高精度数字式MEMS陀螺仪驱动闭环控制系统设计

摘要

为提高微机械陀螺检测灵敏度,设计了一种数字式微机械陀螺驱动闭环控制系统,该系统利用数字锁相环来实现陀螺驱动谐振频率和相位的跟踪,同时利用数字自动增益控制模块实现驱动幅值的稳定控制.该控制系统先是在MATLAB/Simulink平台上进行仿真验证,之后在基于FPGA的验证平台上进行验证.实验结果表明在该数字系统的控制下陀螺驱动起振时间大约为0.6 s,驱动幅值相对稳定性小于10×106,陀螺零偏稳定性达到10.448 °/hr.%A digital closed-loop drive control system is designed for improving the detection sensitivity of MEMS Gyroscope.The system adopts a digital phase-locked loop(PLL)to track the resonant frequency and phase of the gyroscope.And a digital automatic gain control(AGC)method is utilized to control the amplitude constant.All algorithms are simulated by MATLAB/Simulink and tested on a high performance core Field Programmable Gate Array(FPGA)chip.The experiment results indicate that the startup time of the gyroscope is about 0.6 s,the drive amplitude stability is less than 10×106 and the velocity bias stability is 10.448 °/hr.