微机械隧道陀螺仪的时变线性二次高斯预测控制

刘益芳; 王凌云; 孙道恒

doi:10.3788/OPE.20111911.2657

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微机械隧道陀螺仪的时变线性二次高斯预测控制

微纳技术与精密机械 | 更新时间：2020-08-12

- 微机械隧道陀螺仪的时变线性二次高斯预测控制
- Time-varying predictive-LQG control for micromechanical tunneling gyroscope
- 光学精密工程 2011年19卷第11期页码：2657-2663
- 作者机构：
  
  厦门大学机电工程系,福建厦门,361005
- 作者简介：
- 基金信息：
  
  国家自然科学基金资助项目(No.50875222/51035002)();青年科学基金资助项目(No.51105320)();中央高校基本科研业务费专项基金资助项目(N
- DOI：10.3788/OPE.20111911.2657
  中图分类号： TP273;U666.16
- 收稿日期：2011-06-03，
  
  修回日期：2011-07-15，
  
  网络出版日期：2011-11-25，
  
  纸质出版日期：2011-11-25
- 稿件说明：
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刘益芳, 王凌云, 孙道恒. 微机械隧道陀螺仪的时变线性二次高斯预测控制[J]. 光学精密工程, 2011,19(11): 2657-2663

LIU Yi-fang, WANG Ling-yun, SUN Dao-heng. Time-varying predictive-LQG control for micromechanical tunneling gyroscope[J]. Editorial Office of Optics and Precision Engineering, 2011,19(11): 2657-2663
刘益芳, 王凌云, 孙道恒. 微机械隧道陀螺仪的时变线性二次高斯预测控制[J]. 光学精密工程, 2011,19(11): 2657-2663 DOI： 10.3788/OPE.20111911.2657.

LIU Yi-fang, WANG Ling-yun, SUN Dao-heng. Time-varying predictive-LQG control for micromechanical tunneling gyroscope[J]. Editorial Office of Optics and Precision Engineering, 2011,19(11): 2657-2663 DOI： 10.3788/OPE.20111911.2657.

摘要

为了降低微机械隧道陀螺仪系统的非线性

增大器件的带宽并提高系统的信噪比

隧尖与相应隧道电极之间的隧道间距应控制在1 nm附近

且其必须在闭环模式下工作。本文鉴于线性二次高斯(LQG)控制理论的抗干扰特性和鲁棒性以及哥氏加速度的时变特征

采用时变卡尔曼滤波器和LQG最优控制器串联而成的LQG预测控制策略设计了隧道陀螺仪闭环控制系统。首先

根据隧道陀螺仪的工作原理设计了总体控制方案。然后

在建立隧道式陀螺仪的扩展动态方程的基础上

设计了LQG预测控制器的两个串联环节即时变卡尔曼滤波器和状态反馈调节器。最后

通过Simulink建立了隧道式陀螺仪的LQG预测控制系统并进行数值仿真。结果表明

即使输入角速度是缓变的随机信号

LQG预测控制器也能将隧道间距维持在1 nm附近。控制系统能够精确地估计欲测量的输入角速度

估计精度达到10

-4

rad/s。

Abstract

In order to decrease the nonlinearity of a Micromechanical Tunneling Gyroscope(MTG)

enlarge its band width and raise the signal-to-noise ratio of the system

the tunneling gap between the tunneling tip and the corresponding tunneling electrode should be controlled in 1 nm

moreover the MTG must operate in the closed-loop mode. Based on the anti-interference and robustness of the Linear Quadratic Gauss(LQG) control theory and time-varying characteristics of Coriolis acceleration

this paper uses the predictive-LQG control strategy formed by a series of time-varying Kalman filter and an optimal LQG controller to design a closed-loop control system for the MTG. First

the overall control scheme was designed according to the operating principle of the MTG. Then

the two series of the predictive-LQG controllers were designed on the basis of the establishment of the extended dynamic equation of the MTG. Finally

the predictive-LQG controller system of the MTG was built up by Simulink

and a numerical simulation was performed. The simulation results prove that the tunneling gap has been controlled in 1 nm and the measured input angular rate could be estimated accurately by the predictive-LQG controller even if the input angular rate is a slowly varying random signal. And the estimation accuracy can reach 10

-4

rad/s.

关键词

Keywords

references

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