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ADAPTIVE SLIDING MODE CONTROL WITH APPLICATION TO A MEMS VIBRATORY GYROSCOPE

Fei, Juntao
http://rave.ohiolink.edu/etdc/view?acc_num=akron1194886083

Abstract Details

2007, Doctor of Philosophy, University of Akron, Mechanical Engineering.
Gyroscopes are commonly used sensors for measuring angular velocity in many areas of applications such as navigation, homing, and control stabilization. Vibratory gyroscopes are the devices that transfer energy from one axis to the other through Coriolis forces. Fabrication imperfections result in some cross stiffness and cross damping effects that may hinder the measurement of angular velocity of MEMS gyroscope. Other noise sources such as thermal, mechanical noise also affect the performance. The angular velocity measurement and minimization of the cross coupling between two axes are challenging problems in the control of vibrating gyroscopes.This dissertation develops adaptive sliding mode control strategies for a MEMS z-axis gyroscope. The proposed adaptive sliding mode controllers for MEMS z-axis gyroscope make real-time estimates of the angular velocity as well as all unknown gyroscope parameters including coupling stiffness and damping parameters. Therefore, fabrication imperfection and time varying noise and disturbance can be compensated for. These estimates are updated using the tracking error between the reference model trajectory and mass’ real trajectory. The reference model trajectory is designed to satisfy the persistence of excitation condition to enable parameter estimates to converge to their true values. The indirect adaptive sliding mode controller and direct adaptive sliding mode controller with proportional and integral sliding surface are proposed for MEMS gyroscope. In the presence of unmeasured velocity states, an adaptive sliding mode controller with a sliding mode observer that can reconstruct the unmeasured states is developed to estimate the angular velocity and the linear damping and stiffness coefficients of the gyroscope in real time despite parameter variations and external disturbance. Moreover, the adaptive sliding mode control for two axes angular sensor is extended to triaxial angular sensor and a novel concept for an adaptively controlled triaxial angular velocity sensor device that is able to detect rotation in the three orthogonal axes, using a single vibrating mass is proposed. The numerical simulations of MEMS gyroscope show the effectiveness of all the proposed adaptive sliding mode control schemes. It is shown that the proposed adaptive sliding mode control schemes offer several advantages such as consistent estimates of gyroscope parameters including angular velocity and large robustness to parameter variations and disturbance.
Celal Batur (Advisor)
168 p.
Engineering, Mechanical
adaptive sliding mode control; MEMS vibratory gyroscope; angular velocity

Recommended Citations

Citations

  • Fei, J. (2007). ADAPTIVE SLIDING MODE CONTROL WITH APPLICATION TO A MEMS VIBRATORY GYROSCOPE [Doctoral dissertation, University of Akron]. OhioLINK Electronic Theses and Dissertations Center. http://rave.ohiolink.edu/etdc/view?acc_num=akron1194886083

    APA Style (7th edition)

  • Fei, Juntao. ADAPTIVE SLIDING MODE CONTROL WITH APPLICATION TO A MEMS VIBRATORY GYROSCOPE. 2007. University of Akron, Doctoral dissertation. OhioLINK Electronic Theses and Dissertations Center, http://rave.ohiolink.edu/etdc/view?acc_num=akron1194886083.

    MLA Style (8th edition)

  • Fei, Juntao. "ADAPTIVE SLIDING MODE CONTROL WITH APPLICATION TO A MEMS VIBRATORY GYROSCOPE." Doctoral dissertation, University of Akron, 2007. http://rave.ohiolink.edu/etdc/view?acc_num=akron1194886083

    Chicago Manual of Style (17th edition)

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This open access ETD is published by University of Akron and OhioLINK.