Full Digital Control of Hemispherical Resonator Gyro Under Force-to-Rebalance Mode

Qiu, Baomei; Wang, Jianwen; Li, Penghua

doi:10.1109/jsen.2014.2339229

Cited by 12 publications

(8 citation statements)

References 6 publications

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“…It is also worthwhile to mention that further performance improvement, especially in temperature insensitivity and high density of integration, of the proposed interface ASIC can be achieved by applying different enhancement techniques. As an example, in systematic architecture, a digital closed drive loop has shown good results [10,22]. In this case, extra discrete devices (resistors, capacitors, etc.)…”

Section: Resultsmentioning

confidence: 99%

“…Despite diverse designs of MEMS gyroscopes based on variant principles, vibratory rate gyroscopes are the most investigated [9]. Regardless of practical materials and structures, hemispherical, disc, and ring resonating gyroscopes are based on a fundamental Coriolis effect without any exceptions [10,11,12,13,14,15]. Generally, the structure of a typical micromechanical vibratory rate gyroscope has at least 2-degree-of-freedom (DOF) motion capability in orthogonal directions to achieve a Coriolis induced energy transfer between two separate resonance modes (drive and sense), so that two corresponding controlling loops are demanded in collocated interface application-specific-integrated-circuits (ASICs).…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

An Interface ASIC for MEMS Vibratory Gyroscopes with Nonlinear Driving Control

Yin

et al. 2019

Micromachines

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This paper proposes an interface application-specific-integrated-circuit (ASIC) for micro-electromechanical systems (MEMS) vibratory gyroscopes. A closed self-excited drive loop is employed for automatic amplitude stabilization based on peak detection and proportion-integration (PI) controller. A nonlinear multiplier terminating the drive loop is designed for rapid resonance oscillation and linearity improvement. Capacitance variation induced by mechanical motion is detected by a differential charge amplifier in sense mode. After phase demodulation and low-pass filtering an analog signal indicating the input angular velocity is obtained. Non-idealities are further suppressed by on-chip temperature drift calibration. In order for better compatibility with digital circuitry systems, a low passband incremental zoom sigma-delta (ΣΔ) analog-to-digital converter (ADC) is implemented for digital output. Manufactured in a standard 0.35 μm complementary metal-oxide-semiconductor (CMOS) technology, the whole interface occupies an active area of 3.2 mm2. Experimental results show a bias instability of 2.2 °/h and a nonlinearity of 0.016% over the full-scale range.

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Section: Resultsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

An Interface ASIC for MEMS Vibratory Gyroscopes with Nonlinear Driving Control

Yin

et al. 2019

Micromachines

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“…e Precession Factor of the HRG Mode. When the HRG rotates at an angular velocity Ω in the inertial space, the circular mode turns the ψ angle in reverse at the rate P � KΩ x [11,12]. e inertial forces at any point in the hemispherical resonator shell are…”

Section: Complexitymentioning

confidence: 99%

Research on the Precession Characteristics of Hemispherical Resonator Gyro

Song

Yang

Zhao³

et al. 2021

Complexity

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Hemispherical Resonator Gyro (HRG) is a new type gyro with high precision, high reliability, shock resistance, no need of preheating, short start time, and long life. It is a kind of vibrating gyro with standing wave rotating along the sensitive base of annular precession, has a unique application prospect in the field of high precision inertial sensors, and is widely used in unmanned aerial vehicle control in complex environments. Based on the theory of the structure characteristics of the hemispherical resonator, the mathematical model of energy of the resonator is established to research the rule of resonant frequency when the hemispherical resonator is rotated around the central axis. In this paper, the influence of precession factor, which are the top angle, the bottom angle, and wall unevenness of the hemispherical resonator, are analyzed. A series of hemispherical resonator models are constructed by ANSYS software to prove the results of theoretical research. The simulation results show that precession factor of the hemispherical resonator is more sensitive of the top angle than the bottom angle, and the error of angular velocity which is caused by the change of the top angle is larger than that which is caused by the change of the bottom angle.

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“…In the FTR mode, the driving-axis is excited to remain as the reference amplitude and the sensing-axis generated by input of angular velocity controls the amplitude to be 0. In this moment, the force required to remove the sensing-axis vibration is referred to as the rebalance force and as it is proportional to the angular velocity input, the angular velocity input is estimated by multiplying this force by the conversion scale factor [ 11 ].…”

Section: Design Of the Signal Processing And Control Algorithmmentioning

confidence: 99%

Design and Verification of a Digital Controller for a 2-Piece Hemispherical Resonator Gyroscope

Lee

Yun

Rhim

2016

Sensors

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A Hemispherical Resonator Gyro (HRG) is the Coriolis Vibratory Gyro (CVG) that measures rotation angle or angular velocity using Coriolis force acting the vibrating mass. A HRG can be used as a rate gyro or integrating gyro without structural modification by simply changing the control scheme. In this paper, differential control algorithms are designed for a 2-piece HRG. To design a precision controller, the electromechanical modelling and signal processing must be pre-performed accurately. Therefore, the equations of motion for the HRG resonator with switched harmonic excitations are derived with the Duhamel Integral method. Electromechanical modeling of the resonator, electric module and charge amplifier is performed by considering the mode shape of a thin hemispherical shell. Further, signal processing and control algorithms are designed. The multi-flexing scheme of sensing, driving cycles and x, y-axis switching cycles is appropriate for high precision and low maneuverability systems. The differential control scheme is easily capable of rejecting the common mode errors of x, y-axis signals and changing the rate integrating mode on basis of these studies. In the rate gyro mode the controller is composed of Phase-Locked Loop (PLL), amplitude, quadrature and rate control loop. All controllers are designed on basis of a digital PI controller. The signal processing and control algorithms are verified through Matlab/Simulink simulations. Finally, a FPGA and DSP board with these algorithms is verified through experiments.

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Full Digital Control of Hemispherical Resonator Gyro Under Force-to-Rebalance Mode

Cited by 12 publications

References 6 publications

An Interface ASIC for MEMS Vibratory Gyroscopes with Nonlinear Driving Control

An Interface ASIC for MEMS Vibratory Gyroscopes with Nonlinear Driving Control

Research on the Precession Characteristics of Hemispherical Resonator Gyro

Design and Verification of a Digital Controller for a 2-Piece Hemispherical Resonator Gyroscope

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