Single-stage vibratory gyroscope control methods for direct angle measurements

Abstract

This paper presents a control algorithm that can compensate for imperfect dynamics of vibrating gyroscopes. The compensated gyroscope dynamics can directly measure the rotation angle without integrating the angular rate. The direct angle measurement approach is promising because it is exempt from the error accumulation problem. However, using control methods to compensate for imperfect dynamics for the direct angle measurement is very challenging work, and very few control algorithms were reported to achieve that. Different from existing approaches, the proposed method has the following advantages: it requires the measurements of either the proof mass velocity or position, it does not require a calibration phase prior to normal use, and it compensates different types of imperfection even when the proof mass of a gyroscope is unknown. In a demonstration case, imperfections cause system parameters 20% deviated from their designated values; the measured signals are the proof mass velocities and contaminated by zero-mean white noise with a noise level of 0.1% full scale output (FSO); the angular rate to be measured is 200 sin(2π × 10t) deg s −1. The proposed algorithm can compensate for those imperfections and achieve an angle measurement accuracy of 0.23 • .

A measurement of human body rotation during parabolic flight experiment

“…The maximal change of Euler angle around z-axis, y-axis and x-axis is 0.59, 2.75 and 1.73°, respectively. The standard uncertain of velocity (v u ) is reported as 0.0024 m/s which is 1.2 per cent of mean velocity of body during parabolic flight experiment (Chi and Chen, 2011).…”

“…Three points on the back of the moving body were chose. The positions and velocities of each point were calculated based on the method reported by the authors (Chi and Chen, 2011). We set the positions of three points at time t 1 and t 2 are ͑P ix , P iy , P iz ͒ and ͑P ix = , P iy = , P iz = ͒, respectively.…”

The Development of Micromachined Gyroscope Structure and Circuitry Technology

“…The system parameter estimation is skillfully arranged so that it can be done using various existing state observer algorithms. The algorithm compensates different types of imperfection even when the proof mass of a gyroscope is unknown [ 77 ].…”

Control Scheme to Reduce the Effect of Structural Imperfections in a Rate Integrating MEMS Gyroscope

“…Any resonance producing terms in the right hand side of equations (7,8) would lead to unbounded solutions. By equating the resonance producing terms in equation (7,8) to zero, the condition for bounded solutions may be found in terms of the amplitudes α and β, which are the real and imaginary responses respectively of the sense electrodes:…”