Documentation Center

  • Trial Software
  • Product Updates

Gyro

Behavioral model of MEMS gyro

Library

Sensors

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.

Dialog Box and Parameters

Sensitivity

The change in output voltage level per unit change in rotation rate when the output is not being limited. The default value is 12.5 mV/(deg/s).

Output voltage for zero rotation

The output voltage from the sensor when the rotation rate is zero. The default value is 2.5 V.

Maximum output voltage

The maximum output voltage from the sensor, which determines the sensor maximum measured rotational rate. The default value is 4 V.

Minimum output voltage

The minimum output voltage from the sensor, which determines the sensor minimum measured rotational rate. The default value is 1 V.

Dynamics

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 and the Initial angular rate parameter values.

Bandwidth

Specifies the 3dB bandwidth for the measured rotational rate assuming a first-order time constant. This parameter is only visible when you select Model sensor bandwidth for the Dynamics parameter. The default value is 3 kHz.

Initial angular rate

Determines the initial condition for the lag by specifying the initial output for the sensor, expressed in units of angular rotation rate. This parameter is only visible when you select Model sensor bandwidth for the Dynamics parameter. The default value is 0 deg/s.

Ports

The block has the following ports:

R

Mechanical rotational port

+

Positive electrical port

-

Negative electrical port

Was this topic helpful?