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This paper presents an algorithm for controlling vibratory MEMS gyroscopes so that they can directly measure the rotation angle without integration of the angular rate, thus eliminating the accumulation of numerical integration errors incurred in obtaining the angle from the angular rate. The proposed control algorithm consists of a weighted energy control and a mode tuning control. The weighed energy control compensates unequal damping terms and keeps the amplitude of oscillation constant in an inertial frame by maintaining the prescribed total energy. The mode tuning control continuously tunes mismatches in spring stiffness in order to maintain a straight line of oscillation for the proof mass. The simulation results demonstrate the feasibility of the control algorithm and the viability of the concept of using a vibratory gyroscope to directly measure rotation angle. 相似文献
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Microelectromechanical systems (MEMSs) pose unique measurement and control problems compared with conventional ones because of their small size,low cost,and low power consumption.The vibrating gyroscope is one of those MEMS devices that have significant potential in many industry applications.When the MEMS gyroscope system is considered simultaneously with the coupling terms,the exogenous disturbances and the parameter variations,the controller design of this system becomes very challenging.This paper investigates the primary control problem of a perturbed vibrating MEMS gyroscope.A nonlinear robust adaptive control scheme is proposed for the drive axis of a vibrating MEMS gyroscope.By combining the dynamic surface control (DSC) method with the H-infinity disturbance attenuation technique,a simpler systematic design procedure is developed.The derived H-infinity controller has a simplified structure,and it can drive the drive axis to resonance,regulate the output amplitude of the drive axis to a desired value,and attenuate the generalized disturbances.The features of the derived controller are discussed and illustrated by the simulation of a closed-loop system.The analysis and simulation show that the obtained controller possesses good adaptability and robustness to system uncertainties. 相似文献
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一种数字陀螺中∑-△ DAC的数字调制器设计和验证 总被引:1,自引:0,他引:1
采用单环级联分布式前馈结构(CIFF)设计并实现了一款三阶四比特量化的∑-△数字调制器.噪声传递函数通过局部反馈技术进行了零点优化,并且对各系数进行CSD (Canonical Signed Digit)编码优化.系统建模仿真结果得到SNDR为120.3 dB,有效位数(ENOB)为19.7位.针对多位量化适配问题,采用数据加权平均(DWA)算法对误差进行噪声整形,以减小失配引起的非线性误差.利用增加单元DAC的方法,对DWA算法进行改进,解决了其在直流或低频周期信号下会产生杂波的问题,并对其进行系统建模与仿真.最后利用FPGA验证了IDWA-DAC系统模型的正确性,这种结构能够有效提高动态范围,满足设计要求. 相似文献
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利用计算机软件对有限元法构建的微机械陀螺仪模型进行分析可以掌握其各种参数。根据静电梳状驱动结构,设计符合性能指标的陀螺仪结构,并利用有限元分析法借助ANSYS软件对陀螺仪进行模态分析,从而得出陀螺仪的驱动模态和敏感模态,为已经设计的结构提供分析和修正的参考,从而提高微机械陀螺仪设计结构的品质因数。 相似文献
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MEMS射流角速率传感器的工作原理是当有外加角速度时,腔内射流发生偏转,此时腔内产生的不对称温度分布通过微悬空铂丝输出一个差分电压信号。由于器件中的气流在工作平面上作循环运动,这样器件的性能强烈依赖于悬空热敏检测丝的对称性和平整度。考察了不同退火条件对SiC支撑层内应力的影响,结果发现在450℃退火半小时的条件下产生低的张应力SiC,既满足了平整性要求又能很好地保护其下的玻璃衬底。还研究了不同厚度的SiC层在纯HF溶液中腐蚀1h对玻璃的保护和金属层的"起皮"现象,得出1μm厚的SiC能有效地防止玻璃表面被腐蚀,而延长反溅射的时间可避免金属层"起皮"现象发生。 相似文献
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低成本MEMS陀螺实时滤波方法 总被引:1,自引:0,他引:1
为找到一种普遍适合低成本MEMS陀螺仪的随机误差实时处理方法,利用Allan方差分析法首先对MEMS陀螺仪进行分析,根据其误差特性进而设计了平均滤波算法以剔除粗大误差,然后使用最小二乘法,通过拟合前一段历史结果得到下一时刻输出的预测值,基于以上工作最终设计出Kalman滤波器对所输出进行滤波。由于将最小二乘法的推测作为预测过程,避免了系统状态模型难以准确建立的问题。该方法动态性能好,具有普适性。实验结果证明,该方法在静态和动态下均能有效工作,滤波后常值漂移被有效补偿,角度随机游走不再占误差的主要成分,均方差小于滤波前的十分之一。 相似文献
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MEMS环式陀螺仪是一种基于哥氏力效应设计出的测量角速度的惯性传感器,其性能与驱动模态直接相关。因此,在传统PLL-AGC驱动控制方法中引入参数激励信号,按照参数激励法驱动陀螺仪,陀螺仪的刚度产生周期性变化,降低驱动信号从而抑制因电馈通导致的驱动端对敏感端产生的误差信号,提高陀螺仪灵敏度。对参数激励的效果进行研究,经实验表明,通过改变参数激励信号的参数,可在驱动响应稳定的前提下对驱动信号进行抑制,在实际测试中驱动信号的幅值下降22.75%。 相似文献
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Robust output regulation of a triaxial MEMS gyroscope via nonlinear active disturbance rejection 总被引:1,自引:0,他引:1 下载免费PDF全文
This paper presents a nonlinear disturbance rejection–based controller for the robust output regulation of a triaxial microelectromechanical system (MEMS) vibratory gyroscope. In a MEMS gyroscope, parameter variations, mechanical couplings, suspension system nonlinearities, thermal noise, and centripetal/Coriolis forces are the main uncertainty sources. In the dynamical equations of the gyroscope, these uncertainties appear as a matched total disturbance, which does not coincide with the required structure of a standard output regulation problem. More specifically, the total disturbance is not guaranteed to belong to the solution space of a fixed dynamical system. Therefore, we propose a control system that comprises a nominal output regulator equipped with a disturbance rejection loop. On the basis of a suitable reference dynamics of the gyroscope, the control system is developed as the stabilization of a zero‐error invariant manifold in the tracking error space. In the disturbance rejection loop, a nonlinear extended state observer (ESO) is designed to estimate the total disturbance. The convergence of the ESO is analyzed in a Lyapunov‐Lurie framework by linear matrix inequalities (LMIs). In the nominal output regulation loop, the stabilization problem of the desired manifold is tackled by introducing a suitable distance coordinate. Next, to achieve guaranteed attenuation of the ESO estimation errors, an energy‐to‐peak design is pursued. On the basis of the center manifold theory, the stability of the overall closed‐loop system is guaranteed. The efficacy of the proposed control method is assessed through software simulations. 相似文献