Design approach to stabilizing controller in state space for non-driven micromechanical gyro

Abstract

The gyro is a new silicon micromechanical gyro, which has no a driving structure but only a sensing structure. The non-driven gyro is installed on a rotating carrier and utilizes the spinning of the carrier to obtain an angular momentum. When the carrier produces a transverse rotation, the sensing mass of the gyro is acted by Coriolis force to sense the input angular velocity. In applications, we found that the shock causes the Si pendulum to go out of steady state, and to fail to work. So, the stability is a key problem. In this paper, we put forward a feasible way to overcome this problem. The method uses modeling in state space to construct a state feedback controller. We firstly introduce the working mechanism of the gyro and obtain the dynamic equation. Then we use Riccati equation to design a steady controller that has a ‘sandwich’ structure. For the stabilizing controller, we calculate the anti-torsion stillness coefficient and analyze the damping. Finally, some shock tests had been done. The theoretical simulation and experimental test shown that the designed stabilizing controller makes the gyro reach an asymptotic steady state in a short time.