A Digitalized Gyroscope System Based on a Modified Adaptive Control Method

Abstract

In this work we investigate the possibility of applying the adaptive control algorithm to Micro-Electro-Mechanical System (MEMS) gyroscopes. Through comparing the gyroscope working conditions with the reference model, the adaptive control method can provide online estimation of the key parameters and the proper control strategy for the system. The digital second-order oscillators in the reference model are substituted for two phase locked loops (PLLs) to achieve a more steady amplitude and frequency control. The adaptive law is modified to satisfy the condition of unequal coupling stiffness and coupling damping coefficient. The rotation mode of the gyroscope system is considered in our work and a rotation elimination section is added to the digitalized system. Before implementing the algorithm in the hardware platform, different simulations are conducted to ensure the algorithm can meet the requirement of the angular rate sensor, and some of the key adaptive law coefficients are optimized. The coupling components are detected and suppressed respectively and Lyapunov criterion is applied to prove the stability of the system. The modified adaptive control algorithm is verified in a set of digitalized gyroscope system, the control system is realized in digital domain, with the application of Field Programmable Gate Array (FPGA). Key structure parameters are measured and compared with the estimation results, which validated that the algorithm is feasible in the setup. Extra gyroscopes are used in repeated experiments to prove the commonality of the algorithm.

An Adaptive Damping Network Designed for Strapdown Fiber Optic Gyrocompass System for Ships

“…After repeated attempts, the parameters of network $Hfalse(sfalse)$ were adjusted to meet the requirements. The following two forms are generally adopted in the damping network [31,32]. $Hfalse(sfalse)=\frac{false(s+8.8\times {10}^{-4}false){false(s+1.97\times {10}^{-2}false)}^2}{false(s+4.41\times {10}^{-3}false){false(s+8.8\times {10}^{-3}false)}^2},$ $Hfalse(sfalse)=\frac{false(s+8.5\times {10}^{-4}false)false(s+9.412\times {10}^{-2}false)}{false(s+8.0\times {10}^{-3}false)false(s+1.0\times {10}^{-2}false)}.$…”

Adaptive Backstepping Design of a Microgyroscope

“…During the past decades, many researchers have spent great deal of effort in the design of microgyroscope structures and control systems [ 1 , 2 , 3 , 4 , 5 , 6 , 7 , 8 , 9 , 10 , 11 , 12 , 13 , 14 , 15 , 16 , 17 ]. The conventional controller for a microgyroscope is to force the drive mode into a known oscillatory motion and then detect the Coriolis effect coupling along the orthogonal sense mode, which provides the information about the applied angular velocity.…”

“…However, the conventional controllers are immanently sensitive to some typical types of fabrication imperfections, such as the cross-damping term, which produces zero-rate output. To solve these problems, advanced control schemes such as adaptive controller [ 2 , 3 , 4 , 5 ], sliding mode controller [ 6 ], compound robust controller [ 7 ], adaptive neural controller [ 8 , 9 , 10 ], and adaptive fuzzy controller [ 11 , 12 , 13 ] have been applied to microgyroscopes. A mode-matched force-rebalance control for a microgyroscope was investigated in [ 14 ].…”

Modeling and Implementation of Multi-Position Non-Continuous Rotation Gyroscope North Finder

“…According to their general usage categories, gyros can be sorted as consumer, tactical, navigational and strategic type. Recently, the structures of different gyros have been comprehensively analyzed to constrain the gyros’ bias error, scale-factor error and random error, e.g., MEMS gyros [ 6 , 7 , 8 , 9 ], ring laser gyros [ 10 , 11 ], fiber optic gyros [ 10 , 12 ], resonant optical gyros [ 13 , 14 , 15 , 16 ] and dynamically tuned gyros [ 17 , 18 , 19 ]. Other very active areas include constraining the gyro bias error and modeling of temperature drift through different kinds of filter methods [ 20 , 21 , 22 , 23 , 24 , 25 , 26 ].…”