Methods and system for position stabilization

1. A method of generating a drive signal, the method comprising:

receiving an input signal, wherein the input signal comprises an x-component, a y-component, and a z-component;

computing a first angle based on the y-component and the x-component, a second angle based on the z-component and the x-component, and a third angle based on the y-component and the z-component;

converting the first, second, and third angles to one of a plurality of zones, wherein each zone is defined according to a corresponding range of angles;

in response to determining that one of the first, second, and third angles has a zero value:

selecting a particular zone of the plurality of zones based on two remaining nonzero angles among the first, second, and third angles;

assigning the particular zone to the one of the first, second, and third angles whose value is zero;

in response to determining that the two remaining nonzero angles of the first, second, and third angles are in a same zone, selecting a particular gain value from a plurality of predetermined gain values, otherwise determining that no gain value of the plurality of predetermined gain values is appropriate; and

generating the drive signal according to the input signal and the particular gain value.

2. The method according to claim 1 , further comprising generating, in response to determining that no gain value is appropriate, the particular gain value based on a ratio, wherein the ratio comprises an actual angle of one of the first, second, and third angles, and a high threshold angle and a low threshold angle.

3. The method of claim 1 , wherein:

the first angle is based on an arctangent of the y-component divided by the x-component;

the second angle is based on the arctangent of the z-component divided by the x-component; and

the third angle is based on the arctangent of the y-component divided by the z-component.

4. The method of claim 1 , wherein the input signal corresponds to an acceleration signal of a gyroscope.

5. The method of claim 4 , further comprising receiving an angular velocity signal from the gyroscope.

6. The method of claim 5 , wherein generating the drive signal includes applying the particular gain value to the angular velocity signal to generate a modified signal, and generating the drive signal based on the modified signal.

7. A system, comprising:

a gyro sensor capable of generating a gyro signal having an x-component, a y-component, and a z-component;

a driver circuit connected to the gyro sensor and comprising:

a first circuit portion connected to the gyro sensor comprising at least a processor and a non-transitory memory and configured to:

compute a first angle, a second angle, and a third angle according to the gyro signal;

determine whether one of the first, second, and third angles have a zero value;

select, in response to one of the first, second, and third angles having a zero value, one of a plurality of predetermined zones, each predetermined zone of the plurality of predetermined zones representing a range of angles, based on the remaining angles and assigning the predetermined zone to the angle equaling zero;

select a first gain value from a plurality of predetermined gain values based on the first, second, and third angles, wherein at least one of the first, second, and third angles is equal to zero; and

in response to a determination that no gain value is appropriate, generate the first gain value based on a ratio of a first difference between an angle associated with an even zone and a low value, and a second difference between a high value and the low value, wherein the low value corresponds to a low magnitude angle of a lowest zone, and the high value corresponds to a high magnitude angle of a highest zone; and

a second circuit portion connected to the gyro sensor and configured to receive the first gain value and generate a drive signal according to the gyro signal and the first gain value; and

an actuator responsive to the drive signal.

8. The system according to claim 7 , wherein:

the first angle is an arctangent of the y-component divided by the x-component;

the second angle is defined as the arctangent of the z-component divided by the x-component; and

the third angle is defined as the arctangent of the y-component divided by the z-component.

9. The system according to claim 7 , wherein the first circuit portion is further configured to:

convert the first, second, and third angles to one of a plurality of zones, wherein each zone is defined according to a range of angles;

determine, in response to one of the first, second, and third angles having a zero value, whether the remaining two nonzero angles are in the same zone;

determine, in response to the remaining two nonzero angles not being in the same zone, that no predetermined gain value is appropriate; and

select, in response to the remaining two nonzero angles being in the same zone, a predetermined gain value associated with the zone.

10. The system according claim 7 , wherein the plurality of predetermined gain values comprises six values.

11. The system of claim 7 , wherein the gyro signal includes an acceleration signal and an angular velocity signal.

12. The system of claim 11 , wherein the x-component, the y-component, and the z-component are included in the acceleration signal.

13. The system of claim 12 , wherein to generate the drive signal, the second circuit portion is further configured to apply the first gain value to the angular velocity signal.

14. A method of generating a drive signal, the method comprising:

receiving an acceleration signal and an angular velocity signal, wherein the acceleration signal comprises an x-component, a y-component, and a z-component;

computing a first angle by determining a first arctangent of the y-component divided by the x-component;

computing a second angle by determining a second arctangent of the z-component divided by the x-component;

computing a third angle by determining a third arctangent of the y-component divided by the z-component;

determining whether one of the first, second, and third angles has a zero value;

selecting, in response to one of the first, second, and third angles having a zero value, one of a plurality of predetermined zones, each predetermined zone of the plurality of predetermined zones representing a range of angles, based on the remaining angles and assigning the predetermined zone to the angle equaling zero;

selecting a first gain value from a plurality of predetermined gain values based on the first, second, and third angles;

applying the first gain value to a filtered version of the angular velocity signal to generate a modified signal; and

generating the drive signal based on the modified signal.

15. The method according to claim 14 , further comprising generating, in response to determining no gain value is appropriate, the first gain value based on a ratio, wherein the ratio comprises an actual angle of one of the first, second, and third angles, and a high threshold angle and a low threshold angle.

16. The method of claim 15 , wherein generating the first gain value based on the ratio includes determining a first difference between an angle associated with an even zone and a low value, and determining a second difference between a high value and the low value, wherein the low value corresponds to a low magnitude angle of a lowest zone, and the high value corresponds to a high magnitude angle of a highest zone.

17. The method according to claim 14 , further comprising:

converting the first, second, and third angles to one of a plurality of zones, wherein each zone is defined according to a range of angles;

determining, in response to one of the first, second, and third angles having a zero value, whether the two remaining nonzero angles are in the same zone;

determining, in response to the two remaining nonzero angles not being in the same zone, that no predetermined gain value is appropriate; and

selecting, in response to the two remaining nonzero angles being in the same zone, a predetermined gain value associated with the zone.

18. The method of claim 14 , further comprising filtering the acceleration signal prior to computing the first angle, the second angle, and the third angle.

19. The method of claim 18 , wherein filtering the acceleration signal includes separately filtering the x-component, the y-component, and the z-component of the acceleration signal.