Adaptive Control of a MEMS Gyroscope Using Lyapunov Methods.pdfVIP

278 IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, VOL. 14, NO. 2, MARCH 2006 Brief Papers_______________________________________________________________________________ Adaptive Control of a MEMS Gyroscope Using Lyapunov Methods Robert P. Leland, Member, IEEE Abstract— Two adaptive controllers for a vibrational MEMS gy- an automatic gain control loop, which adjusts the input ampli- roscope are described. Both controllers tune the drive axis natural tude. Adaptive control is used to maintain the desired amplitude. frequency to a preselected frequency, regulate the amplitude of the Third, the quadrature error must be canceled. Coupling between drive axis vibration, cancel out quadrature error due to stiffness coupling, and drive the sense axis vibration to zero for force-to-re- the drive and sense axes from stiffness coupling, and misaligned balance operation. The ?rst controller is based on an averaged, sensors and actuators results in vibration of the sense axis that is low frequency model, and the second is based on the full gyroscope not due to rotation. Adaptive control is used to cancel this effect, model. Both controllers are successfully simulated for the Berkeley called quadrature error. Fourth, in force-to-rebalance mode, the Z-axis gyro. The Lyapunov function used is critical in obtaining a sense axis vibration is driven to zero. The control signal that good transient response, especially for the force-to-rebalance and automatic gain control loops. To implement the full model con- does this becomes the measurement. Adaptive control is used troller with displacement measurements only, and no velocity mea- to implement the rebalance loop. surements, the controller is approximated. A ‘slow system’ model of the gyroscope dynamics was de- Index Terms—Adaptive control, Lyapunov methods, microelec- rived by the method of averaging. The method of averaging was tromechanical devices, perturbation methods. used to analyze a vibrat