Abstract
This paper presents an adaptive control algorithm for realizing a vibratory angle measuring gyroscope so that rotation angle can be directly measured without integration of angular rate, thus eliminating the accumulation of numerical integration errors. The proposed control algorithm uses a trajectory following approach and the reference trajectory is generated by an ideal angle measuring gyroscope driven by the estimate of angular rate and the auxiliary sinusoidal input so that the persistent excitation condition is satisfied. The developed control algorithm can compensate for all types of fabrication imperfections such as coupled damping and stiffness, and mismatched stiffness and un-equal damping term in an on-line fashion. The simulation results show the feasibility and effectiveness of the developed control algorithm that is capable of directly measuring rotation angle without the integration of angular rate.
Highlights
MEMS vibratory gyroscopes are typically designed to measure the angular rate [1]
We propose that a reference trajectory is generated by an ideal angle measuring gyroscope driven by estimate of angular ratez and the auxiliary sinusoidal input f xm, f ym as follows: ˆ y f
This paper presents an adaptive control algorithm for realizing vibratory angle measuring gyroscope so that rotation angle can be directly measured without integration of angular rate, eliminating the accumulation of numerical integration errors
Summary
MEMS vibratory gyroscopes are typically designed to measure the angular rate [1]. In order to obtain the rotation angle, the measured angular rate with respect to time must be integrated. The tolerance of manufacturing precision does not allow it, and fabrication defects and environment variations are always present, resulting in a mismatch of the frequencies of oscillation for the two vibrating modes and the presence of linear dissipative forces with damping coefficients [4]. These fabrication imperfections are major factors that limit realization of an angle measuring gyroscope. Damping and stiffness, which normally cause quadrature errors, and mismatched stiffness and un-equal damping term, and make a non-ideal gyroscope behave like an ideal angle measuring gyroscope
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