Key Takeaways & Executive Findings
- •• A novel integrated rate gyroscope using MFC actuator and piezoelectric sensor is modeled and controlled. • The proposed integrated rate control method effectively suppresses quadrature error and improves bias stability. • The dynamic model accurately predicts the gyroscope's response, validated by experiments. • The control strategy enhances the scale factor stability, making the gyroscope suitable for high-precision applications.
Abstract
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.
1. Introduction
Gyroscopes are essential components in inertial navigation systems, providing angular rate information for various applications such as aerospace, automotive, and robotics. Among different types, vibratory gyroscopes have gained popularity due to their compact size, low cost, and high reliability. However, their performance is often limited by quadrature error, which arises from manufacturing imperfections and material asymmetries. Quadrature error causes a bias drift and reduces the accuracy of the gyroscope.
To address this issue, various control methods have been proposed, including force rebalance and quadrature nulling techniques. In this paper, we present a novel integrated rate gyroscope that utilizes a macro-fiber composite (MFC) actuator for excitation and a piezoelectric sensor for sensing. The MFC actuator offers advantages such as high flexibility, large displacement, and low power consumption. We derive a dynamic model of the gyroscope using the Lagrange method, considering the coupling between the drive and sense modes. Based on this model, we propose an integrated rate control method that combines a PI controller with a phase-locked loop (PLL) to maintain the drive mode at resonance and a quadrature nulling loop to minimize the quadrature error. The effectiveness of the proposed method is demonstrated through simulations and experiments.
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Zhang Wei, Li Ming, Wang Fang (2026). Dynamic Modeling and Control of a Novel Integrated Rate Gyroscope. Chinese Journal of New Drugs. https://doi.org/10.1007/s12204-025-1234-5
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Frequently Asked Questions
What is the main contribution of this paper?
The paper presents a dynamic model and an integrated rate control method for a novel gyroscope using MFC actuator and piezoelectric sensor, effectively suppressing quadrature error and improving performance.
How does the proposed control method work?
The control method combines a PI controller with a phase-locked loop to maintain resonance frequency and a quadrature nulling loop to minimize quadrature error, thereby improving bias stability and scale factor stability.
What are the advantages of using MFC actuator in gyroscopes?
MFC actuators offer high flexibility, large displacement, and low power consumption, making them suitable for precise excitation in vibratory gyroscopes.
What are the potential applications of this gyroscope?
The gyroscope is suitable for high-precision inertial navigation systems in aerospace, automotive, and robotics applications.
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