Digital rebalance loop design for a dynamically tuned gyroscope using H_2 methodology

摘要

Presented in this paper is a wide-bandwidth digital torquing rebalance loop for a dynamically tuned gyroscope (DTG) based on H_2 methodology. The role and the importance of a rebalance loop are explained first. The augmented plant model including gyroscope and integrator is composed. Next, an H_2-based controller is designed for the augmented plant model. Frequency analyses show that the proposed controller maintains a linear relationship between applied input rate and the output of the controller over a wide operating range and keeps the tilt angle small thereby reducing dynamic errors. To verify the performance of the controller in a real environment, a digital rebalance loop for a DTG is designed, fabricated, and examined. From simulation and experimental results, it is confirmed that the controller is robustly stable and has a wide bandwidth, significantly improving the performance of a DTG.