Title :
Adaptive force-balancing control of MEMS gyroscope with actuator limits
Author :
Jagannathan, S. ; Hameed, Mohammed
Author_Institution :
Dept. of Electr. & Comput. Eng., Missouri-Rolla Univ., Rolla, MO, USA
fDate :
June 30 2004-July 2 2004
Abstract :
This work presents an adaptive force-balancing control (AFBC) scheme with actuator limits for a MEMS Z-axis gyroscope. The purpose of the adaptive force-balancing control is to identify major fabrication imperfections so that they are properly compensated unlike the case of conventional force-balancing controlled gyroscope. The proposed AFBC scheme controls the vibratory modes of the proof mass while ensuring that the control input satisfies the magnitude constraints and the performance of the gyroscope is enhanced in the presence of fabrication uncertainties. Consequently, commonly reported problems of MEMS gyroscope such as quadrature compensation, drive and sense axes frequency tuning are not needed and closed-loop identification of the angular rate is now possible without measuring the input/output phase difference. The proposed scheme also compensates the cross-damping terms that cause the zero-rate output (ZRO). Simulation results justify theoretical conclusions.
Keywords :
actuators; adaptive control; closed loop systems; force control; gyroscopes; microsensors; uncertain systems; MEMS Z-axis gyroscope; actuator limits; adaptive force balancing control; closed loop identification; cross damping terms; fabrication imperfections; fabrication uncertainties; force balancing controlled gyroscope; frequency tuning; input output phase difference; magnitude constraints; quadrature compensation; vibratory modes; zero rate output;
Conference_Titel :
American Control Conference, 2004. Proceedings of the 2004
Conference_Location :
Boston, MA, USA
Print_ISBN :
0-7803-8335-4