Auto-Coupling PID Control Method for Trajectory Tracking of Three-Axis MEMS Gyroscope
In order to effectively improve the anti-interference ability and detection accuracy of the three-axis micro-electro-mechanic sys-tem(MEMS)gyroscope,a simple gyroscope control method based on the auto-coupling proportional-integration-differential(ACPID)control theory is proposed.Firstly,the control problem of three-axis MEMS gyroscope is decomposed into the control problem of three strict feed-back subsystems.The known or unknown dynamics of the three subsystems and their uncertainties,external bounded disturbances are de-fined as three total disturbances respectively.Then,the three subsystems are equivalently mapped into three second-order linear disturb-ance systems.Based on this,three controlled error systems under the inverse excitation of the total disturbance are constructed respective-ly,and three auto-coupling proportional-differential(ACPD)controllers are designed according to the ACPID control theory.Finally,the robust stability and anti-disturbance robustness of each subsystem are analyzed.The simulation results verify the effectiveness of the pro-posed control method,which has a good practical application prospect in the field of MEMS gyroscope control system.
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