摘要
为了避免微机电系统(MEMS)陀螺在高精度姿态控制中受外部干扰导致随机误差,提高MEMS陀螺的鲁棒性和测量精度,提出一种自适应比例-积分(PI)分数阶积分滑模控制策略。分析了MEMS陀螺系统原理,建立了动力学模型;在快速分数阶积分滑模函数的基础上,构造了包含自适应PI控制和趋近控制的快速自适应滑模控制(FAPISMC)模型;运用Lyapunov函数验证了FAPISMC策略的收敛性和稳定性。借助SIMULINK对FAPISMC跟随系统进行分析。仿真结果表明:FAPISMC控制MEMS陀螺仪时,响应快,启动效果好,未发现抖振现象,实现了快速稳定的跟随输入信号的目的,提高了MEMS陀螺的鲁棒性。
In order to avoid micro-electro-mechanical system(MEMS)gyro interfered by external interference in high-precision attitude control,which results in random errors and improve the robustness and measurement precision of MEMS gyro,an adaptive PI fractional integration sliding mode control strategy is proposed.The principle of MEMS gyro system is analyzed and the dynamic model is established.On the basis of fast fractional integral sliding mode function,fast adaptive sliding mode control(FAPISMC)model is constructed,which including adaptive proportional integral(PI)control and approach control.The convergence and stability of the FAPISMC strategy are verified by Lyapunov function.The FAPISMC follower system is analyzed with SIMULINK.The simulation results show that,while FAPISMC control MEMS gyro,the response is fast,the starting effect is good,chattering phenomenon is not found.FAPISMC achieves the goal of fast and stable tracking input signals,and the robustness of MEMS gyro is improved.
作者
邓卫斌
李云妮
DENG Weibin;LI Yunni(College of Industrial Design,Hubei University of Technology,Wuhan 430000,China)
出处
《传感器与微系统》
CSCD
2020年第6期45-47,共3页
Transducer and Microsystem Technologies
