Study On The Balancing Control Method Of The Silicon Micro-machined Butterfly Gyroscope Digital Measure And Control System

Micro-machined butterfly gyroscope is the micro-machined gyroscope,which has many advantages such as low cost,small size,low power comsumption.With the gradual improvement of its comprehensive performance,its national defense military applications are becoming more and more valuable.In the case of non ideal,the micro-machined butterfly gyroscope system is a system with a dual input dual output,driving and detecting mode coupling.For improving the comprehensive performance of gyroscope,eliminating the mode-coupling error,this paper focuses on project design for the gyroscope detect force balance control,and designs the gyroscope digital mesure and control system based on the project,finally it verifies the detect force balance control project by simulation and experiment.The main contents are as following:1.The paper establishes the gyroscope system with DIDO and mode-coupling based on the dynamic model of the mode-coupling characteristic for the micro-machined butterfly gyroscope,proposes mode-decoupling method by detect-balancing control,and gives the control target.2.The paper designs balancing control project of coriolis force control loop and orthogonality coupling error force control loop through orthogonality lock-phase amplification according to the control target,then proposes the design of PID controller by ITAE performance index,and finally analyses the performance of detect force balance control by establishing simulation model.3.The paper designs the micro-machined butterfly gyroscope digital measure and control system by signal processing which uses the way of the double-frequency carrier modulation-demodulation and detect force balance control method,then mainly elaborates the design of the total structure of the gyroscope system and digital signal processing.4.The paper establishes the test platform for the micro-machined butterfly gyroscope digital measure and control system,then carries out basic performance tests of the measurement and control system and the overall performance testing which compares the open-loop control with the force balance control.Experimental results show that,the force balance control scheme can increase the scale factor of the gyroscope,and can improve the resolution of the angular velocity.