Yuchen Wang

Ocean University of China

Open-loop excitation resonant gyro phase problem

From the perspective of control and vibration

Tips 若看不到公式，刷新一下即可。 现象 前些天师弟们以开环驱动陀螺的方式做实验，利用信号发生器直接产生一定频率的余弦波信号去激励陀螺，以步长为1Hz调整信号频率。 理论上来讲，如果陀螺处于谐振状态，激励信号的相位应该超前陀螺输出信号90度。然而，利用示波器观察激励信号和陀螺输出信号的相位，发现在某个频率点附近，小1Hz的频率会使激励信号和陀螺输出信号同相位...

Posted by OUC_WYC on September 10, 2021

Online learning control for gyro system

A novel and efficient control algorithm

OLC OLC算法由张承玺博士提出，是一种简单易用的控制算法，具有一定的工程实践意义。 Compared with the conventional control design, an obvious distinction of the online-learning control (OLC) algorithm is that it together...

Posted by OUC_WYC on August 15, 2021

Online learning control for stabilization

A novel and efficient control algorithm

OLC OLC算法由张承玺博士提出，本文主要参考其首次提出OLC算法的论文On low-complexity control design to spacecraft attitude stabilization: An online-learning approach。OLC和NON-OLC的控制律参考该论文，控制对象选取一般二阶对象。 Compared ...

Posted by OUC_WYC on July 15, 2021

Tuning and realization for ADRC

Linear Active Disturbance Rejection Control

Tips 若看不到公式，刷新一下即可。 ADRC 本文涉及LADRC的实现和调参，但不涉及安排过渡过程的内容，主要参考高志强老师的两篇著作。 [1] Gao, Zhiqiang. “Scaling and bandwidth-parameterization based controller tuning.” Proceedings of the Ameri...

Posted by OUC_WYC on March 15, 2021

Iterative learning control for gyro system

Control algorithm for resonant gyroscopes

一阶系统迭代学习控制 代码如下： clear all; close all; clc; m=40000; %迭代次数 n=100; %时间 ss(1:m,1:n)=0; %同向信号 rr(1:m,1:n)=0; %正交信号 x1(1:m,1:n)=0; %状态变量 x2(1:m,1:n)=0; x3(1:m,1:n...

Posted by OUC_WYC on February 15, 2021

Gradient descent for gyro system

Parameter identification for resonant gyroscopes

造数据 首先采用一阶模型造一组陀螺输出数据的真值，代码如下： clear; DriveAmp=100; %激励信号幅值100mV A=1; B=10*2*pi; FreOmega=0; SigAmp=0; Gdata = []; for i=1:20 FreOmega=(i*0.5+10)*2*pi; % 频率×2...

Posted by OUC_WYC on November 15, 2020

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Ocean University of China

✉️ wyc@stu.ouc.edu.cn

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