Micro gyroscope adaptive control method based on model reference

Abstract

The invention discloses a micro gyroscope adaptive control method based on model reference, and the method is applied to a controller comprising a gyroscope. The method comprises the following steps: establishing an ideal dynamics model; designing a reference model as two different frequency sine waves, wherein a state space form is X[m]=A[m]X[m]; establishing a micro gyroscope system dynamics model; controlling a micro gyroscope based on a Lyapunov method, wherein a design control law is u=K<T>X+K[f]e, K<T> is an on-line adaptive update controller parameter, and K[f] is a steady matrix, and selecting K[f] and allowing (A[m]+BK[f]) as a stabilization matrix. According to the invention, a model reference adaptive control method is applied to micro gyroscope control in order to compensate manufacture errors and environment interference, and estimate an angle rate correctly. By employing a designed self-adaptive algorithm based on the Lyapunov method, global progressive stability of a whole control system is ensured, and reliability and robustness to parameter change of the system are raised.

Description

technical field [0001] The invention relates to a control method of a gyroscope, in particular to a method for adaptively controlling a micro gyroscope based on a model reference, and belongs to the technical field of control systems. Background technique [0002] Micro gyroscopes are inertial sensors that measure angular rates. Compared with traditional gyroscopes, micro gyroscopes have huge advantages in size and cost, so they have a broad application market, such as in navigation guidance, consumer electronics, navigation and national defense. . However, due to the existence of errors in the manufacturing process and the influence of the ambient temperature, the difference between the characteristics of the original and the design results in a coupled stiffness coefficient and damping coefficient, which reduces the sensitivity and accuracy of the micro gyroscope. In addition, the gyroscope itself is a multi-input and multi-output system, and there are parameter uncertain...

AI Technical Summary

Problems solved by technology

However, due to the existence of errors in the manufacturing process and the influence of the ambient temperature, the difference between the characteristics of the original and the design results, resulting in a coupled stiffness coefficient and damping coefficient, which reduces the sensitivity and accuracy of the micro gyroscope.

In addition, the gyroscope itself is a multi-input and multi-output system, and there are parameter uncertainties and fluctuations in system parameters caused by external disturbances. Compensating manufacturing errors and measuring angular velocity has become the main problem of micro gyroscope control

The traditional control method focuses on the control of the oscillation amplitude and frequency of the drive shaft and the control of the frequency matching of the two shafts. It does not consider parameter changes, the impact of environmental changes is bad, and it cannot solve the problem of zero angular rate output.

[0003] This shows that the above-mentioned existing gyroscope obviously still has inconvenience and defects in use, and needs to be further improved urgently.

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