Self-adaptive control method of sliding formwork of micro gyroscope based on T-S fuzzy model

Abstract

The invention discloses a self-adaptive control method of a sliding formwork of a micro gyroscope based on a T-S fuzzy model. The T-S fuzzy model of the micro gyroscope is established based on a nonlinear model of the micro gyroscope, a global uncertain system model of the micro gyroscope is obtained through single-point fuzzification, product ratiocination and central equal-weighted defuzzification, a controller is designed based on an uncertain system variable structure control theory, and the a model trajectory of the global uncertain system model is made to trace a reference model trajectory. Due to the fact that an interference upper bound and a parameter uncertain item are unknown, estimators are designed respectively. A self-adaptive control algorithm is designed based on Lyapunov theory to guarantee the global asymptotic stability of the system. Under the situation that the parameter uncertain item and interference exist in the T-S fuzzy model of the micro gyroscope, the self-adaptive control method of the sliding formwork of the micro gyroscope based on the T-S fuzzy model can carry out accurate trajectory tracing control on a nonlinear controlled object, and the global asymptotic stability of trajectory control errors and parameter estimation errors can be guaranteed, the self-adaptive control of the sliding formwork can improve the robustness of the parameter variation by the system and compensate manufacturing errors, and due to the fact that a control scheme acts on the nonlinear model simultaneously, the effectiveness of the control scheme on the nonlinear model is verified.

Description

Technical field [0001] The invention belongs to the technical field of micro gyroscope control, and specifically relates to a micro gyroscope sliding mode adaptive control method based on a T-S fuzzy model. Background technique [0002] The gyroscope is the basic measurement element of inertial navigation and guidance. Compared with the traditional gyroscope, the micro gyroscope has huge advantages in volume and cost, and has a huge improvement in measurement accuracy, so it has a broad application market, such as In navigation and guidance, consumer electronics, navigation and national defense. But in reality, manufacturing errors and environmental temperature effects in the manufacturing process lead to the existence of coupled stiffness coefficients and damping coefficients, resulting in inherent system interference in the form of mechanical and electrostatic forces, resulting in differences between original characteristics and design. The sensitivity and accuracy of the micr...

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Problems solved by technology

However, the common micro-gyroscope control is based on its linear model, and the problem that the actual controlled model is closer to the nonlinear model has not been taken into account. The present invention establishes its T-S fuzzy model, followed by trajectory control over its T-S fuzzy model

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