Decoupling Control of Micromachined Spinning-Rotor Gyroscope with Electrostatic Suspension
AbstractA 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
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Sun, B.; Wang, S.; Li, H.; He, X. Decoupling Control of Micromachined Spinning-Rotor Gyroscope with Electrostatic Suspension. Sensors 2016, 16, 1747.
Sun B, Wang S, Li H, He X. Decoupling Control of Micromachined Spinning-Rotor Gyroscope with Electrostatic Suspension. Sensors. 2016; 16(10):1747.Chicago/Turabian Style
Sun, Boqian; Wang, Shunyue; Li, Haixia; He, Xiaoxia. 2016. "Decoupling Control of Micromachined Spinning-Rotor Gyroscope with Electrostatic Suspension." Sensors 16, no. 10: 1747.
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