Design And Manufacture Of Multifunctional MEMS Gyro Stabilization Platform

At present,the teaching mode of some colleges and universities for related subjects is still in the theoretical teaching part,and the experimental courses are only in the simulation stage,lacking a systematic experimental teaching equipment.Based on the research and application background of practical teaching in Colleges and universities,an instrument is designed to apply MEMS stable platform to experimental teaching,and at the same time,it has the function of calibrating test turntable.The instrument integrates multiple functions,including stable platform,three-axis position turntable,three-axis speed turntable,swing table,and one machine with multiple functions.Compared with the traditional test and calibration turntable,it has the advantages of small size and low cost.On the one hand,this equipment can be used as a test instrument to carry out practical teaching in Colleges and universities,to assist teachers to complete inertial technology related courses and embedded programming and other related experiments;on the other hand,it can also meet the calibration requirements of some indicators of low and medium precision MEMS inertial devices.Multi functional integration is conducive to improving the cost performance of the equipment,especially in the experimental teaching with the advantage of "one machine,multi-purpose".The main contents of this paper are as follows:Firstly,MEMS inertial measurement unit is a kind of multi-sensor information fusion non-linear system,which is easy to be interfered by external noise,so the output attitude accuracy is not high.Aiming at this problem,this paper respectively analyzes the attitude measurement modeling of MEMS inertial devices,finds the error term of the system,and then proposes an improved extended Kalman filter algorithm(EKF),which makes the MEMS inertial measurement unit The static accuracy is 0.5 ° and the dynamic accuracy is 1 °.Then,aiming at the problem of system overshoot in the operation of instrument control system,the fuzzy adaptive PID control algorithm is proposed.By analyzing the digital steering gear model and the stable platform system model,the domain value of fuzzy adaptive PID control parameters is determined.The superiority of fuzzy adaptive PID control algorithm is verified by MATLAB simulation and dynamic stable platform experiment Compared with the classical PID algorithm,the over time optimization of the control algorithm is 54%.This paper introduces the overall design of the instrument system,the design of attitude information fusion algorithm,the realization of fuzzy PID control algorithm and the design of hardware and software of the whole instrument.Finally,through the non-magnetic turntable to test the relevant indicators of the instrument,to verify the accuracy of the instrument.