三轴MEMS陀螺仪轨迹跟踪的自耦PID控制方法  

Auto-Coupling PID Control Method for Trajectory Tracking of Three-Axis MEMS Gyroscope

作　　者：熊洛 曾喆昭[1] XIONG Luo;ZENG Zhezhao(School of Electrical&Information Engineering,Changsha University of Science&Technology,Changsha Hu'nan 410076 China)

机构地区：[1]长沙理工大学电气与信息工程学院,湖南长沙410076

出　　处：《传感技术学报》2024年第9期1586-1592,共7页Chinese Journal of Sensors and Actuators

基　　金：国家自然科学基金资助项目(61040049);湖南省教育厅重点项目(21A0183)。

摘　　要：为了有效提高三轴微机械(Micro-Electro-Mechanic System,MEMS)陀螺仪的抗干扰能力和检测精度,基于自耦PID控制理论提出了一种简单的陀螺仪控制方法。该方法将三轴MEMS陀螺仪控制问题分解为三个严格反馈子系统的控制问题,然后将三个子系统已知或未知动态、其不确定性和外部有界扰动分别定义为三个总扰动,进而将三个子系统等价映射为三个二阶线性扰动系统,据此分别构建了在总扰动反相激励下的三个受控误差系统,并根据自耦PID控制理论分别设计了三个自耦PD控制器,最后分析了每个子系统的鲁棒稳定性和抗扰动鲁棒性。仿真实验证明了所提控制方法的有效性,其在MEMS陀螺仪控制系统领域具有良好的实际应用前景。In order to effectively improve the anti-interference ability and detection accuracy of the three-axis micro-electro-mechanic sys-tem(MEMS)gyroscope,a simple gyroscope control method based on the auto-coupling proportional-integration-differential(ACPID)control theory is proposed.Firstly,the control problem of three-axis MEMS gyroscope is decomposed into the control problem of three strict feed-back subsystems.The known or unknown dynamics of the three subsystems and their uncertainties,external bounded disturbances are de-fined as three total disturbances respectively.Then,the three subsystems are equivalently mapped into three second-order linear disturb-ance systems.Based on this,three controlled error systems under the inverse excitation of the total disturbance are constructed respective-ly,and three auto-coupling proportional-differential(ACPD)controllers are designed according to the ACPID control theory.Finally,the robust stability and anti-disturbance robustness of each subsystem are analyzed.The simulation results verify the effectiveness of the pro-posed control method,which has a good practical application prospect in the field of MEMS gyroscope control system.

关 键 词：三轴 MEMS 陀螺仪 轨迹跟踪 自耦 PID 控制 自适应速度因子 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]