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On the Mode-Matched Control of MEMS Vibratory Gyroscope via Phase-Domain Analysis and Design
Sangkyung Sung,Woon-Tahk Sung,Changjoo Kim,Sukchang Yun,Young Jae Lee IEEE 2009 IEEE/ASME transactions on mechatronics Vol.14 No.4
<P>This paper investigates a novel method for the mode-matched control of a microelectromechanical systems (MEMS) vibratory gyroscope through a phase-domain analysis. Compared with the previous works, the proposed method presents a simple and robust automatic mode tuning scheme for sensitivity enhancement. In designing the mode-matched control loop, the resonant characteristics of the driving axis are used as the reference mode. Then, the phase difference between sense and drive modes at the resonant frequency of drive mode is used to generate a control signal for phase error regulation. For the control loop design, a linear phase-locked loop is adapted. Through the simulation using practical MEMS gyroscope parameters, the mode-matching performance and robustness of the designed control loop is demonstrated. It is also shown that coupling effect yields no degradation of output sensitivity. Finally, the experimental results obtained by implementing the electronics of mode-matched control verify the feasibility of the proposed method.</P>
Design and performance test of a MEMS vibratory gyroscope with a novel AGC force rebalance control
Sung, Woon-Tahk,Sung, Sangkyung,Lee, Jang Gyu,Kang, Taesam IOP 2007 JOURNAL OF MICROMECHANICS AND MICROENGINEERING - Vol.17 No.10
<P>In this paper, the development and performance test results of a laterally oscillating MEMS gyroscope using a novel force rebalance control strategy are presented. The micromachined structure and electrodes are fabricated using the deep reactive ion etching (DRIE) and anodic wafer bonding process. The high quality factor required for the resonance-based sensor is achieved using a vacuum-sealed device package. A systematic design approach of the force rebalance control is applied via a modified automatic gain control (AGC) method. The rebalance control design takes advantages of a novel AGC loop modification, which allows the approximation of the system's dynamics into a simple linear form. Using the proposed modification of AGC and the rebalance strategy that maintains a biased oscillation, a number of performance improvements including bandwidth extension and widened operating range were observed to be achieved. Finally, the experimental results of the gyroscope's practical application verify the feasibility and performance of the developed sensor.</P>
고체형 정밀 공진 자이로스코프를 위한 이차 PLL 루프필터 기반 위상제어루프 설계
박상준(Sang-Jun Park),용기력(Ki Ryeok Yong),이영재(Young Jae Lee),성상경(Sangkyung Sung) 제어로봇시스템학회 2012 제어·로봇·시스템학회 논문지 Vol.18 No.6
This paper suggests a design method of an improved phase control loop for tracking resonant frequency of solid type precision resonant gyroscope. In general, a low cost MEMS gyroscope adapts the automatic gain control loops by taking a velocity feedback configuration. This control technique for controlling the resonance amplitude shows a stable performance. But in terms of resonant frequency tracking, this technique shows an unreliable performance due to phase errors because the AGC method cannot provide an active phase control capability. For the resonance control loop design of a solid type precision resonant gyroscope, this paper presents a phase domain control loop based on linear PLL (Phase Locked Loop). In particular, phase control loop is exploited using a higher order PLL loop filter by extending the first order active PI (Proportion-Integral) filter. For the verification of the proposed loop design, a hemispherical resonant gyroscope is considered. Numerical simulation result demonstrates that the control loop shows a robust performance against initial resonant frequency gap between resonator and voltage control oscillator. Also it is verified that the designed loop achieves a stable oscillation even under the initial frequency gap condition of about 25 Hz, which amounts to about 1% of the natural frequency of a conventional resonant gyroscope.
Error Calibration of Magnetometer Using Nonlinear Integrated Filter Model With Inertial Sensors
Wonmo Koo,Sangkyung Sung,Young Jae Lee IEEE 2009 IEEE transactions on magnetics Vol.45 No.6
<P>This paper presents an onboard heading estimation algorithm using IMU and strapdown magnetometer without other external heading references. To calibrate the magnetic deviation, sensor errors caused by hard iron effect and initial heading of strapdown magnetometers are considered. In our approach, sensor output distortion due to the soft iron effect is ignored, which is relatively small. First, for the estimation of heading angle, system and measurement model is presented. Then particle filter and extended Kalman filter is introduced for performance comparison. The proposed algorithm for the integration of IMU and magnetometer is verified via numerical simulation using Matlab. Simulation result demonstrates accurate heading estimation error under 1 degree for both algorithms when there exists a small initial heading error and hard iron effect, yet particle filter provides more robust and accurate result than the extended Kalman filter in case the initial heading error and biases are large.</P>