Abstract:

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.