MEMS三轴陀螺仪中不匹配干扰抑制方法  

Control method of mismatched disturbances for MEMS triaxial gyroscope

作　　者：王伟[1] 杜东贞 周佳欣 赵清[1] 

机构地区：[1]哈尔滨工程大学自动化学院,黑龙江哈尔滨150001

出　　处：《系统工程与电子技术》2016年第7期1638-1643,共6页Systems Engineering and Electronics

基　　金：国家自然科学基金(61571148);中国博士后科学基金(2014M550182;2015T80328);黑龙江省博士后特别资助(LBH-TZ0410);哈尔滨市科技创新人才专项(2013RFXXJ016)资助课题

摘　　要：微机电系统(micro-electro-mechanic system,MEMS)陀螺仪作为一类新型角速率传感器,其制造和应用过程中不可避免会受到不匹配干扰的影响,即速度项的测量过程中引入各种噪声,降低MEMS陀螺仪的检测精度。在滑模控制策略下提出一种基于辅助变量的非线性干扰观测器,对MEMS陀螺系统中存在的不匹配干扰进行实时估计,同时针对积分自适应切换增益发散问题,采用了一种避发散技术—死区技术。最后通过李雅普诺夫理论进行了系统稳定性分析。仿真结果表明,该策略实现了轴向轨迹跟踪,提高了陀螺仪的检测精度。The micro-electro-mechanic system（MEMS）gyroscope is a new kind of angular rate sensor.In the manufacturing and application process,it will inevitably suffer from the mismatched disturbances,i.e.,the introduction of a variety of noises in the speed measurement process,which reduces the detection accuracy of the MEMS gyroscope.A nonlinear disturbance observer based on auxiliary variables is proposed under the sliding mode control strategy,which estimates the mismatched disturbances in real time.At the same time,for integrating adaptive gain switching divergence problem,a divergent avoidance technique named as dead zone technique is used.Finally,the system stability is analyzed through the Lyapunov theory.Simulation results show that the proposed method tracks the trajectory and improves the detection accuracy of the gyroscope.

关 键 词：三轴陀螺仪 滑模控制 非线性干扰观测器 不匹配干扰 抖振 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]