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Sensors 2016, 16(10), 1747; doi:10.3390/s16101747

Decoupling Control of Micromachined Spinning-Rotor Gyroscope with Electrostatic Suspension

Department of Precision Instrument, Tsinghua University, Beijing 100084, China
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Author to whom correspondence should be addressed.
Academic Editor: Gert F. Trommer
Received: 9 September 2016 / Revised: 7 October 2016 / Accepted: 18 October 2016 / Published: 20 October 2016
(This article belongs to the Section Physical Sensors)
View Full-Text   |   Download PDF [3291 KB, uploaded 20 October 2016]   |  

Abstract

A micromachined gyroscope in which a high-speed spinning rotor is suspended electrostatically in a vacuum cavity usually functions as a dual-axis angular rate sensor. An inherent coupling error between the two sensing axes exists owing to the angular motion of the spinning rotor being controlled by a torque-rebalance loop. In this paper, a decoupling compensation method is proposed and investigated experimentally based on an electrostatically suspended micromachined gyroscope. In order to eliminate the negative spring effect inherent in the gyroscope dynamics, a stiffness compensation scheme was utilized in design of the decoupled rebalance loop to ensure loop stability and increase suspension stiffness. The experimental results show an overall stiffness increase of 30.3% after compensation. A decoupling method comprised of inner- and outer-loop decoupling compensators is proposed to minimize the cross-axis coupling error. The inner-loop decoupling compensator aims to attenuate the angular position coupling. The experimental frequency response shows a position coupling attenuation by 14.36 dB at 1 Hz. Moreover, the cross-axis coupling between the two angular rate output signals can be attenuated theoretically from −56.2 dB down to −102 dB by further appending the outer-loop decoupling compensator. The proposed dual-loop decoupling compensation algorithm could be applied to other dual-axis spinning-rotor gyroscopes with various suspension solutions. View Full-Text
Keywords: decoupling control; gyroscope rebalance loop; stiffness compensation; inner-loop decoupling compensator; outer-loop decoupling compensator; micromachined spinning-rotor gyroscope; electrostatic suspension decoupling control; gyroscope rebalance loop; stiffness compensation; inner-loop decoupling compensator; outer-loop decoupling compensator; micromachined spinning-rotor gyroscope; electrostatic suspension
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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

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MDPI and ACS Style

Sun, B.; Wang, S.; Li, H.; He, X. Decoupling Control of Micromachined Spinning-Rotor Gyroscope with Electrostatic Suspension. Sensors 2016, 16, 1747.

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