微机械三轴陀螺仪系统的精密控制技术

发布时间：2019-04-01 08:57

【摘要】：随着科学技术的进步,微机械(MEMS)三轴陀螺仪由于制造成本低、精度高、体积小、系统可靠性好等诸多优点被广泛地应用在各个领域。本文针对微机械陀螺仪的精密运动需求,提出了三种有效的控制算法。首先提出了一种不基于模型的PID位置控制算法,应用李雅普诺夫稳定性理论和拉塞尔不变性原理证明了闭环系统的全局渐近稳定性,数值仿真验证了此控制算法具有理想的控制效果。基于滑模控制对参数变化及扰动不灵敏等优点,提出了一种滑模PD轨迹跟踪控制算法,实现了MEMS三轴陀螺仪系统的全局渐近稳定轨迹跟踪控制；为了消除颤振,引入了饱和函数矢量,仿真结果表明系统仍具有良好的控制效果。为了易于工程实现,提出了只基于位置测量的输出反馈PID位置控制算法,证明了其闭环系统的全局渐近稳定性,并进行了数值仿真分析,验证了该控制算法具有良好的控制作用。
[Abstract]:With the development of science and technology, micro-mechanical (MEMS) triaxial gyroscope has been widely used in various fields due to its low cost, high precision, small size and good system reliability. In this paper, three effective control algorithms are proposed to meet the precision motion requirements of micro-computer mechanical gyroscopes. Firstly, a model-free PID position control algorithm is proposed. The global asymptotic stability of closed-loop systems is proved by using Lyapunov stability theory and Russell invariance principle, and the global asymptotic stability of the closed-loop system is proved by using Lyapunov stability theory and Russell invariance principle. Numerical simulation shows that this control algorithm has an ideal control effect. Based on the insensitivity of sliding mode control to parameter variation and disturbance, a sliding mode PD trajectory tracking control algorithm is proposed to realize the globally asymptotically stable trajectory tracking control of MEMS triaxial gyroscope system. In order to eliminate flutter, saturation function vector is introduced. Simulation results show that the system still has good control effect. In order to be easy to implement in engineering, an output feedback PID position control algorithm based only on position measurement is proposed. The global asymptotic stability of the closed loop system is proved, and the numerical simulation analysis is carried out. It is verified that the control algorithm has a good control effect.
【学位授予单位】：西安电子科技大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：TN966

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