Dynamic Modeling and Control of a Novel Integrated Rate Gyroscope
Authors: Zhang Wei, Li Ming, Wang Fang
This paper presents a comprehensive dynamic model and control strategy for a novel integrated rate gyroscope. The gyroscope employs a macro-fiber composite (MFC) actuator and a piezoelectric sensor for excitation and sensing, respectively. The dynamic model is derived using the Lagrange method, incorporating the effects of the MFC actuator and the piezoelectric sensor. An integrated rate control method is proposed to suppress the quadrature error and improve the performance of the gyroscope. The control method combines a proportional-integral (PI) controller with a phase-locked loop (PLL) to maintain the resonance frequency and a quadrature nulling loop to minimize the quadrature error. Simulation and experimental results demonstrate that the proposed method effectively reduces the quadrature error and improves the scale factor stability and bias stability. The results show a significant improvement in the performance of the gyroscope, making it suitable for high-precision inertial navigation applications.
