Vibratory micro rate integrating gyroscopes (MRIG) are conventionally modeled using the position and velocity of the gyroscope, as the state space variables. This work describes the dynamic analysis of a z-axis MRIG using an alternate set of dynamic variables, which are the angular momentum, the inner product between position and linear momentum vectors, the Lagrangian and total energy of the system. This alternate description is used to derive the conditions for the ideal gyroscope to operate at the correct precession rate with minimal quadrature. A self-tuning algorithm is presented, which compensates the gyroscope’s damping and sitffness mismatches, while allowing the gyroscope to precess at the correct precession rate with minimal quadrature and reasonable control effort.
- Dynamic Systems and Control Division
A Self-Tuning Algorithm for Z-Axis Micro Rate Integrating Gyroscopes
- Views Icon Views
- Share Icon Share
- Search Site
Muthirayan, D, & Horowitz, R. "A Self-Tuning Algorithm for Z-Axis Micro Rate Integrating Gyroscopes." Proceedings of the ASME 2012 5th Annual Dynamic Systems and Control Conference joint with the JSME 2012 11th Motion and Vibration Conference. Volume 2: Legged Locomotion; Mechatronic Systems; Mechatronics; Mechatronics for Aquatic Environments; MEMS Control; Model Predictive Control; Modeling and Model-Based Control of Advanced IC Engines; Modeling and Simulation; Multi-Agent and Cooperative Systems; Musculoskeletal Dynamic Systems; Nano Systems; Nonlinear Systems; Nonlinear Systems and Control; Optimal Control; Pattern Recognition and Intelligent Systems; Power and Renewable Energy Systems; Powertrain Systems. Fort Lauderdale, Florida, USA. October 17–19, 2012. pp. 235-244. ASME. https://doi.org/10.1115/DSCC2012-MOVIC2012-8773
Download citation file: