Active Disturbance Rejection Control for MEMS Gyroscopes

• Published in: IEEE transactions on control systems technology Vol. 17; no. 6; pp. 1432 - 1438
• Main Authors: Qing Zheng, Qing Zheng, Lili Dong, Lili Dong, Dae Hui Lee, Dae Hui Lee, Zhiqiang Gao, Zhiqiang Gao
• Format: Journal Article
• Language: English
• Published: New York, NY IEEE 01.11.2009; Institute of Electrical and Electronics Engineers; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Active control; Active disturbance rejection control (ADRC); Applied sciences; Computer science; control theory; systems; Control system analysis; Control system synthesis; Control systems; Control theory. Systems; discrete implementation; Disturbances; Drives; Dynamics; Error analysis; Error correction; Exact sciences and technology; extended state observer (ESO); field-programmable gate array (FPGA); Fundamental areas of phenomenology (including applications); Gyroscopes; Mathematical models; Measurements common to several branches of physics and astronomy; Metrology, measurements and laboratory procedures; Micro-Electro-Mechanical Systems (MEMS) gyroscopes; Microelectromechanical systems; Micromechanical devices; Noise robustness; Physics; Rejection; Resonance; Robust control; Solid mechanics; Stability analysis; Structural and continuum mechanics; Studies; Velocity, acceleration and rotation; Vibration, mechanical wave, dynamic stability (aeroelasticity, vibration control...); Disturbance rejection; discrete implementation; Error estimation; Control synthesis; Micromachine; field-programmable gate array (FPGA); Defects; Vibrations; Active system; Bandwidth; Active disturbance rejection control (ADRC); Tracking error; Modelling; Robustness; Gyroscopes; State estimation; Economics; Estimation error; Bounded error; Real time; Micro-Electro-Mechanical Systems (MEMS) gyroscopes; Upper bound; Optimal trajectory; extended state observer (ESO); Resonance; Field programmable gate arrays
• ISSN: 1063-6536; 1558-0865
• DOI: 10.1109/TCST.2008.2008638

A new control method is presented to drive the drive axis of a Micro-Electro-Mechanical Systems (MEMS) gyroscope to resonance and to regulate the output amplitude of the axis to a fixed level. It is based on a unique active disturbance rejection control (ADRC) strategy, which actively estimates and compensates for internal dynamic changes of the drive axis and external disturbances in real time. The stability analysis shows that both the estimation error and the tracking error of the drive axis output are bounded and that the upper bounds of the errors monotonously decrease with the increase of the controller bandwidth. The control system is simulated and tested using a field-programmable-gate-array-based digital implementation on a piezoelectric vibrational gyroscope. Both simulation and experimental results demonstrate that the proposed controller not only drives the drive axis to vibrate along the desired trajectory but also compensates for manufacture imperfections in a robust fashion that makes the performance of the gyroscope insensitive to parameter variations and noises. Such robustness, the fact that the control design does not require an accurate plant model, and the ease of implementation make the proposed solution practical and economic for industrial applications.