Adaptive Fuzzy Control Method for Rate-Integrating Hemispherical Resonant Gyro

Adaptive Fuzzy Control Method for Rate-Integrating Hemispherical Resonant Gyro

연구 분야: Software Development

학회: 2024 43rd Chinese Control Conference (CCC)

In this paper, an adaptive fuzzy control is used to optimize the multi-loop control of Rate-Integrating Hemispherical Resonant Gyro (RI-HRG), which has a simple structure, a high reliability and a large dynamic range. The performance of RI-HRG is inevitably affected by manufacturing errors, circuit parameter errors, and external environmental factors, which are difficult to separate and achieve precise error compensation. The adaptive fuzzy control achieves the online parameter tuning in amplitude controllers of main standing wave and orthogonal wave of RI-HRG. Thus, the anti-interference ability of RI-HRG multi-loop control is improved, and the complexity of gyro error identification and compensation is reduced. The effectiveness of the proposed method is verified through experiments in kind. The experimental results showed that the stable time of standing wave amplitude and the output fluctuation with constant rate input caused by different kinds of errors were significantly reduced, which further improved the overall performance of the RI-HRG.