三轴微机电系统陀螺仪自适应干扰补偿方法-控制理论与应用.PDF

31 4 Vol. 31 No. 4 2014 4 Control Theory Applications Apr. 2014 DOI: 10.7641/CTA.2014.30848 , , , ( , 150001) : (micro-electro-mechanical systems, MEMS) , MEMS . MEMS , , . , , , , , . Lyapunov . . : MEMS ; ; ; ; : TP273 : A Adaptive perturbation compensation for micro-electro-mechanical systems tri-axial gyroscope WANG Wei , ZHAO Qing, L Xiao-yong, SUI Jun-jie (College of Automation, Harbin Engineering University, Harbin Heilongjiang 150001, China) Abstract: 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. Key words: MEMS tri-axial gyroscope; sliding mode control; perturbation o