Control unit and device for resetting a vibrator excited by harmonic vibration, and yaw rate sensor

摘要

A controller unit includes a PI-controller for harmonic command variables. The transfer function of the PI-controller has a conjugate complex pole at a controller angular frequency r in the s-plane or a pole at e±jrT in the z-plane, wherein T is the sampling time of a discrete input signal of the PI-controller and r is larger than 0. The controller angular frequency r is chosen equal to the resonance angular frequency 0 of an oscillator. The controller parameters, are, for example determined by pole/zero compensation. The controller unit allows, for example, a broad band control of harmonic oscillators in rotation rate sensors.