Research On MEMS Gyroscope Acceleration Adaptive Inversion Control Method

MEMS gyroscope combines the advantages of MEMS system and gyroscope.As an angular velocity measuring element,MEMS gyroscope is widely used in mobile robot,aerospace,guidance and other fields to realize signal transmission and positioning.Unfortunately,under the influence of manufacturing error,MEMS gyroscope appears nonlinear motion,which will cause performance degradation.In order to suppress the nonlinear motion of MEMS gyroscope,improve the robustness of the system and realize the stable control of MEMS gyroscope,this paper relies on the talent cultivation of Guizhou University project "Research on key technologies of modeling and control of MEMS based on artificial intelligence([2018]5781)".The mathematical model of MEMS gyroscope is established.The phase diagram,time history diagram and Lyapunov exponent diagram are used to reveal the motion characteristics of MEMS gyroscope,and the necessity of controller design is explained.And then,an adaptive backstepping controller is designed to suppress the nonlinear motion behavior of MEMS gyroscope,realize the stable control of MEMS gyroscope,and ensure the measurement accuracy and working performance of MEMS gyroscope.The main work of this paper is as follows:(1)Based on Newton's second law and Kirchhoff's law,the mathematical model of integer order MEMS gyroscope is established.Numerical research tools reveal the motion characteristics of the research object.The type-2 sequential fuzzy neural network(T2SFNN)is designed to approximate the unknown parameters of MEMS gyroscope.Then,the speed function is introduced to improve the response speed of MEMS gyroscope,and the second-order tracking differentiator is introduced to solve the problem of “complex term explosion” in the traditional backstepping method.Finally,an accelerated adaptive backstepping controller is designed to suppress the chaotic oscillations caused by external disturbances,time-varying parameters and dead time.(2)Aiming at the mathematical model of fractional order(FO)MEMS gyroscope,the motion characteristics of the gyroscope are revealed by using numerical research tools.In order to further reveal the chaotic oscillation and verify the feasibility of the mathematical model,the FO MEMS gyroscope analog circuit with complex motion behavior is constructed.The speed function is constructed to improve the transient response speed of the FO MEMS gyroscope system,and the tracking differentiator is introduced to solve the problem of “complex term explosion”.(3)The mathematical model of discrete-time MEMS gyroscope is established.The dynamic behavior of discrete-time MEMS gyroscope is revealed by phase diagram.The discretetime fuzzy neural network is constructed to approximate the unknown time-varying parameters.The discrete-time command filter is introduced to solve the problem of“complex term explosion” in the traditional inversion process.Finally,an adaptive auxiliary function is constructed to eliminate the adverse effects of asymmetrical dead zone input on the controller.