CAJ | 학술논문

微机电系统（micro-electro-mechanic system，MEMS）陀螺仪在制造和应用过程中会受到系统参数不确定、外界干扰和力电换能器非线性效应的影响，降低 ME MS 陀螺仪的检测精度。提出一种基于增益自适应的滑模控制策略对ME MS陀螺仪3个轴向轨迹进行控制，采用一种基于时变死区技术的积分自适应律估计参数不确定和干扰的上界以避免估计发散，选择合适的控制律消除非线性扇区输入的影响，实现陀螺3个轴向的轨迹跟踪指定的参考运动，从而提高检测精度。最后利用Lyapunov直接法证明了闭环误差系统的渐近稳定性和所有信号的有界性。仿真结果表明了该策略的有效性。
미궤전계통（micro-electro-mechanic system，MEMS）타라의재제조화응용과정중회수도계통삼수불학정、외계간우화력전환능기비선성효응적영향，강저 ME MS 타라의적검측정도。제출일충기우증익자괄응적활모공제책략대ME MS타라의3개축향궤적진행공제，채용일충기우시변사구기술적적분자괄응률고계삼수불학정화간우적상계이피면고계발산，선택합괄적공제률소제비선성선구수입적영향，실현타라3개축향적궤적근종지정적삼고운동，종이제고검측정도。최후이용Lyapunov직접법증명료폐배오차계통적점근은정성화소유신호적유계성。방진결과표명료해책략적유효성。
A sliding mode controller is presented to deal with the parametric uncertainties,external disturb-ances and the sector input nonlinearities of the micro-electro-mechanic system (MEMS )triaxial gyroscope, which could reduce the detection precision of the MEMS gyroscope.The upper bounds of parametric uncertain-ties and external disturbances are estimated by using a novel integral adaptive algorithm based on the time-var-ying dead-zone technique which can avoid overestimating,and the effect of the sector input nonlinearities is elim-inated by adopting the appropriate control law,so as to make the motion of the MEMS gyroscope triaxial axes to track the specified refence traj ectory,improving the detection precision.Finally,the asymptotic stability of the closed-loop error system as well as boundedness of all the signals are analyzed and proved via the Lyapunov’s di-rect method.The numerical simulations are performed to verify the effectiveness of the presented schemes.