微振动陀螺仪鲁棒自适应控制研究

Research on Robust Adaptive Control of Microgyroscope

针对微振动陀螺仪传统控制的不足,在对自适应控制和鲁棒控制研究的基础上,提出微振动陀螺仪的鲁棒自适应控制模型。将惯性力考虑进微振动陀螺仪动力学方程,同时也将加工误差、温度影响都等造成X轴和Y轴之间的附加动态耦合加以考虑,建立了有量纲的微振动陀螺仪的数学模型。在此基础上,对其进行非量纲化和等效变换,使得存在两个大的时间量级区别的模型容易实现数值仿真,同时能够为各种微振动陀螺仪的系统设计提供统一的数学公式。然后,根据数学模型进行鲁棒自适应控制设计,在控制输入中加入鲁棒项和反馈项,通过Simulink仿真对比,鲁棒自适应控制比一般自适应控制更能保证控制系统的全局稳定性,从而验证了鲁棒自适应控制的可行性和有效性。

Aiming at the deficiencies of traditional control of micro-vibration gyroscopes,a robust adaptive control scheme of micro-vibration gyroscopes is proposed based on the research of adaptive control and robust control.The inertial force is considered into the dynamic equation of the micro-vibration gyroscope.At the same time,the additional dynamic coupling between the X-axis and the Y-axis is also taken into account by the machining error,the temperature influence,etc.,and the mathematical model of a dimensional micro-vibration gyroscope was established.On this basis,non-rigid quantification and equivalent transformation are applied to make it possible to implement numerical simulations with two large time-difference models.At the same time,it can provide a unified mathematical formula for the system design of various micro-vibration gyroscopes.Then,according to the mathematical model,the robust adaptive control design is performed.The robust term and the feedback term are added to the control input.Through simulink comparison,the robust adaptive control can ensure the global stability of the control system more than the general adaptive control.The feasibility and effectiveness of robust adaptive control is verified.