论文部分内容阅读
为满足微机械陀螺仪(MMG)闭环驱动电路起振快速、无超调且稳态精度高等要求,提出了一种基于FPGA的数字化变结构PID控制器,并以其为核心构建了微机械陀螺仪的数字化闭环驱动电路.通过构造以控制误差为自变量的比例增益、积分增益和微分增益函数,使变结构PID的结构和参数能够根据瞬时误差的变化而变化,以提高闭环驱动电路的性能.针对某型微机械陀螺仪敏感结构参数,进行了SIMULINK仿真,仿真结果表明以变结构PID为核心的闭环驱动电路是可行的.起振实验结果表明,经典PID构成的闭环驱动电路,其检测电压的幅值超调量达到了75%,稳定时间为2 s;采用变结构PID控制器后闭环驱动检测电压的幅值无超调且稳定时间为0.7 s;1 h的稳定性实验表明,采用经典PID时检测电压幅值的长期稳定性为2.73×10-5V,采用变结构PID时其稳定性为2.68×10-5V,证明变结构PID可以兼顾系统在快速性、超调量和稳态精度等方面的要求.
In order to meet the requirements of fast start-up, no overshoot and high steady-state precision of the closed-loop drive circuit of a micro-machined gyroscope (MMG), a digital variable structure PID controller based on FPGA is proposed. Digital closed-loop drive circuit.Through the construction of proportional gain, integral gain and differential gain function with control error as independent variable, the structure and parameters of variable structure PID can be changed according to the change of instantaneous error to improve the performance of closed-loop drive circuit Aiming at the sensitive structural parameters of a MEMS gyroscope, SIMULINK simulation is carried out, the simulation results show that the closed-loop drive circuit based on variable structure PID is feasible.The experimental results show that the closed-loop drive circuit composed of classic PID, The magnitude of the voltage overshoot reached 75% and the settling time was 2 s. The closed-loop driving detection voltage with variable structure PID controller did not overshoot and the settling time was 0.7 s. The stability of 1 h showed that, The long-term stability of the detection voltage amplitude when using the classic PID is 2.73 × 10-5V, its stability is 2.68 × 10-5V when the variable structure PID is used, which proves that the variable structure PID can balance the system fast Speed, overshoot and steady-state accuracy and other requirements.