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MEMS gyroscope parameter identification driving control method based on data screening

A technology of data screening and parameter identification, which is applied in the direction of adaptive control, general control system, control/regulation system, etc., and can solve the problem of strict continuous excitation requirements for identification parameters

Active Publication Date: 2019-10-29
NORTHWESTERN POLYTECHNICAL UNIV
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Problems solved by technology

[0005] In order to overcome the problem that the identification parameters in the prior art do not necessarily converge to the true value and have strict requirements on continuous excitation, the present invention proposes a data screening-based MEMS gyroscope parameter identification drive control method

Method used

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  • MEMS gyroscope parameter identification driving control method based on data screening
  • MEMS gyroscope parameter identification driving control method based on data screening
  • MEMS gyroscope parameter identification driving control method based on data screening

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Embodiment Construction

[0056] Now in conjunction with embodiment, accompanying drawing, the present invention will be further described:

[0057] The invention discloses a MEMS gyroscope parameter identification driving control method based on data screening, combining figure 1 , the specific design steps are as follows:

[0058] (a) The MEMS gyro dynamics model considering the existence of orthogonality error is:

[0059]

[0060] Among them, m is the mass of proof mass, Ω z Enter the angular velocity for the gyro, and x * are the acceleration, velocity and displacement of the MEMS gyroscope proof mass along the drive axis, respectively, and y * are the acceleration, velocity and displacement along the detection axis, respectively, with is the electrostatic driving force, c xx and c yy is the damping coefficient, k xx and k yy is the stiffness coefficient, with is the nonlinear coefficient, c xy and c yx is the damping coupling coefficient, k xy and k yx is the stiffness c...

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Abstract

The invention relates to an MEMS gyroscope parameter identification driving control method based on data screening, and belongs to the field of intelligent instruments and meters. The method comprisesthe following steps: converting a gyroscope dynamic model into a dimensionless dynamic linear parameterized model; designing an online data screening method to select proper historical data, and constructing a parameter adaptive law in combination with the current data; using an interval excitation mode to loosen strict requirements of parameter identification on continuous excitation conditions;and designing a controller to realize parameter identification and driving control at the same time. According to the MEMS gyroscope parameter identification driving control method based on data screening, the problems that true values are difficult to obtain in parameter identification and the requirements for continuous excitation are strict can be solved, the accurate dynamic model is obtained, meanwhile, high-precision gyroscope driving control is achieved, and the performance of the MEMS gyroscope is further improved.

Description

technical field [0001] The invention relates to a MEMS gyroscope drive control method, in particular to a data screening-based MEMS gyroscope parameter identification drive control method, which belongs to the field of intelligent instruments. Background technique [0002] In actual engineering, an accurate dynamic model is an important condition for the design and system simulation of the MEMS gyro drive control system, and the accuracy of the model parameters directly affects the drive control accuracy. Therefore, it is necessary to identify the model parameters before driving the control. At present, there are two commonly used MEMS gyroscope parameter identification methods: (1) The parameters and states in the dynamic model are incorporated into the state vector of the Kalman filter, and the displacement of the MEMS gyroscope proof mass is used as the quantity measurement, and the extended Kalman filter is used Or unscented Kalman filter for parameter estimation; (2) C...

Claims

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 许斌张睿寿莹鑫
Owner NORTHWESTERN POLYTECHNICAL UNIV
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