Adaptive Control of a Vibratory Angle Measuring Gyroscope

This paper presents an adaptive control algorithm for realizing a vibratory angle measuring gyroscope so that rotation angle can be directly measured without integration of angular rate, thus eliminating the accumulation of numerical integration errors. The proposed control algorithm uses a trajecto...

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Veröffentlicht in:Sensors (Basel, Switzerland) Jg. 10; H. 9; S. 8478 - 8490
1. Verfasser: Park, Sungsu
Format: Journal Article
Sprache:Englisch
Veröffentlicht: Switzerland MDPI AG 01.09.2010
Molecular Diversity Preservation International (MDPI)
Schlagworte:
adaptive control
Algorithms
angle measurement
Computer Simulation
Control algorithms
Micro-Electrical-Mechanical Systems - instrumentation
Models, Theoretical
Rotation
Sensors
trajectory following
Vibration
vibratory gyroscope
trajectory following
adaptive control
angle measurement
vibratory gyroscope
ISSN:1424-8220, 1424-8220
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Zusammenfassung:This paper presents an adaptive control algorithm for realizing a vibratory angle measuring gyroscope so that rotation angle can be directly measured without integration of angular rate, thus eliminating the accumulation of numerical integration errors. The proposed control algorithm uses a trajectory following approach and the reference trajectory is generated by an ideal angle measuring gyroscope driven by the estimate of angular rate and the auxiliary sinusoidal input so that the persistent excitation condition is satisfied. The developed control algorithm can compensate for all types of fabrication imperfections such as coupled damping and stiffness, and mismatched stiffness and un-equal damping term in an on-line fashion. The simulation results show the feasibility and effectiveness of the developed control algorithm that is capable of directly measuring rotation angle without the integration of angular rate.
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ISSN:1424-8220
1424-8220
DOI:10.3390/s100908478