振动陀螺椭圆参数的离散滑模控制

doi:10.12305/j.issn.1001-506X.2022.01.28

系统工程与电子技术 ›› 2022, Vol. 44 ›› Issue (1): 226-232.doi: 10.12305/j.issn.1001-506X.2022.01.28

振动陀螺椭圆参数的离散滑模控制

郜中星¹, 彭斌², 陈小炜³, 张勇刚^2,*

1. 哈尔滨工程大学物理与光电工程学院, 黑龙江哈尔滨 150001
2. 哈尔滨工程大学智能科学与工程学院, 黑龙江哈尔滨 150001
3. 陆军步兵学院石家庄校区军政训练系, 河北石家庄 050083

收稿日期:2021-03-22 出版日期:2022-01-01 发布日期:2022-01-19
通讯作者: 张勇刚
作者简介:郜中星(1990—), 男, 副教授, 博士, 主要研究方向为半球谐振陀螺、MEMS陀螺、光纤陀螺等惯性器件|彭斌(1996—), 男, 硕士研究生, 主要研究方向为振动陀螺|陈小炜(1988—), 男, 工程师, 硕士, 主要研究方向为组合导航、自动控制、通信原理等|张勇刚(1981—), 男, 教授, 博士, 主要研究方向为导航器件及算法、信号处理及信息融合
基金资助:
国家自然科学基金(61805055);中国博士后科学基金(2018M641807);中央高校基本科研业务费(3072021CF2503)

Discrete sliding mode control for ellipse parameters of vibrating gyroscope

Zhongxing GAO¹, Bin PENG², Xiaowei CHEN³, Yonggang ZHANG^2,*

1. College of Physics and Optoelectronic Engineering, Harbin Engineering University, Harbin 150001, China
2. College of Intelligent Science and Engineering, Harbin Engineering University, Harbin 150001, China
3. Department of Political Training, Shijiazhuang Division of Infantry Academy, Shijiazhuang 050083, China

Received:2021-03-22 Online:2022-01-01 Published:2022-01-19
Contact: Yonggang ZHANG

摘要/Abstract

摘要：

针对比例-积分-微分(proportional-integral-derivative, PID)控制下振动陀螺椭圆参数的控制精度和收敛快速性难以提升的问题, 提出了将离散滑模控制(discrete-time sliding mode control, DSMC)引入到振动陀螺的控制系统中的方法。该方法从表征振动陀螺工作状态的椭圆参数出发, 选取主波振幅和正交波振幅作为控制对象, 进而得到离散滑模控制律。基于Simulink模型分别在静止(0°/s)和动态(100°/s)条件下, 对椭圆参数进行PID控制和DSMC的仿真对比。10 s内的仿真结果表明: DSMC可使主波振幅误差减小16 LSB, 正交波振幅误差减小1 LSB; 静止条件下, 角度漂移速率减小0.36 deg/h; 动态条件下, 标度因数误差减小5 ppm。仿真结果体现了DSMC的鲁棒性和收敛快速性。

关键词: 振动陀螺, 椭圆参数, 离散滑模控制, 漂移速率, 标度因数误差

Abstract:

Aiming at the problem that it was difficult to improve the control accuracy and rapid convergence of the ellipse parameters of the vibrating gyroscope under proportional-integral-derivative (PID) control, it was proposed to introduce the discrete-time sliding mode control (DSMC) into the control system of the vibrating gyroscope. This method started from the ellipse parameters that characterize the vibrating gyroscope's working state, and selected the amplitude of the main wave and the amplitude of the quadrature wave as control objects, and then obtained the discrete sliding mode control law. Based on the Simulink model, PID control and DSMC simulation comparison of ellipse parameters are carried out under static (0°/s) and dynamic (100°/s) conditions. The simulation results within 10 s show that the DSMC can reduce the amplitude error of the main wave by 16 LSB and the amplitude error of the quadrature wave by 1 LSB. Under static condition, the angular drift rate is reduced by 0.36 deg/h. And under dynamic condition, the scale factor error is reduced by 5 ppm. The simulation results reflect the robustness and rapid convergence of DSMC.

Key words: vibrating gyroscope, ellipse parameters, discrete sliding mode control, drift rate, scale factor error

中图分类号:

U666.1

郜中星, 彭斌, 陈小炜, 张勇刚. 振动陀螺椭圆参数的离散滑模控制[J]. 系统工程与电子技术, 2022, 44(1): 226-232.

Zhongxing GAO, Bin PENG, Xiaowei CHEN, Yonggang ZHANG. Discrete sliding mode control for ellipse parameters of vibrating gyroscope[J]. Systems Engineering and Electronics, 2022, 44(1): 226-232.

图/表 7

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振动陀螺椭圆参数的离散滑模控制

Discrete sliding mode control for ellipse parameters of vibrating gyroscope

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