第19卷第11期 2011年11月
文章编号
1004-924X(2011)11-2657-07
光学精密工程
Optics and Precision Engineering
Vol.19No.11
Nov.2011
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
（厦门大学机电工程系，福建厦门361005）
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1nm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预测控制器的两个审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，即使输人角速度是缓变的随机信号，LQG预测控制器也能将隧道间臣距维持在1nm附近。控制系统能够精确地估计欲测量的输人角速度，估计精度达到10-*rad/s。关键调：微机械隧道陀螺仅；线性二次高斯(LQG)预测控制；隧道效应；闭环系统
中图分类号：U666.16;TP273
文献标识码：A
doi;10.3788/OPE.20111911.2657
Time-varyingpredictive-LQGcontrolformicromechanical
tunnelinggyroscope
LIU Yi-fang,WANG Ling-yun',SUN Dao-heng
(DepartmentofMechanical andElectrical Engineering,XiamenUniversity
Xiamen361005，China)
Correspondingauthor，E-mail:rabitwanglyyahoo.com.cn
Abstract: In order to decrease the nonlinearity of a Micromechanical Tunneling Gyroscope(MTG), en large 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 Line ar 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 e quation of the MTG. Finally, the predictive-LQG controller system of the MTG was built up by Sim-
收稿日期：2011-06-03；修订日期：2011-07-15.
基金项目：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（No.2010121039)