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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

王伟, 赵清, 吕晓永, 李欣. 具有输入非线性的MEMS振动陀螺零点校正方法. 自动化学报, 2014, 40(10): 2171-2178. doi: 10.3724/SP.J.1004.2014.02171
引用本文: 王伟, 赵清, 吕晓永, 李欣. 具有输入非线性的MEMS振动陀螺零点校正方法. 自动化学报, 2014, 40(10): 2171-2178. doi: 10.3724/SP.J.1004.2014.02171
WANG Wei, ZHAO Qing, LV Xiao-Yong, LI Xin. Zero Adjustment of MEMS Vibratory Gyroscope with Nonlinear Input. ACTA AUTOMATICA SINICA, 2014, 40(10): 2171-2178. doi: 10.3724/SP.J.1004.2014.02171
Citation: WANG Wei, ZHAO Qing, LV Xiao-Yong, LI Xin. Zero Adjustment of MEMS Vibratory Gyroscope with Nonlinear Input. ACTA AUTOMATICA SINICA, 2014, 40(10): 2171-2178. 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
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

Zero Adjustment of MEMS Vibratory Gyroscope with Nonlinear Input

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: 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.
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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

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