; Construct an independent convergence type gyro elastic dynamic estimation error equation; Design a dynamic adaptive estimator of gyroscope elastic coefficient and the corresponding adaptive adjustment algorithm; Construct the dynamic equation of gyro tracking error; Design an adaptive controller incorporating dynamic independent estimation of elastic coefficients; Design Lyapunov function to prove the stability of gyro control system and select corresponding system parameters.

2. The method according to claim 1, characterized in that Establishing a dynamic model of a micro-mechanical electronic gyroscope and extracting the elastic dynamics in the gyroscope model includes: According to Newton's dynamics theory, the mathematical model of the micro-mechanical electronic gyroscope is as follows: Where q1 = [xy] T is the displacement vector of the mass block, is the mass velocity vector, u=[u x u y ] T is the control force vector, is the damping coefficient matrix, is the elastic coefficient matrix, is the input angular velocity matrix; Among them, x and y are the displacements of the micro gyroscope vibrator in the X and Y axis directions, d xx , d yy are the damping coefficients in the X and Y axis directions, ω xx 、ω yy is the damping coefficient in the X and Y axis directions, d xy ,ω xy are the coupling damping coefficient and elastic coefficient caused by manufacturing errors, u x ,u y They are the control inputs for the X and Y axis directions respectively; In order to achieve the correct estimation of the system dynamics of the gyro spring parameters, the system dynamics including the elastic coefficient in the micro-mechanical electronic gyroscope model is extracted as A, and the system model is changed to the following form: The system dynamics including the elastic coefficient in the gyroscope model is: A=kq1=[ω xx x+ω xy yω xy x+ω yy y] T .

3. The method according to claim 2, characterized in that The independent convergence type gyro elastic dynamic estimation error equation includes: Where z is the elastic dynamic estimation error, defined as is the estimated value of the system elastic dynamics A, μ is a positive real number, and the differential equation satisfied by the gyro elastic dynamics estimation error equation can ensure that the elastic dynamics estimation error z converges to 0.

4. The method according to claim 3, characterized in that The adaptive adjustment algorithm for the dynamic update function is designed as follows: At the same time, the static correction function is designed as: β(q1,q2)=-μq2 Bringing the dynamic update function adaptive adjustment algorithm and the static correction function into the estimated error dynamic equation, the error dynamic equation of the gyro elastic coefficient dynamics is obtained as follows: At this point, the dynamic equation of the estimated deviation of the gyro system elastic coefficient can independently meet the independent convergence condition, that is, it satisfies:

5. The method according to claim 4, characterized in that The dynamic equations of gyro tracking error are constructed as follows: The gyro system tracking error is defined as: Among them, q d =[x d y d ] T is the reference trajectory of the gyro system, x d 、y d is the reference trajectory of the micro-gyroscope vibrator in the X and Y axis directions, e1 is the position tracking error, and e2 is the velocity tracking error; By derivatizing the gyro system tracking error equation and substituting it into the system dynamics equation and the gyro elastic coefficient dynamic adaptive estimator, the gyro tracking error dynamic equation can be obtained as follows:

6. The method according to claim 5, characterized in that Designing an adaptive controller incorporating dynamic independent estimation of elastic coefficients involves: The gyro system control force is designed as: Among them, p is the controller parameter, which is a positive number; Substituting the designed control force into the gyro tracking error dynamic equation, the gyro system error dynamic equation can be obtained as follows: Dynamic error of elastic coefficient Substituting the error dynamic equation of the gyro system into the error dynamic equation of the gyro system, we can get the error dynamic equation of the gyro system as follows:

7. The method according to claim 6, characterized in that Design a Lyapunov function to prove the stability of the gyro control system and select the corresponding system parameters, including: The Lyapunov function for constructing the gyro control system is: Derivative the designed Lyapunov function, we get: Taking ζ = min(p, μ), that is, taking ζ as the smaller of the parameters p and μ, we get: Among them, some terms satisfy the following inequalities: Substituting the derivative inequality of the Lyapunov function, we get: To ensure system stability, select Based on the above requirement that ζ=min(p,μ), that is, taking ζ as the smaller of the parameters p and μ, we can select 8. A storage medium, characterized in that: The storage medium stores instructions, and when a computer reads the instructions, the computer is enabled to execute the method for dynamic independent estimation and adaptive control of elastic coefficients of a micro-mechanical electronic gyroscope according to any one of claims 1 to 7.

9. An electronic device, characterized in that: The device comprises a processor and the storage medium according to claim 8, wherein the processor executes instructions in the storage medium.

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