针对窄频差硅基环形波动陀螺动态性能差的问题,提出了一种基于比例积分微分-惯性环节(proportion integral differential-inertial element,PID-IE)的串联式相位校正检测闭环系统控制器。以硅微机械陀螺仪结构运动方程为基础建立了理想...针对窄频差硅基环形波动陀螺动态性能差的问题,提出了一种基于比例积分微分-惯性环节(proportion integral differential-inertial element,PID-IE)的串联式相位校正检测闭环系统控制器。以硅微机械陀螺仪结构运动方程为基础建立了理想的窄频差U形弹性梁硅基环形波动陀螺仪的系统模型。通过对环形陀螺开环工作状态下的系统模型及其外围电路的传递函数和波特图分析,设计了一种基于PID-IE的检测闭环系统控制器。通过对其系统模型及外围电路时域仿真,验证了该检测闭环控制系统的可行性,通过仿真发现,加入该控制器后的陀螺输出稳定时间减少了50%,陀螺检测位移输出减小了2个数量级,基本实现了该陀螺的检测位移抑制。在模拟电路中实现了该检测闭环控制系统后,通过实验测试了陀螺检测闭环控制前后的各项性能指标。通过实验测试发现,实现闭环控制后,陀螺输出稳定时间约为0.15 s,陀螺检测位移在闭环工作状态下比开环工作状态减小了97%,陀螺的标度因数比检测开环提高了10倍,零偏及零偏不稳定性与检测开环相比分别提升了3倍和8倍,且闭环控制系统的工作带宽比开环工作带宽提高了30倍。展开更多
Non-invasive surface electromyography(sEMG)electrodes have vast potential in fields such as healthcare,human-computer interaction,and entertainment,providing diverse information related to electromyographic signals.No...Non-invasive surface electromyography(sEMG)electrodes have vast potential in fields such as healthcare,human-computer interaction,and entertainment,providing diverse information related to electromyographic signals.Non-invasive sEMG electrodes reduce user risks but gather sEMG signals of lower quality compared to invasive ones.Currently,various advanced electrode materials have been developed for detecting physiological electrical signals,but the majority of them are single channel electrodes.Here,we report 64-channel three-dimensional(3D)Ti_(3)C_(2)MXene/CNT composite electrodes fabricated using bonding-driven self-assembly technologies.These electrodes are characterized by low skin-electrode contact impedance and a high signal-to-noise ratio(SNR)for collection of EMG signals.These electrode arrays exhibit remarkable flexibility,conforming seamlessly to the skin’s curvature.Specifically,the skin-electrode contact impedance of 3D Ti_(3)C_(2)MXene/CNT electrodes decreases by 10-fold compared to Ag/AgCl gel electrodes at a frequency of 100 Hz.Furthermore,when collecting sEMG signals from the arm,the prepared Ti_(3)C_(2)MXene/CNT electrodes exhibit lower baseline noise and higher SNR compared to Ag/AgCl gel electrodes.Furthermore,Ti_(3)C_(2)MXene/CNT electrodes can collect sEMG signals of different hand gestures,while maintaining a high SNR(∼25 dB).By combining machine learning,sEMG signals from different gestures can be identified with a recognition rate exceeding 90%.The exceptional performance and scalability of these 3D Ti_(3)C_(2)MXene/CNT electrodes indicate a promising future for shaping electronic skin and wearable device technologies.展开更多
文摘针对窄频差硅基环形波动陀螺动态性能差的问题,提出了一种基于比例积分微分-惯性环节(proportion integral differential-inertial element,PID-IE)的串联式相位校正检测闭环系统控制器。以硅微机械陀螺仪结构运动方程为基础建立了理想的窄频差U形弹性梁硅基环形波动陀螺仪的系统模型。通过对环形陀螺开环工作状态下的系统模型及其外围电路的传递函数和波特图分析,设计了一种基于PID-IE的检测闭环系统控制器。通过对其系统模型及外围电路时域仿真,验证了该检测闭环控制系统的可行性,通过仿真发现,加入该控制器后的陀螺输出稳定时间减少了50%,陀螺检测位移输出减小了2个数量级,基本实现了该陀螺的检测位移抑制。在模拟电路中实现了该检测闭环控制系统后,通过实验测试了陀螺检测闭环控制前后的各项性能指标。通过实验测试发现,实现闭环控制后,陀螺输出稳定时间约为0.15 s,陀螺检测位移在闭环工作状态下比开环工作状态减小了97%,陀螺的标度因数比检测开环提高了10倍,零偏及零偏不稳定性与检测开环相比分别提升了3倍和8倍,且闭环控制系统的工作带宽比开环工作带宽提高了30倍。
基金supported by the National Natural Science Foundation of China(52227808)the National Science Foundation for Distinguished Young Scholars of China(51725505)+2 种基金the Shanghai Science and Technology Commission(19JC1412400)the Development Fund for Shanghai Talents(2021003)the Shanghai Collaborative Innovation Center of Intelligent Perception Chip Technology。
文摘Non-invasive surface electromyography(sEMG)electrodes have vast potential in fields such as healthcare,human-computer interaction,and entertainment,providing diverse information related to electromyographic signals.Non-invasive sEMG electrodes reduce user risks but gather sEMG signals of lower quality compared to invasive ones.Currently,various advanced electrode materials have been developed for detecting physiological electrical signals,but the majority of them are single channel electrodes.Here,we report 64-channel three-dimensional(3D)Ti_(3)C_(2)MXene/CNT composite electrodes fabricated using bonding-driven self-assembly technologies.These electrodes are characterized by low skin-electrode contact impedance and a high signal-to-noise ratio(SNR)for collection of EMG signals.These electrode arrays exhibit remarkable flexibility,conforming seamlessly to the skin’s curvature.Specifically,the skin-electrode contact impedance of 3D Ti_(3)C_(2)MXene/CNT electrodes decreases by 10-fold compared to Ag/AgCl gel electrodes at a frequency of 100 Hz.Furthermore,when collecting sEMG signals from the arm,the prepared Ti_(3)C_(2)MXene/CNT electrodes exhibit lower baseline noise and higher SNR compared to Ag/AgCl gel electrodes.Furthermore,Ti_(3)C_(2)MXene/CNT electrodes can collect sEMG signals of different hand gestures,while maintaining a high SNR(∼25 dB).By combining machine learning,sEMG signals from different gestures can be identified with a recognition rate exceeding 90%.The exceptional performance and scalability of these 3D Ti_(3)C_(2)MXene/CNT electrodes indicate a promising future for shaping electronic skin and wearable device technologies.
