scholarly journals System Identification of MEMS Vibratory Gyroscope Sensor

2011 ◽  
Vol 2011 ◽  
pp. 1-12 ◽  
Author(s):  
Juntao Fei ◽  
Yuzheng Yang
Keyword(s):  
System Identification ◽  
Direct Method ◽  
Angular Rate ◽  
Mems Gyroscope ◽  
System Parameters ◽  
Vibratory Gyroscope ◽  
True Value ◽  
Simulation Results ◽  
Fabrication Defects ◽  
Gyroscope Sensor

Fabrication defects and perturbations affect the behavior of a vibratory MEMS gyroscope sensor, which makes it difficult to measure the rotation angular rate. This paper presents a novel adaptive approach that can identify, in an online fashion, angular rate and other system parameters. The proposed approach develops an online identifier scheme, by rewriting the dynamic model of MEMS gyroscope sensor, that can update the estimator of angular rate adaptively and converge to its true value asymptotically. The feasibility of the proposed approach is analyzed and proved by Lyapunov's direct method. Simulation results show the validity and effectiveness of the online identifier.

scholarly journals System Identification of a MEMS Gyroscope

1999 ◽  
Vol 123 (2) ◽  
pp. 201-210 ◽  
Author(s):  
Robert T. M’Closkey ◽  
Steve Gibson ◽  
Jason Hui
Keyword(s):  
System Identification ◽  
Angular Rate ◽  
Experimental System ◽  
Primary Objective ◽  
Input Output ◽  
Output Data ◽  
Mems Gyroscope ◽  
Principal Axes ◽  
Frequency Split ◽  
Insight Into

This paper reports the experimental system identification of the Jet Propulsion Laboratory MEMS vibratory rate gyroscope. A primary objective is to estimate the orientation of the stiffness matrix principal axes for important sensor dynamic modes with respect to the electrode pick-offs in the sensor. An adaptive lattice filter is initially used to identify a high-order two-input/two-output transfer function describing the input/output dynamics of the sensor. A three-mode model is then developed from the identified input/output model to determine the axes’ orientation. The identified model, which is extracted from only two seconds of input/output data, also yields the frequency split between the sensor’s modes that are exploited in detecting the rotation rate. The principal axes’ orientation and frequency split give direct insight into the source of quadrature measurement error that corrupts detection of the sensor’s angular rate.

An Electrostatic Force Feedback Approach for Extending the Bandwidth of MEMS Vibratory Gyroscope

2011 ◽  
Vol 483 ◽  
pp. 43-47
Author(s):  
Jian Cui ◽  
Zhong Yang Guo ◽  
Qian Cheng Zhao ◽  
Zhen Chuan Yang ◽  
Yi Long Hao ◽  
...  
Keyword(s):  
Force Feedback ◽  
Control Method ◽  
Electrostatic Force ◽  
Angular Rate ◽  
Resonant Frequencies ◽  
Vibratory Gyroscope ◽  
Satisfactory Performance ◽  
Simulation Results ◽  
The Difference ◽  
The Mathematical Model

This paper proposed an effective approach for extending the bandwidth of MEMS vibratory gyroscope by employing the electrostatic force feedback control. The mathematical model for the bandwidth is established through the dynamic model of the gyroscope, which indicates that the bandwidth of the sensor depends on the difference between the resonant frequencies of the two working modes. The system bandwidth can be enlarged by utilizing electrostatic force rebalance control to null Coriolis force caused by external angular rate which can also improve the performance of the transient response. Simulation results forecast a satisfactory performance of the control system with suggested control method.

Development of Control System by Nonlinear Compensation Using Digital Acceleration Control

2010 ◽  
Author(s):  
Takanori Emaru ◽  
Kazuo Imagawa ◽  
Yohei Hoshino ◽  
Yukinori Kobayashi
Keyword(s):  
Control System ◽  
System Identification ◽  
Mechanical System ◽  
Pid Control ◽  
Estimation Method ◽  
Proportional Integral Derivative ◽  
Inertia Term ◽  
Modeling Errors ◽  
Nonlinear Compensation ◽  
Simulation Results

Proportional-Integral-Derivative (PID) control has been most commonly used to operate mechanical systems. In PID control, however, there are limits to the accuracy of the resulting movement because of the influence of gravity, friction, and interaction of joints. We have proposed a digital acceleration control (DAC) that is robust over these modeling errors. One of the most practicable advantages of DAC is robustness against modeling errors. However, it does not always work effectively. If there are modeling errors in the inertia term of the model, the DAC controller cannot control a mechanical system properly. Generally an inertia term is easily modeled in advance, but it has a possibility to change. Therefore, we propose an online estimation method of an inertia term by using a system identification method. By using the proposed method, the robustness of DAC is considerably improved. This paper shows the simulation results of the proposed method using 2-link manipulator.

ADAPTIVE IDENTIFICATION ALGORITHMS FOR AR SYSTEM DRIVEN BY CHAOTIC SEQUENCE

2003 ◽  
Vol 13 (04) ◽  
pp. 963-972 ◽  
Author(s):  
BAO-YUN WANG ◽  
T. W. S. CHOW ◽  
K. T. NG
Keyword(s):  
Communication System ◽  
Adaptive Algorithms ◽  
Chaotic Sequence ◽  
Estimation Accuracy ◽  
Chaotic Communication ◽  
Adaptive Identification ◽  
System Parameters ◽  
Chaotic Sequences ◽  
Simulation Results ◽  
Typical Method

In this article the identification of AR system driven by chaotic sequences is addressed. This problem emerges in chaotic communication system, in which chaos-modulated signal passes through a channel described as an AR system. Two adaptive algorithms are presented to tackle this problem. Compared with the existing algorithms such as MPSV and MNPE, the proposed algorithms have very low computational complexities and can be used to track the system parameters in a slowly time-variant environment. The obtained simulation results illustrate that the proposed scheme can offer a better estimation accuracy than the conventional typical method in the high SNR case.

Identification and Model Predictive Position Control of Two Wheeled Inverted Pendulum Mobile Robot

2015 ◽  
Vol 73 (6) ◽  
Author(s):  
Amir A. Bature ◽  
Salinda Buyamin ◽  
Mohamad N. Ahmad ◽  
Mustapha Muhammad ◽  
Auwalu A. Muhammad
Keyword(s):  
Mathematical Model ◽  
System Identification ◽  
Mobile Robot ◽  
Inverted Pendulum ◽  
Position Control ◽  
Superior Performance ◽  
System A ◽  
Wheeled Inverted Pendulum ◽  
Simulation Results ◽  
Real Plant

In order to predict and analyse the behaviour of a real system, a simulated model is needed. The more accurate the model the better the response is when dealing with the real plant. This paper presents a model predictive position control of a Two Wheeled Inverted Pendulum robot. The model was developed by system identification using a grey box technique. Simulation results show superior performance of the gains computed using the grey box model as compared to common linearized mathematical model. 

Screw Algorithm Optimized with Instantaneous Signals

2012 ◽  
Vol 229-231 ◽  
pp. 1671-1674
Author(s):  
Jian Feng Chen ◽  
Xi Yuan Chen ◽  
Xue Fen Zhu
Keyword(s):  
Navigation System ◽  
Inertial Navigation System ◽  
Angular Rate ◽  
Inertial Navigation ◽  
Strapdown Inertial Navigation System ◽  
Specific Force ◽  
Dual Quaternion ◽  
Screw Motion ◽  
Direct Component ◽  
Simulation Results

Recent dramatic progress in strapdown inertial navigation system (SINS) algorithm is the design of SINS principle based on screw algorithm, utilizing dual quaternion. In this paper, the screw algorithm consisting of angular rate and specific force is optimized under a special screw motion. The special screw motion is derived from classical screw motion and can be taken as a complicated sculling motion including classical coning motion. Subsequently, the coefficients in the multi-sample screw algorithms and the corresponding algorithm drifts are determined by minimizing the error on direct component. The simulation results of attitude and velocity errors agree with the optimization goals, except when the number of subinterval is greater than 2. An explanation of this phenomenon is delivered.

Global Analysis of the Double Impact Oscillator Dynamics

1999 ◽  
Author(s):  
František Peterka
Keyword(s):  
Global Analysis ◽  
Impact Oscillator ◽  
System Parameters ◽  
Impact Oscillators ◽  
Real Value ◽  
Simulation Results ◽  
The Impact ◽  
Impact Motion ◽  
Double Impact ◽  
Phase Motion

Abstract The double impact oscillator represents two symmetrically arranged single impact oscillators. It is the model of a forming machine, which does not spread the impact impulses into its neighbourhood. The anti-phase impact motion of this system has the identical dynamics as the single system. The in-phase motion and the influence of asymmetries of the system parameters are studied using numerical simulations. Theoretical and simulation results are verified experimentally and the real value of the restitution coefficient is determined by this method.

Optical and Electrical Methods to Measure the Dynamic Behavior of a MEMS Gyroscope Sensor

2005 ◽  
Author(s):  
Alfredo Cigada ◽  
Elisabetta Leo ◽  
Marcello Vanali
Keyword(s):  
Laser Doppler Vibrometer ◽  
Mechanical Parameters ◽  
Mems Sensors ◽  
Electrical Method ◽  
Mems Gyroscope ◽  
Full Characterization ◽  
Design Specifications ◽  
Electrical Methods ◽  
Gyroscope Sensor

A full characterization of the mechanical parameters for vibrating MEMS sensors is required before integrating the mechanical and the electronic part. This is to verify that the main design specifications are fulfilled before sensors are available on the market. The main goal is to accurately establish the well-working devices in the shortest time. In this paper the electrical method based on the measurement of the GND current is used to satisfy this purpose. To check the validity of the achieved results through this method a comparison is done with those obtained through the widely used optical method based on vibration measurements through by means of a Laser Doppler Vibrometer (LDV).

Performance and Reliability of MEMS Gyroscopes and Packaging at High Temperatures

2010 ◽  
Vol 2010 (HITEC) ◽  
pp. 000359-000366 ◽  
Author(s):  
Patrick McCluskey ◽  
Chandradip Patel ◽  
David Lemus
Keyword(s):  
High Temperature ◽  
Indoor Environment ◽  
Elevated Temperatures ◽  
High Sensitivity ◽  
Effect Of Temperature ◽  
Gps Tracking ◽  
Mems Gyroscope ◽  
Mems Gyroscopes ◽  
Gyroscope Sensor

Elevated temperatures can significantly affect the performance and reliability of MEMS gyroscope sensors. A MEMS vibrating resonant gyroscope measures angular velocity via a displacement measurement which can be on the order on nanometers. High sensitivity to small changes in displacement causes the MEMS Gyroscope sensor to be strongly affected by changes in temperature which can affect the displacement of the sensor due to thermal expansion and thermomechanical stresses. Analyzing the effect of temperature on MEMS gyroscope sensor measurements is essential in mission critical high temperature applications, such as inertial tracking of the movement of a fire fighter in a smoke filled indoor environment where GPS tracking is not possible. In this paper, we will discuss the development of the high temperature package for the tracking application, including the characterization of the temperature effects on the performance of a MEMS gyroscope. Both stationary and rotary tests were performed at room and at elevated temperatures on 10 individual single axis MEMS gyroscope sensors.

Temperature and Humidity Effects on MEMS Vibratory Gyroscope

2011 ◽  
Vol 2011 (DPC) ◽  
pp. 001361-001390 ◽  
Author(s):  
Chandradip Patel ◽  
F. Patrick McCluskey ◽  
David Lemus
Keyword(s):  
Damage Mechanism ◽  
Consumer Electronics ◽  
Vibratory Gyroscopes ◽  
Root Cause ◽  
Vibratory Gyroscope ◽  
In Situ Data ◽  
Aging Test ◽  
Temperature And Humidity ◽  
Mems Gyroscopes ◽  
Gyroscope Sensor

MEMS vibratory gyroscopes are increasingly used in applications ranging from consumer electronics to aerospace and are now one of the most common MEMS products after accelerometers. Despite their widespread use, the performance of MEMS gyroscopes in harsh environments is still under question. While some studies have been conducted to understand the temperature dependent performance of MEMS gyroscopes, the effects of sustained exposure to temperature combined with other harsh environment stresses have not been well researched. Thus, it is necessary to quantify MEMS vibratory gyroscope performance under such conditions. This paper will focus on the combined effects of temperature and humidity only. Performance of the MEMS vibratory gyroscope will be evaluated over time at high temperature and high humidity conditions by conducting an aging test on a COTS (commercial of the shelf) single axis MEMS vibratory gyroscope having an operating temperature range from −40°C to 80°C. The gyroscope sensor will be exposed to 60 °C and 90% RH (Relative humidity) for 500 hours. In-situ data will be monitored to track any shifts in device output. Any permanent changes in the output signal will be traced back to their fundamental root cause damage mechanism.

Sign in / Sign up

Export Citation Format

Share Document