信息与控制2017，Vol.46Issue(6)：720-725,731,7.DOI:10.13976/j.cnki.xk.2017.0720
基于观测器的微机电系统陀螺不匹配干扰补偿
Unmatched Perturbation Compensation with Observer for MEMS Triaxial Gyroscope
摘要
Abstract
Micro-electro-mechanic system (MEMS) gyroscope is an emerging inertial sensor.However,the MEMS gyroscope could be affected by external perturbation during fabrication faults and field application,thereby reducing the detection accuracy of angular rate.Focusing on the constant element of unmatched perturbation,we propose a sliding mode controller based on the nonlinear perturbation observer to deal with the effects of constant unmatched perturbation.The unmatched perturbation can be estimated by the NPOB in real time,and a compensation factor is utilized in control law to improve control precision.The reachability of sliding mode surface and the convergence of the observer is analyzed and proved by Lyapunov's direct method.Simulation results show the validity and effectiveness of the proposed strategy.关键词
MEMS陀螺仪/非线性干扰观测器/滑模控制器/不匹配干扰Key words
MEMS triaxial gyroscope/nonlinear perturbation observer (NPOB)/sliding mode controller/unmatched perturbation分类
信息技术与安全科学引用本文复制引用
何用辉,陈兴武,黄锡泉,卓书芳..基于观测器的微机电系统陀螺不匹配干扰补偿[J].信息与控制,2017,46(6):720-725,731,7.基金项目
福建省科技计划重大项目(2014H6006) （2014H6006）
福建省高校杰出青年科研人才培育计划项目(JA14377) （JA14377）
福建省中青年教师科技计划项目(JAT160725) （JAT160725）
