具有输入非线性的MEMS振动陀螺零点校正方法

王伟; 赵清; 吕晓永; 李欣

doi:10.3724/SP.J.1004.2014.02171

具有输入非线性的MEMS振动陀螺零点校正方法

doi: 10.3724/SP.J.1004.2014.02171

1.
哈尔滨工程大学自动化学院哈尔滨 150001

基金项目:

中央高校基本科研业务费专项资金(HEUCFX41308), 黑龙江省博士后(LBH-TZ0410), 哈尔滨市科技创新人才专项(2013RFXXJ016),新世纪优秀人才支持计划(NCET-11-0287)资助

详细信息

作者简介:
赵清哈尔滨工程大学自动化学院硕士研究生. 2012 年获得哈尔滨工程大学自动化学院学士学位. 主要研究方向为自适应滑模控制理论及其在MEMS 陀螺仪控制中的应用.E-mail: majorzq@gmail.com

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出版历程
- 收稿日期: 2013-07-03
- 修回日期: 2014-03-05
- 刊出日期: 2014-10-20

Zero Adjustment of MEMS Vibratory Gyroscope with Nonlinear Input

1.
College of Automation, Harbin Engineering University, Harbin 150001

Funds:

Supported by Fundamental Research Funds for the Central Universities (HEUCFX41308), Heilongjiang Postdoctoral Special Foundation (LBH-TZ0410), Innovation of Science and Technology Talents in Harbin (2013RFXXJ016), and New Century Excellent Talents Support Program (NCET-11-0287)

摘要

摘要: 针对Micro-electro-mechanical system (MEMS)振动陀螺仪加工制造过程中产生的几何结构中心与质量块重心不重叠导致严重陀螺漂移和噪声的问题, 在考虑陀螺自身非线性、控制输入非线性和外部干扰的情况下, 提出一种基于超稳理论的非线性控制策略对MEMS陀螺仪进行零点校正. 该方法在MEMS 陀螺仪非线性模型中引入一Hurwitz矩阵对模型进行变换以满足系统的严格正实要求, 利用向量范数的性质得到合适的控制律以满足Popov不等式, 从而保证了闭环控制系统的全局渐近稳定性. 仿真结果显示, 提出的非线性控制策略可以使系统状态迅速收敛到零, 并且对系统参数摄动表现出较强的鲁棒性.
- MEMS陀螺仪 /
- 零点校正 /
- 超稳理论 /
- 非线性控制
Abstract: Considering the Micro-electro-mechanical system (MEMS) gyroscope nonlinearity, control input nonlinearity and external disturbance, a nonlinear control strategy based on hyperstability theory is proposed for MEMS gyroscope drifting caused by the non-superposition between the center of the geometry structure and the barycenter of the proof mass. System states can be regulated to zero level asymptotically by introducing a Hurwitz matrix to the MEMS state space model for the demand of system being strictly positive real, and choosing an appropriate control law with vector norm to satisfy the Popov integral inequality. Simulation results show the validity and robustness of the proposed nonlinear control strategy.
- MEMS gyroscope /
- zero adjustment /
- hyperstability theory /
- nonlinear control

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参考文献(24)

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