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This paper presents a novel design methodology and hardware implementation for the drive-mode control of vibrational micro-electro-mechanical systems gyroscopes. Assuming that the sense mode (axis) of the gyroscope is operating under open loop, the drive-mode controller compensates an undesirable mechanical spring-coupling term between the two vibrating modes, attenuates the effect of mechanical-thermal...
The paper presents a novel oscillation controller for controlling the driving mode (or drive axis) of a vibrational gyroscope to oscillate at a desired trajectory. The controller consists of a PD controller and an online extended state observer (ESO). The ESO is used to estimate the system states and the discrepancy between the real system and the mathematical model of the gyroscope. The PD controller...
There are two major control problems associated with vibrational MEMS gyroscopes: to control two vibrating axes (or modes) of the gyroscope, and to estimate a time-varying rotation rate. This paper demonstrates how a novel active disturbance rejection control addresses these problems in the presence of the mismatch of natural frequencies between two axes, mechanical-thermal noises, quadrature errors,...
This paper presents a new control strategy known as active disturbance rejection control (ADRC) for controlling the sense axis of a vibrational MEMS gyroscope and detecting time-varying rotation rates. In the ADRC framework, the generalized disturbance, which is referred to as the combination of the internal dynamics and external disturbances, is estimated and compensated for in real time. It is assumed...
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