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Drive-mode control for an underactuated MEMS vibratory rate gyroscope

机译：欠驱动MEMS振动速率陀螺仪的​​驱动模式控制

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摘要

It has been shown that the underactuated rate gyroscopes (URGs) hold appealing robust operational performance against the fluctuations of temperature, pressure and structure parameters. In order to further improve the performance of the URGs, the dynamics and the closed-loop control issues of the URGs are investigated in this paper. For a three-DOFs gyroscope with two drive-modes, single sense mode, and single actuator, it is shown that the dynamics of the drive subsystem of the URG can be described as a second-order nonholonomic constraint system, and the dynamics of the drive subsystem of the URG can be transformed into a fourth-order linear system with the Brunovsky's canonical forms by properly selecting the controlled output. Then a robust controller is presented to stabilize the underactuated system by solving a set of linear matrix inequalities. Additionally, the stability of the presented controller is analyzed and demonstrated by some simulations.
机译：已经表明，欠驱动速率陀螺仪（URG）可以抵抗温度，压力和结构参数的波动，保持强大的运行性能。为了进一步提高URGs的性能，本文研究了URGs的动力学特性和闭环控制问题。对于具有两个驱动模式，单感应模式和单个执行器的三自由度陀螺仪，可以看出，URG的驱动子系统的动力学可以描述为二阶非完整约束系统，而动力学则可以描述为二阶非完整约束系统。通过正确选择受控输出，URG的驱动子系统可以转换为具有布鲁诺夫斯基规范形式的四阶线性系统。然后提出了一种鲁棒的控制器，通过求解一组线性矩阵不等式来稳定欠驱动系统。另外，通过一些仿真分析并证明了所提出控制器的稳定性。

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