速度反馈中时滞参数对多自由度微陀螺动态响应的影响  

Effect of the time delay parameters on the dynamic response of multi-degree-of-freedom micro-gyroscope in speed feedback

作　　者：畅兆敏 郝淑英[1] 张昆鹏[1] 张琪昌[2] 李伟雄 CHANG Zhaomin;HAO Shuying;ZHANG Kunpengg;ZHANG Qichang;LI Weixiong(Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control,Tianjin University of Technology,Tianjin 300384,China;Key Laboratory of Nonlinear Dynamics and Control,Tianjin University,Tianjin 300072,China)

机构地区：[1]天津理工大学天津市先进机电系统设计与智能控制重点实验室,天津300384 [2]天津大学天津市非线性动力学与控制重点实验室,天津300072

出　　处：《天津理工大学学报》2023年第1期53-58,共6页Journal of Tianjin University of Technology

基　　金：国家自然科学基金(12072234,11872044)。

摘　　要：将速度反馈控制器引入到微机械陀螺仪中,建立系统控制简化模型,通过对加入非线性刚度的系统动力学方程进行求解分析,进一步研究了时滞参数对多自由度微陀螺系统的影响规律。结果表明:时滞参数能有效调节系统检测响应的峰值和谐振频率,并消除非线性的影响,使系统趋于稳定。速度反馈增益的取值不会改变时滞参数对检测响应幅值的周期性规律,在不同的驱动周期下,检测响应的幅值随着反馈增益逐渐地增大或减小。In this paper, the speed feedback controller is introduced into the micromechanical gyroscope, and the simplified model of the control system is established. By solving and analyzing the dynamic equation of the system with nonlinear stiffness, the effect of time delay parameters on the multi-degree-of-freedom(MDOF) micro-gyroscope is further studied. The results show that the time delay parameter can effectively adjust the peak value and the resonance frequency of the detection response of the system, and can eliminate the influence of nonlinearity, so that the system tends to be stable. The value of speed feedback gains would not change periodic amplitudes of the time delay parameter to the detection response. Under different driving cycles, the amplitude of the detection response gradually increases or decreases with feedback gains.

关 键 词：多自由度微陀螺 速度反馈 时滞参数 动态响应 

分 类 号：O322[理学—一般力学与力学基础]