MEMS三轴陀螺仪中不匹配干扰抑制方法

微机电系统(micro electro mechanic system, MEMS)陀螺仪作为一类新型角速率传感器，其制造和应用过程中不可避免会受到不匹配干扰的影响，即速度项的测量过程中引入各种噪声，降低MEMS陀螺仪的检测精度。在滑模控制策略下提出一种基于辅助变量的非线性干扰观测器，对MEMS陀螺系统中存在的不匹配干扰进行实时估计，同时针对积分自适应切换增益发散问题，采用了一种避发散技术-死区技术。最后通过李雅普诺夫理论进行了系统稳定性分析。仿真结果表明，该策略实现了轴向轨迹跟踪，提高了陀螺仪的检测精度。

Control method of mismatched disturbances for MEMS triaxial gyroscope

The micro-electro-mechanic system (MEMS) gyroscope is a new kind of angular rate sensor. In the manufacturing and application process, it will inevitably suffer from the mismatched disturbances, i.e., the introduction of a variety of noises in the speed measurement process, which reduces the detection accuracy of the MEMS gyroscope. A nonlinear disturbance observer based on auxiliary variables is proposed under the sliding mode control strategy, which estimates the mismatched disturbances in real time. At the same time, for integrating adaptive gain switching divergence problem, a divergent avoidance technique named as dead zone technique is used. Finally, the system stability is analyzed through the Lyapunov theory. Simulation results show that the proposed method tracks the trajectory and improves the detection accuracy of the gyroscope.