Adaptive Supertwist Sliding Mode Control Method with Adjustable Micro Gyroscope Gain
A technology of micro gyroscope and control method, which is applied in the direction of adaptive control, general control system, control/adjustment system, etc., and can solve the limitation of design principle and process processing precision, the reduction of sensitivity and precision of gyroscope system, the characteristics of original parts and design differences And other issues
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[0073] The present invention will be further described below. The following embodiments are only used to explain the technical solutions of the present invention more clearly, and cannot be used to limit the protection scope of the present invention.
[0074] 1. The mathematical model of the micro top:
[0075] The micro-vibration gyroscope is usually composed of a mass supported and suspended by an elastic material, an electrostatic driving device and a sensing device. It can be simplified as figure 1 A damped oscillation system composed of a mass and a spring is shown, which shows a simplified z-axis micromechanical vibratory gyroscope model in a Cartesian coordinate system.
[0076] According to Newton's law in the rotating system, comprehensively considering the influence of various manufacturing errors on the micro-gyro, and then through the dimensionless processing of the micro-gyro, the mathematical model of the micro-gyro is finally obtained as:
[0077]
[0078] Among them,...
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