Research On Nonlinear Control Of Two Degree Of Freedom Gyroscope

Gyroscope control technology plays a crucial role in the advancement of national defense technology and basic public welfare.It addresses the stability challenge in the current development process of intelligent and unmanned equipment and is extensively utilized in various domains,including navigation,aerospace,and unmanned aerial vehicles,thereby representing a crucial scientific and technological advancement.The hot research topic is how to regulate the gyroscope to achieve trajectory tracking while considering constraints and interference issues.This thesis focuses primarily on investigating the angle trajectory tracking control problem of a two degree of freedom gyroscope by conducting research on the experimental equipment of a three degree of freedom gyroscope from Quanser Company in Canada.(1)This chapter presents a comprehensive study of the physical structure and control system of a three degree of freedom gyroscope.A nonlinear dynamic model based on Lagrange equations is established by analyzing the working mechanism and characteristics of the gyroscope,which is simplified by reducing its degree of freedom.The focus of the study is on designing a control method for tracking the angle trajectory of a two degree of freedom gyroscope.To achieve this,a sliding surface is designed using Lie derivative,and integral sliding mode control is employed.Comparative experiments are conducted on both the matlab simulation and the physical platform,demonstrating the superior accuracy of the integral sliding mode control method.Furthermore,to eliminate the effect of external noise disturbance,such as white noise,an extended Kalman filter is proposed to be added to the model.The research results provide valuable insights for the development and improvement of gyroscope control systems in various fields.(2)This chapter presents an adaptive fractional-order sliding mode control strategy to address the input and angular velocity constraints in gyroscope systems.Specifically,a controller is designed based on the actual maximum input torque to ensure that the input does not exceed the limit.Fractional-order sliding mode is utilized to achieve accurate and fast tracking of the desired trajectory.To validate the effectiveness of the proposed approach,simulation and experimental results are provided.(3)An approach based on Sliding mode control strategy with a disturbance observer is proposed to address the problem of quickly restoring a gyroscope to a stable state under disturbances.Initially,an exponentially convergent nonlinear disturbance observer is designed to observe the disturbances of the gyroscope,and the unknown disturbance term in the Sliding mode control law is compensated for through feedback.The parameters of the disturbance observer are adjusted through the LMI toolbox to obtain a set of values that produce good observation effects.Comparative experiments were conducted through simulation to verify that the addition of disturbance observers for disturbance compensation can effectively suppress disturbances faster,improve performance,and enhance robustness.