Controller Unit and Device for Resetting an Oscillator Excited by a Harmonic Oscillation, and Yaw Rate Sensor
First Claim
1. A controller unit comprising a PI-controller with a proportional transfer element and an integrating transfer element, arranged parallel to the proportional transfer element, wherein a controller input of the controller unit is connected with both transfer elements, characterized inthat a transfer function of the PI-controller has a conjugate complex pole at a controller angular frequency ω
-
r in the s-plane or a pole at e±
jω
rT in the z-plane, wherein T is the sampling time of a discrete input signal of the PI-controller and ω
r is larger than 0.
1 Assignment
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Accused Products
Abstract
A controller unit includes a PI-controller for harmonic command variables. The transfer function of the PI-controller has a conjugate complex pole at a controller angular frequency ωr in the s-plane or a pole at e±jω
6 Citations
18 Claims
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1. A controller unit comprising a PI-controller with a proportional transfer element and an integrating transfer element, arranged parallel to the proportional transfer element, wherein a controller input of the controller unit is connected with both transfer elements, characterized in
that a transfer function of the PI-controller has a conjugate complex pole at a controller angular frequency ω -
r in the s-plane or a pole at e±
jωr T in the z-plane, wherein T is the sampling time of a discrete input signal of the PI-controller and ω
r is larger than 0. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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r in the s-plane or a pole at e±
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13. A rotation rate sensor comprising
a moveably supported oscillator which is excitable in a direction of excitation to an oscillation with a resonance angular frequency ω -
0, and
a controller unit comprising a PI-controller with a proportional transfer element and an integrating transfer element arranged parallel to the proportional transfer element, wherein a controller input of the controller unit is connected with both transfer elements, characterized in that the transfer function of the PI-controller has a conjugate complex pole at the resonance angular frequency ω
0 in the s-plane or at e±
jω0 T in the z-plane, wherein T is the sampling time of a discrete input signal of the PI-controller and ω
0 is larger than 0. - View Dependent Claims (14)
-
0, and
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15. A method for operating a rotation rate sensor, comprising
generating a measurement signal by a sensor reproducing a deflection of an oscillator, and generating a controller signal for an actuator from the measurement signal, wherein the actuator counteracts the deviation of the oscillator from a harmonic oscillation with the resonance angular frequency ω -
0, the controller signal is deduced by means of a controller unit from the measurement signal, and the controller unit comprises a PI-controller with a proportional transfer element and an integrating transfer element arranged parallel to the proportional transfer element, wherein a controller input of the controller unit is connected with both transfer elements, wherein
a transfer function of the PI-controller has a conjugate complex pole at the resonance angular frequency ω
0 in the s-plane or a pole at e±
jω0 T in the z-plane, wherein T is the sampling time of a discrete input signal of the PI-controller.
-
0, the controller signal is deduced by means of a controller unit from the measurement signal, and the controller unit comprises a PI-controller with a proportional transfer element and an integrating transfer element arranged parallel to the proportional transfer element, wherein a controller input of the controller unit is connected with both transfer elements, wherein
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16. A method for manufacturing a rotation rate sensor, comprising
dimensioning a controller unit comprising a PI-controller with a proportional transfer element and an integrating transfer element, arranged parallel to the proportional transfer element, wherein a controller input of the controller unit is connected with both transfer elements characterized in that the PI-controller is provided with a transfer function that has a conjugate complex pole at a controller angular frequency ω -
r in the s-plane or a pole at e±
jωr T in the z-plane, wherein T is the sampling time of a discrete input signal of the PI-controller and ω
r is larger than 0 and an integral action coefficient of the integrating transfer element and an amplification factor of the proportional transfer element are chosen such that the PI-controller is suitable for generating, at admission with a harmonic input signal of controller angular frequency ω
r modulated by the step function at the controller input, a harmonic oscillation of the controller angular frequency ω
r with rising amplitude at the controller output, andthe controller angular frequency ω
r is chosen such that the controller angular frequency ω
r is equal to the resonance angular frequency ω
0 of an excitation unit of the rotation rate sensor. - View Dependent Claims (17, 18)
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r in the s-plane or a pole at e±
Specification