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Micro-gyroscope self-adaptive dynamic sliding mode control system based on inversion design, and method

A micro gyroscope and control system technology, applied in the direction of adaptive control, general control system, control/adjustment system, etc., can solve problems such as system chattering, fluctuation, and reduce system chattering, so as to reduce system chattering, improve Robustness and sensitivity, the effect of compensating manufacturing errors and environmental disturbances

Inactive Publication Date: 2014-10-08
HOHAI UNIV CHANGZHOU
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Problems solved by technology

In this way, the discontinuous term in the control law is directly transferred to the controller, causing the system to switch back and forth between different control logic units, causing system chattering
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. Therefore, reducing system chattering has become one of the main problems in the control of micro gyroscopes.

Method used

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  • Micro-gyroscope self-adaptive dynamic sliding mode control system based on inversion design, and method
  • Micro-gyroscope self-adaptive dynamic sliding mode control system based on inversion design, and method
  • Micro-gyroscope self-adaptive dynamic sliding mode control system based on inversion design, and method

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Embodiment 1

[0029] 1. Establish the mathematical model of the micro gyroscope

[0030] A general micromechanical vibrating gyroscope consists of three parts: a suspended mass supported by an elastic material, an electrostatic drive device, and a sensing device. It is simplified as a damped oscillation system composed of a mass block and a spring. Such as figure 1 , which shows a simplified z-axis micromechanical vibratory gyroscope model in a Cartesian coordinate system.

[0031] For the z-axis gyroscope, it can be considered that the mass block is restricted to move only in the x-y plane, but not along the z-axis. Assuming that the input angular velocity remains constant for a long enough time, under ideal conditions, the following formula can be obtained:

[0032] (1)

[0033] In the above formula, m is the mass of the mass block; x and y are the Cartesian coordinates of the mass block in the rotation system of the micro gyroscope; Respectively represent the damping coefficient a...

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Abstract

The invention discloses a micro-gyroscope self-adaptive dynamic sliding mode control system based on an inversion design and a method. The method includes the following steps: (1) establishing a micro-gyroscope math model; (2) based on the inversion design, obtaining a self-adaptive dynamic sliding mode controller; (3) carrying out a simulating experiment so as to obtain a target system. System robustness and sensitivity to parameter change are improved and system buffet is effectively reduced; in a self-adaptive design, through parameter estimation of a micro-gyroscope sensor, a parameter of a controlled object is obtained so that global asymptotic stability of the whole closed-loop system is ensured; and after a stable mode is reached, a dynamic characteristic of the micro gyroscope is an ideal mode so that manufacturing errors and environment interferences are compensated for.

Description

technical field [0001] The invention relates to a control system of a micro-gyroscope, in particular to an application of an adaptive dynamic sliding mode control method based on inversion design to the control of a micro-mechanical vibration gyroscope. Background technique [0002] Micro gyroscopes are sensors for measuring the angular velocity of inertial navigation and inertial guidance systems, and are widely used in military and civilian fields such as navigation and positioning of aviation, aerospace, navigation and land vehicles, and oilfield exploration and development. Compared with traditional gyroscopes, micro gyroscopes have huge advantages in size and cost, so they have a broader application market. However, due to the existence of errors in the manufacturing process and the influence of the external environment temperature, the difference between the characteristics of the original and the design is caused, resulting in the coupled stiffness coefficient and dam...

Claims

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Application Information

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IPC IPC(8): G05B13/04
Inventor 袁珠莉费峻涛
Owner HOHAI UNIV CHANGZHOU
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