제어로봇시스템학회논문지 (Journal of Institute of Control, Robotics and Systems)

  • 제18권6호
  • /
  • Pages.546-554
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  • 2012
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  • 1976-5622(pISSN)
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  • 2233-4335(eISSN)
제어로봇시스템학회 (Institute of Control, Robotics and Systems)
권호 표지
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고체형 정밀 공진 자이로스코프를 위한 이차 PLL 루프필터 기반 위상제어루프 설계

Phase Control Loop Design based on Second Order PLL Loop Filter for Solid Type High Q-factor Resonant Gyroscope

  • 박상준 (건국대학교 항공우주정보시스템공학과) ;
  • 용기력 (한국항공우주연구소) ;
  • 이영재 (건국대학교) ;
  • 성상경 (건국대학교 항공우주정보시스템공학과)
  • 투고 : 2012.01.03
  • 심사 : 2012.05.14
  • 발행 : 2012.06.01
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초록

This paper suggests a design method of an improved phase control loop for tracking resonant frequency of solid type precision resonant gyroscope. In general, a low cost MEMS gyroscope adapts the automatic gain control loops by taking a velocity feedback configuration. This control technique for controlling the resonance amplitude shows a stable performance. But in terms of resonant frequency tracking, this technique shows an unreliable performance due to phase errors because the AGC method cannot provide an active phase control capability. For the resonance control loop design of a solid type precision resonant gyroscope, this paper presents a phase domain control loop based on linear PLL (Phase Locked Loop). In particular, phase control loop is exploited using a higher order PLL loop filter by extending the first order active PI (Proportion-Integral) filter. For the verification of the proposed loop design, a hemispherical resonant gyroscope is considered. Numerical simulation result demonstrates that the control loop shows a robust performance against initial resonant frequency gap between resonator and voltage control oscillator. Also it is verified that the designed loop achieves a stable oscillation even under the initial frequency gap condition of about 25 Hz, which amounts to about 1% of the natural frequency of a conventional resonant gyroscope.

키워드

참고문헌

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피인용 문헌

  1. Dynamic Models of Hemispherical Resonator Gyros and Tests of Basic Control Characteristics vol.19, pp.10, 2013, https://doi.org/10.5302/J.ICROS.2013.13.1899
  2. Analysis of Deadzone Error by Electrical Cross-coupling on a Closed-loop Fiber Optic Gyroscope vol.20, pp.4, 2014, https://doi.org/10.5302/J.ICROS.2014.13.8007
  3. Force-To-Rebalance Mode of a Resonator Gyro and Angular Rate Measurement Tests vol.20, pp.5, 2014, https://doi.org/10.5302/J.ICROS.2014.13.1983
  4. Design of Oscillation Control Loop With Coarse-Precision Mode Transition for Solid-State Resonant Gyroscope vol.16, pp.6, 2016, https://doi.org/10.1109/JSEN.2015.2505324