具有输入非线性的MEMS振动陀螺零点校正方法

摘要

Considering the Micro-electro-mechanical system (MEMS) gyroscope nonlinearity, control input nonlinearity and external disturbance, a nonlinear control strategy based on hyperstability theory is proposed for MEMS gyroscope drifting caused by the non-superposition between the center of the geometry structure and the barycenter of the proof mass. System states can be regulated to zero level asymptotically by introducing a Hurwitz matrix to the MEMS state space model for the demand of system being strictly positive real, and choosing an appropriate control law with vector norm to satisfy the Popov integral inequality. Simulation results show the validity and robustness of the proposed nonlinear control strategy.%针对Micro-electro-mechanical system (MEMS)振动陀螺仪加工制造过程中产生的几何结构中心与质量块重心不重叠导致严重陀螺漂移和噪声的问题，在考虑陀螺自身非线性、控制输入非线性和外部干扰的情况下，提出一种基于超稳理论的非线性控制策略对MEMS 陀螺仪进行零点校正。该方法在MEMS 陀螺仪非线性模型中引入一Hurwitz 矩阵对模型进行变换以满足系统的严格正实要求，利用向量范数的性质得到合适的控制律以满足Popov 不等式，从而保证了闭环控制系统的全局渐近稳定性。仿真结果显示，提出的非线性控制策略可以使系统状态迅速收敛到零，并且对系统参数摄动表现出较强的鲁棒性。