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

• US 8,381,589 B2
• Filed: 06/23/2010
• Issued: 02/26/2013
• Est. Priority Date: 06/23/2010
• Status: Expired due to Fees

• 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
• Primary Examiner(s): Kwok, Helen C.
• Application Number:
  US12/801,728
• Publication Number:
  US 20110314910A1
• Time in Patent Office: 979 Days
• Field of Search: 735/041.2, 735/040.4, 735/041.4, 735/041.5, 735/040.2, 73/13.7, 73/17.7
• 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 including a mechanical structure, a dynamic behavior of the mechanical structure being described with a plurality of system parameters and a plurality of dynamic equations;

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

a state observer coupled to the gyroscope, including a single-axis-control-input gyroscope model which receives the single-axis control signal and generates a plurality of model system dynamics;

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

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 1, wherein the gyroscopic system dynamic 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.