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Sensors 2016, 16(3), 321;

A Digitalized Gyroscope System Based on a Modified Adaptive Control Method

Key Laboratory of Micro-inertial Instrument and Advanced Navigation Technology, Ministry of Education, School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China
Author to whom correspondence should be addressed.
Academic Editor: Stefano Mariani
Received: 16 October 2015 / Revised: 25 February 2016 / Accepted: 26 February 2016 / Published: 4 March 2016
(This article belongs to the Collection Modeling, Testing and Reliability Issues in MEMS Engineering)
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In this work we investigate the possibility of applying the adaptive control algorithm to Micro-Electro-Mechanical System (MEMS) gyroscopes. Through comparing the gyroscope working conditions with the reference model, the adaptive control method can provide online estimation of the key parameters and the proper control strategy for the system. The digital second-order oscillators in the reference model are substituted for two phase locked loops (PLLs) to achieve a more steady amplitude and frequency control. The adaptive law is modified to satisfy the condition of unequal coupling stiffness and coupling damping coefficient. The rotation mode of the gyroscope system is considered in our work and a rotation elimination section is added to the digitalized system. Before implementing the algorithm in the hardware platform, different simulations are conducted to ensure the algorithm can meet the requirement of the angular rate sensor, and some of the key adaptive law coefficients are optimized. The coupling components are detected and suppressed respectively and Lyapunov criterion is applied to prove the stability of the system. The modified adaptive control algorithm is verified in a set of digitalized gyroscope system, the control system is realized in digital domain, with the application of Field Programmable Gate Array (FPGA). Key structure parameters are measured and compared with the estimation results, which validated that the algorithm is feasible in the setup. Extra gyroscopes are used in repeated experiments to prove the commonality of the algorithm. View Full-Text
Keywords: silicon microgyroscope; MEMS; adative control algorithm; rotation mode elimnation; parameter optimization; FPGA silicon microgyroscope; MEMS; adative control algorithm; rotation mode elimnation; parameter optimization; FPGA

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Xia, D.; Hu, Y.; Ni, P. A Digitalized Gyroscope System Based on a Modified Adaptive Control Method. Sensors 2016, 16, 321.

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