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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

Active Publication Date: 2020-08-04
HOHAI UNIV CHANGZHOU
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

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

Method used

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  • Adaptive Supertwist Sliding Mode Control Method with Adjustable Micro Gyroscope Gain
  • Adaptive Supertwist Sliding Mode Control Method with Adjustable Micro Gyroscope Gain
  • Adaptive Supertwist Sliding Mode Control Method with Adjustable Micro Gyroscope Gain

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Embodiment Construction

[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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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 gain of a micro gyroscope, belonging to the technical field of control of a micro gyroscope. Background technique [0002] Gyro is the basic measuring element of inertial navigation and inertial guidance system. Because of its huge advantages in cost, volume, structure, etc., micro gyros are widely used in civil and military fields such as navigation, aerospace, aviation, oilfield survey and development, and navigation and positioning of land vehicles. Because of the error and temperature influence in the design and manufacturing, it will cause the difference between the original characteristics and the design, which will lead to the decrease of the sensitivity and accuracy of the gyroscope system. The main problem of micro-gyro control is to compensate for the manufacturing error and measure the angular velocity. After decades of research and development, although...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 冯治琳费峻涛王欢
Owner HOHAI UNIV CHANGZHOU
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