Adaptive Sliding Mode Controller for Bell-Shaped Vibratory Angular Rate Gyro

摘要：

　　For bell-shaped vibratory angular rate gyro has manufacturing errors and the model parameters is easily affected by environment,the existing controller loop cant remove the influence,so the angular rate cant be exactly estimated.This paper proposes a method of the adaptive sliding mode controller to calculate angular rate.By analyzing the bell-shaped vibratory angular rate gyros dynamics equations,we get the equation of state including disturbance and parameter perturbation,get proportion integral sliding mode surface with exponential approach law,design a kind of sliding mode controller for bell-shaped vibratory angular rate gyro to effectively estimate the input angular rate.The simulation results prove that the controller can steadily control the bell-shaped vibratory angular rate gyros mode shape and effectively measure the input angular rate.

关键词： Bell-shaped vibratory angular rate gyro Bell-shaped resonator Coriolis vibrating gyro Adaptive sliding mode controller

作者: LIU Ning SU Zhong LIU Hong FAN Junfang

作者单位: School of Automation,Beijing Institute of Technology,Beijing 100084,P.R.China;Beijing Key Laboratory Beijing Key Laboratory of High Dynamic Navigation Technology,Beijing Information Science & Technolog

会议类型: 国际会议

会议名称: The 33th Chinese Control Conference第33届中国控制会议

会议地点: 南京

会议语种:英文

页码: 3521-3527

在线出版日期: 2014-07-28（万方平台首次上网日期，不代表论文的发表时间）