Ball-disk rotor gyroscope adaptive quick-start technique

Xiao-wei LIU; Rui WENG; Hai LI; Hai-feng ZHANG

doi:10.1631/FITEE.1600035

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Ball-disk rotor gyroscope adaptive quick-start technique

Regular Papers | Updated：2022-05-19

- Ball-disk rotor gyroscope adaptive quick-start technique
- 球碟转子式微陀螺自适应快速启动技术
- Frontiers of Information Technology & Electronic Engineering Vol. 18, Issue 9, Pages: 1430-1436(2017)
- Affiliations：
  
  MEMS Center, Harbin Institute of Technology, Harbin 150001, China
  MOE Key Laboratory of Micro-Systems and Micro-Structures Manufacturing, Harbin 150001, China
- Author bio：
  
  Rui WENG, E-mail: hit00@126.com
- Funds：
- DOI：10.1631/FITEE.1600035
  CLC： TN965
- Received：21 January 2016，
  
  Revised：2017-;9-25，
  
  Published：2017-09
- Accepted：
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Xiao-wei LIU, Rui WENG, Hai LI, et al. Ball-disk rotor gyroscope adaptive quick-start technique[J]. Frontiers of Information Technology & Electronic Engineering, 2017, 18(9): 1430-1436.
DOI：

Xiao-wei LIU, Rui WENG, Hai LI, et al. Ball-disk rotor gyroscope adaptive quick-start technique[J]. Frontiers of Information Technology & Electronic Engineering, 2017, 18(9): 1430-1436. DOI： 10.1631/FITEE.1600035.

摘要

转速是影响转子式微陀螺性能的关键因素，因此转子式微陀螺必须工作在较高转速下。为缩短转子式微陀螺的启动时间，提出了一种适用于球碟转子式微陀螺的新型驱动系统。该系统以微控制器为核心。首先，微控制器作为正弦脉冲宽度调制信号发生器，产生驱动永磁转子旋转的驱动磁场。其次，利用反电动势检测方法，通过检测转子在空闲驱动线圈中感应的反电动势，判定转子实时位置。之后，运用微控制器中的控制算法，保证转子在加速过程中加速度始终处于安全范围，并在达到设定转速时保证转子恒速运行。利用该控制算法，可以预防系统运行中出现失步现象而导致转子停转。实验结果表明，在自适应快速启动技术支持下，该器件启动速度可以提高36.6%。

Abstract

Rotating speed is a critical parameter affecting the performance of rotor gyroscopes. Rotor gyroscopes must operate at the rated rotating speed. To shorten the start time of the ball-disk rotor gyroscope

this paper presents a new design of the drive system for a ball-disk rotor gyroscope. The drive system is monitored by a microcontroller. First

the microcontroller generates a sine pulse width modulation signal to drive the permanent magnet rotor. Second

the position of the rotor is detected according to the back electromotive force in the non-energized coil. Third

a piecewise closed-loop control algorithm is implemented to keep the angular acceleration of the rotor within the safe range automatically during the acceleration process and when running at a constant speed. This control algorithm can avoid rotor stalling due to loss of steps. Experimental result shows that with the help of adaptive quick-start technique

the start time of the device can be shortened by up to 36.6%.

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references

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