Adaptive dynamic-surface double neural network control method of micro gyroscope

Abstract

The invention discloses an adaptive dynamic-surface double neural network control method of a micro gyroscope. The method comprises the following steps that 1) a mathematical model of the micro gyroscope is established; 2) two adaptive neural network controllers, namely a neural network 1 controller and a neural network 2 controller, are designed, and a neural network control method is used so that output of the neural network 1 controller approaches the sum of the dynamic feature of the micro gyroscope and external interference and output of the neural network 2 controller approaches a sliding-mode switching item; 3) an adaptive dynamic-surface double-neural-network controller is designed on the basis of the dynamic surface; and 4) the micro gyroscope is controlled on the basis of the adaptive dynamic-surface double-neural-network controller. According to the invention, the micro gyroscope is controlled dynamically on the basis of the adaptive dynamic-surface double-neural-network controller related to the dynamic surface, so that the speed of a micro gyroscope becomes stable rapidly, manufacturing errors are complemented, the environment interference is overcome, the system buffeting is reduced, and the system sensitivity and robustness are improved.

Description

Technical field [0001] The invention relates to a dynamic control method of a micro gyroscope, in particular to a micro gyroscope adaptive dynamic surface double neural network control method, and belongs to the technical field of micro gyroscope dynamic control. Background technique [0002] MEMS micro gyroscopes, because of their miniaturization, low price, long service life, low energy consumption and easy integration, make its application range far beyond the aviation, aerospace and military fields where traditional gyroscopes can be applied. Wide attention. MEMS gyroscopes have been widely used in military, inertial navigation, automobiles, robots, medical machinery, consumer electronics and other fields. [0003] Compared with traditional gyroscopes, micro gyroscopes have huge advantages in volume and cost. However, due to the existence of manufacturing errors in the manufacturing process and the influence of the external environment temperature, the difference between the ...

AI Technical Summary

Problems solved by technology

However, due to the existence of manufacturing 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 coupling stiffness coefficient and damping coefficient, which reduces the sensitivity and accuracy of the micro gyroscope.

In addition, the gyroscope itself is a multi-input multi-output system, and there is uncertainty in the parameters and the system parameters are easy to fluctuate under external disturbances. Therefore, reducing system chattering has become one of the main problems in the control of micro gyroscopes.

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