Micro gyroscope adaptive control method based on model reference
An adaptive control and micro-gyroscope technology, applied in the field of control systems, can solve problems such as unconsidered parameter changes, reduced sensitivity and accuracy of micro-gyroscopes, and differences in original characteristics and designs.
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[0028] The method for self-adaptive control of a micro-gyroscope based on model reference proposed by the present invention will be described in detail below with reference to the accompanying drawings and embodiments.
[0029] Such as figure 1 , figure 2 , image 3 , Figure 4 , Figure 5 As shown, the method for adaptively controlling a micro-gyroscope based on a model reference in a preferred embodiment of the present invention includes the following steps,
[0030] (1) Establish an ideal kinetic model
[0031] The design reference model is two sine waves of different frequencies with amplitude x m =A 1 sin(w 1 t), y m =A 2 sin(w 2 t), where w 1 ≠w 2 and are not zero, written in state space as: X · m = A m X m ;
[0032] (2) Based on the Lyapunov method to control the micro gyroscope
[0033] Using ...
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