三轴MEMS陀螺仪轨迹跟踪的自耦PID控制方法
Auto-Coupling PID Control Method for Trajectory Tracking of Three-Axis MEMS Gyroscope
熊洛 1曾喆昭1
作者信息
- 1. 长沙理工大学电气与信息工程学院,湖南 长沙 410076
- 折叠
摘要
为了有效提高三轴微机械(Micro-Electro-Mechanic System,MEMS)陀螺仪的抗干扰能力和检测精度,基于自耦PID控制理论提出了一种简单的陀螺仪控制方法.该方法将三轴MEMS陀螺仪控制问题分解为三个严格反馈子系统的控制问题,然后将三个子系统已知或未知动态、其不确定性和外部有界扰动分别定义为三个总扰动,进而将三个子系统等价映射为三个二阶线性扰动系统,据此分别构建了在总扰动反相激励下的三个受控误差系统,并根据自耦PID控制理论分别设计了三个自耦PD控制器,最后分析了每个子系统的鲁棒稳定性和抗扰动鲁棒性.仿真实验证明了所提控制方法的有效性,其在MEMS陀螺仪控制系统领域具有良好的实际应用前景.
Abstract
In order to effectively improve the anti-interference ability and detection accuracy of the three-axis micro-electro-mechanic sys-tem(MEMS)gyroscope,a simple gyroscope control method based on the auto-coupling proportional-integration-differential(ACPID)control theory is proposed.Firstly,the control problem of three-axis MEMS gyroscope is decomposed into the control problem of three strict feed-back subsystems.The known or unknown dynamics of the three subsystems and their uncertainties,external bounded disturbances are de-fined as three total disturbances respectively.Then,the three subsystems are equivalently mapped into three second-order linear disturb-ance systems.Based on this,three controlled error systems under the inverse excitation of the total disturbance are constructed respective-ly,and three auto-coupling proportional-differential(ACPD)controllers are designed according to the ACPID control theory.Finally,the robust stability and anti-disturbance robustness of each subsystem are analyzed.The simulation results verify the effectiveness of the pro-posed control method,which has a good practical application prospect in the field of MEMS gyroscope control system.
关键词
三轴MEMS陀螺仪/轨迹跟踪/自耦PID控制/自适应速度因子Key words
MEMS tri-axial gyroscope/trajectory tracking/ACPID control/adaptive speed factor引用本文复制引用
基金项目
国家自然科学基金资助项目(61040049)
湖南省教育厅重点项目(21A0183)
出版年
2024
国家科技期刊平台
NSTL
万方数据