Fang Yunmei, Fu Wen, An Cuicui, Yuan Zhuli, Fei Juntao
College of Mechanical and Electrical Engineering, Hohai University, Changzhou 213022, China.
Jiangsu Key Laboratory of Power Transmission and Distribution Equipment Technology, Changzhou 213022, China.
Micromachines (Basel). 2021 Feb 13;12(2):190. doi: 10.3390/mi12020190.
An adaptive dynamic sliding mode control via a backstepping approach for a microelectro mechanical system (MEMS) vibratory z-axis gyroscope is presented in this paper. The time derivative of the control input of the dynamic sliding mode controller (DSMC) is treated as a new control variable for the augmented system which is composed of the original system and the integrator. This DSMC can transfer discontinuous terms to the first-order derivative of the control input, and effectively reduce the chattering. An adaptive dynamic sliding mode controller with the method of backstepping is derived to real-time estimate the angular velocity and the damping and stiffness coefficients and asymptotical stability of the designed systems can be guaranteed. Simulation examples are investigated to demonstrate the satisfactory performance of the proposed adaptive backstepping sliding mode control.
本文提出了一种基于反步法的自适应动态滑模控制方法，用于微机电系统（MEMS）振动z轴陀螺仪。动态滑模控制器（DSMC）的控制输入的时间导数被视为由原系统和积分器组成的增广系统的一个新的控制变量。该DSMC可以将不连续项转换为控制输入的一阶导数，并有效减少抖振。推导了一种基于反步法的自适应动态滑模控制器，用于实时估计角速度以及阻尼和刚度系数，并保证所设计系统的渐近稳定性。通过仿真算例验证了所提出的自适应反步滑模控制具有良好的性能。
