Single-axis-control-input gyroscope system having imperfection compensation

• US 20110314910A1
• Filed: 06/23/2010
• Published: 12/29/2011
• Est. Priority Date: 06/23/2010
• Status: Active Grant

• Current Assignee: National Chiao Tung University (Government of The Republic of China)
• Original Assignee: National Chiao Tung University (Government of The Republic of China)
• Inventors: CHEN, Tsung-Lin, CHI, Chien-Yu, LEE, Chia-Wei
• Granted Patent: US 8,381,589 B2
• Time in Patent Office: Days
• US Class Current: 73/504.12
• CPC Class Codes: G01C 19/5726 Signal processing
• CPC Class Codes: G01C 21/183 Compensation of inertial measurements, e.g. for temperature effects

Abstract

The present invention proposes a single-axis-control-input gyroscope system having imperfection compensation, which comprises a gyroscope and a state observer. The gyroscope includes a mechanical structure, and the dynamic behavior of the mechanical structure is described with a plurality of system parameters and a plurality of dynamic equations. The system parameters include a mass of the gyroscope, two main-axis spring constants, a cross-axis spring constant, two main-axis damping coefficients, a cross-axis damping coefficient and an angular velocity. The mechanical imperfections cause the system parameters to deviate from the designed values and become unknown values. The gyroscope receives a single-axis control signal and outputs a plurality of gyroscopic system dynamics. The single-axis control signal includes at least two frequency signals. The state observer is coupled to the gyroscope to receive the gyroscopic system dynamics as the inputs thereof to feed back compensations to the state observer. Thereby is estimated an angular velocity.

Claims

1. A single-axis-control-input gyroscope system having imperfection compensation comprising a gyroscope and a state observer, the gyroscope further comprises a mechanical structure, and the dynamic behavior of the mechanical structure is described with a plurality of system parameters and a plurality of dynamic equations;

the gyroscope receives a single-axis control signal and outputs a plurality of gyroscopic system dynamics, and the single-axis control signal includes at least two frequency signals;

the state observer is coupled to the gyroscope to receive at least two of the gyroscopic system dynamics as the inputs thereof to feed back compensations to the state observer, whereby is estimated an angular velocity of an object with mechanical imperfections of the gyroscope being compensated for.

2. The single-axis-control-input gyroscope system having imperfection compensation according to claim 1, wherein the system parameters include a mass of the gyroscope, two main-axis spring constants, a cross-axis spring constant, two main-axis damping coefficients, a cross-axis damping coefficient and an angular velocity.

3. The single-axis-control-input gyroscope system having imperfection compensation according to claim 2, wherein the state observer further comprises a single-axis-control-input gyroscope model, and the single-axis-control-input gyroscope model receives the single-axis input signal as an input thereof and generates a plurality of model system dynamic outputs;

the state observer performs a difference operation of the gyroscopic system dynamic outputs and the model system dynamic outputs, and works out a plurality of compensation values and feeds back the compensation values to the single-axis-control-input gyroscope model to estimate the system parameters.

4. The single-axis-control-input gyroscope system having imperfection compensation according to claim 1, wherein the gyroscopic system dynamic outputs are confined to an x-y plane defined by an x axis and a y axis, and the single-axis control signal is input to the gyroscope via one of the x axis and the y axis;

there are exactly two model system dynamic outputs input to the state observer, and the two model system dynamic outputs are position at the x axis and position at the y axis, or speed in the x axis and speed in the y axis.