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

作　　者：王伟[1] 赵清[1] 吕晓永[1] 隋俊杰[1] 

机构地区：[1]哈尔滨工程大学自动化学院,黑龙江哈尔滨150001

出　　处：《控制理论与应用》2014年第4期451-457,共7页Control Theory & Applications

基　　金：新世纪优秀人才支持计划资助项目(NCET-11-0827);中央高校基本业务费专项资金资助项目(HEUCFX41308);黑龙江省博士后特别资助项目(LBH-TZ0410);哈尔滨市科技创新人才专项资助项目(2013RFXXJ016)

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.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.

关 键 词：三轴MEMS陀螺仪 滑模控制 干扰观测器 轨迹跟踪 抖振 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]