球碟转子式微陀螺自适应快速启动技术

刘晓为; 翁睿; 李海; 张海峰

doi:10.1631/FITEE.1600035

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球碟转子式微陀螺自适应快速启动技术

常规文章 | Updated：2022-05-19

- 球碟转子式微陀螺自适应快速启动技术
- Ball-disk rotor gyroscope adaptive quick-start technique
- 信息与电子工程前沿（英文） 2017年18卷第9期页码：1430-1436
- 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：
  
  Project supported by the National Basic Research Program of China (No. 2012CB934104), the National Natural Science Foundation of China (No. 61474034), the Natural Science Foundation of Heilongjiang Province of China (No. F201418), and the Fundamental Research Funds for the Central Universities, China (Nos. HIT.NSRIF. 2014040 and HIT.NSRIF.2013040)
- DOI：10.1631/FITEE.1600035
  中图分类号： TN965
- 收稿：2016-01-21，
  
  修回：2017-;9-25，
  
  纸质出版：2017-09
- Accepted：
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刘晓为, 翁睿, 李海, 等. 球碟转子式微陀螺自适应快速启动技术[J]. 信息与电子工程前沿（英文）, 2017,18(9):1430-1436.

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.
刘晓为, 翁睿, 李海, 等. 球碟转子式微陀螺自适应快速启动技术[J]. 信息与电子工程前沿（英文）, 2017,18(9):1430-1436. DOI： 10.1631/FITEE.1600035.

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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