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针对微振动陀螺仪存在的制造误差以及本身参数易受环境影响,从而导致输入角速率难以测量的问题,提出了一种新颖的自适应方法来获取输入的角速率以及微陀螺仪的各项参数。该方法通过对微陀螺仪的数学模型进行变换,设计出一种新型的自适应辨识器,在线实时更新微陀螺仪角速率估计值。估计值的自适应律基于李雅普诺夫方法设计,保证了辨识器的全局渐近稳定性。在控制输入包含2个不同频率分量的的条件下,辨识器的各项估计值输出都能够渐近收敛到各自的真值。采用M atlab/simu link来搭建仿真模型,仿真实验的结果验证了该自适应方法对微陀螺仪角速率等各项参数测量的有效性和可靠性。
In view of the manufacturing error of the micro-vibration gyroscope and its own parameters are easily affected by the environment, which leads to the difficulty of measuring the input angular velocity, a novel adaptive method is proposed to obtain the input angular velocity and the parameters of the micro-gyroscope . In this method, a new type of adaptive recognizer is designed by changing the mathematical model of micro-gyroscope. The estimated angular velocity of micro-gyroscope is updated online in real time. The adaptive law of estimation is based on the Lyapunov method, which ensures the globally asymptotic stability of the recognizer. Under the condition that the control input contains two different frequency components, the output of each estimation of the recognizer can converge to their true values asymptotically. The Mlablab / simu link is used to build the simulation model. The simulation results verify the effectiveness and reliability of the adaptive method for measuring the angular velocity of the micro-gyroscope.