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Gyro

Behavioral model of MEMS gyro

  • Library:
  • Simscape / Electrical / Sensors & Transducers

  • Gyro block

Description

The Gyro block implements a behavioral model of a MicroElectroMechanical Systems (MEMS) gyro. The gyro provides an output voltage that is proportional to the angular rotation rate presented at the mechanical rotational physical port R. The output voltage is limited according to the values that you provide for maximum and minimum output voltage.

Optionally, you can model sensor dynamics by setting the Dynamics parameter to Model sensor bandwidth. Including dynamics adds a first-order lag between the angular rate presented at port R and the corresponding voltage applied to the electrical + and - ports.

If running your simulation with a fixed-step solver, or generating code for hardware-in-the-loop testing, MathWorks recommends that you set the Dynamics parameter to No dynamics — Suitable for HIL, because this avoids the need for a small simulation time step if the sensor bandwidth is high.

Variables

Use the Variables section of the block interface to set the priority and initial target values for the block variables prior to simulation. For more information, see Set Priority and Initial Target for Block Variables.

The Measured angular rate variable target specifies the initial output for the sensor.

Ports

Conserving

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Mechanical conserving port associated with the gyro translational port.

Electrical conserving port associated with the gyro positive terminal.

Electrical conserving port associated with the gyro negative terminal.

Parameters

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The change in output voltage level per unit change in rotation rate when the output is not being limited.

The output voltage from the sensor when the rotation rate is zero.

The maximum output voltage from the sensor, which determines the sensor maximum measured rotational rate.

The minimum output voltage from the sensor, which determines the sensor minimum measured rotational rate.

Select one of the following options for modeling sensor dynamics:

  • No dynamics — Suitable for HIL — Do not model sensor dynamics. Use this option when running your simulation fixed step or generating code for hardware-in-the-loop testing, because this avoids the need for a small simulation time step if the sensor bandwidth is high. This is the default option.

  • Model sensor bandwidth — Model sensor dynamics with a first-order lag approximation, based on the Bandwidth parameter value. You can control the initial condition for the lag by specifying the Measured angular rate variable target.

Specifies the 3dB bandwidth for the measured rotational rate assuming a first-order time constant.

Dependencies

This parameter is visible only when you select Model sensor bandwidth for the Dynamics parameter.

Extended Capabilities

C/C++ Code Generation
Generate C and C++ code using Simulink® Coder™.

Introduced in R2012b