Self-adaptive super-twisting sliding mode control method for realizing micro gyroscope with adjustable gain

Abstract

The invention discloses a self-adaptive super-twisting sliding mode control method for realizing a micro gyroscope with the adjustable gain. On the basis of a method of combination of equivalent sliding mode control and super-twisting control, a self-adaptive super-twisting sliding mode controller is designed; adaptive laws of a super-twisting sliding mode controller parameter and a micro gyroscope system uncertain parameter are designed; and a stability analysis is carried out on a micro gyroscope system by using a Lyapunov function to ensure asymptotic stability of the system. According to the invention, restrictions of known conditions of a first-order derivative boundary of a disturbance term in the traditional second-order sliding mode control are eliminated and the convergence of thesliding mode surface in the presence of interference is ensured; with combination of advantages of effective buffeting suppression by the high-order super-twist sliding mode controlling and the like,the system performances are controlled and improved effectively, the robustness of the micro gyroscope system against uncertainty and external disturbances is enhanced, and the stability of the system is guaranteed.

Description

technical field [0001] The invention relates to an adaptive super-twist sliding mode control method with adjustable micro-gyroscope gain, belonging to the technical field of micro-gyroscope control. Background technique [0002] Gyroscopes are the basic measurement elements of inertial navigation and inertial guidance systems. Because of its huge advantages in cost, volume, and structure, micro gyroscopes are widely used in civil and military fields such as navigation, aerospace, aviation, and oil field survey and development, and land vehicle navigation and positioning. Because of the influence of errors and temperature in design and manufacturing, it will lead to differences between the characteristics of the original and the design, resulting in a decrease in the sensitivity and accuracy of the gyroscope system. The main problem of micro-gyroscope control is to compensate for manufacturing errors and measure angular velocity. After decades of research and development, al...

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Problems solved by technology

Because of the influence of errors and temperature in design and manufacturing, it will lead to differences between the characteristics of the original and the design, resulting in a decrease in the sensitivity and accuracy of the gyroscope system. The main problem of micro-gyroscope control is to compensate for manufacturing errors and measure angular velocity

After decades of research and development, although the micro-gyroscope has made significant progress in structural design and precision, due to the limitations of its design principle itself and the limitations of the processing precision itself, it is difficult to achieve qualitative progress in the development of micro-gyroscopes. leap

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