三轴微机电系统陀螺仪自适应干扰补偿方法

Adaptive perturbation compensation for micro-electro-mechanical systems tri-axial gyroscope

中文关键词  三轴MEMS陀螺仪  滑模控制  干扰观测器  轨迹跟踪  抖振

英文关键词  MEMS tri-axial gyroscope  sliding mode control  perturbation observer  trajectory tracking  chattering

中文摘要

      三轴微机电系统(micro-electro-mechanical systems, MEMS)陀螺仪在制造和应用过程中会受到系统参数不确定和外界干扰的影响, 降低MEMS陀螺仪的检测精度. 本文提出一种基于自适应干扰估计的滑模控制策略对MEMS陀螺仪进行参数不确定和干扰补偿, 同时实现轴向轨迹跟踪, 从而提高检测精度. 相比传统滑模控制方法, 该策略利用趋近律概念描述滑模趋近运动, 改善趋近运动阶段的动态品质, 同时利用干扰观测器在线实时估计系统未知干扰, 大大降低滑模面的切换增益, 有效地降低滑模面抖振. 最后利用Lyapunov直接法证明了系统的渐进稳定性和干扰估计的收敛性. 仿真结果表明了该策略的有效性.

英文摘要

      A sliding-mode control strategy based on adaptive perturbation estimation is proposed for compensating parametric uncertainties and external disturbance that will deteriorate the detection precision of micro-electro-mechanical system (MEMS) gyroscope and the precision of trajectory tracking of MEMS tri-axial gyroscope. Compared with the conventional sliding-mode controller, the proposed strategy can improve the dynamic characteristics of approach movement by adopting the appropriate approaching law. Meanwhile, a perturbation observer is employed to estimate the system total unknown perturbation in an on-line and real-time fashion. The switching gain of the sliding-mode control strategy can be set to a small value so that the chattering on the sliding-mode surface can be reduced. Finally, the asymptotic stability of the system and the convergence of the perturbation estimation are analyzed and proved by Lyapunov’s direct method. Simulation results show the validity and effectiveness of the proposed strategy.