Research On Modeling And Control Algorithm Of Whole-angle Mode Hemispherical Resonator Gyro

Hemispherical resonator gyro is a high performance gyroscope with long service life,high reliability and high accuracy.It has broad prospects for development.But at present,the domestic hemispherical resonator gyro is mainly in the form of force-to-rebalance mode,with low output and limited application scope.Therefore,a new type of hemispherical resonator gyro with whole-angle mode is proposed,and its modeling and control methods are studied in order to improve the development of the hemispherical resonator gyro.The main contents of this paper are summarized as follows:The working principle of the hemispherical resonator gyroscope is introduced.The component and structure of the force-to-rebalance gyroscope is introduced.The structure of the gyroscope with whole-angle mode is designed.The unique advantage of this new structure is analyzed.Through the ANSYS finite element analysis,the oscillation process of the harmonic resonator is clarified,and the relationship between harmonic resonator structure and vibration frequency are explored,and a group of harmonic resonator parameters are determined.Based on the thin shell theory,the geometric equation,the force balance equation and the physical equation of the harmonic resonator are derived.The dynamic equation of the harmonic resonator is obtained by combining the above equation with the resonator.The equation of motion of the two order resonant state under no external load is solved,and the principle of the precession of the hemispherical resonator gyro is explained.The model of the vibration detection system is built up.On the basis of this model,the specific definition and quantitative description of the installation error of the harmonic resonator are given,and the effect of the error on the output of the detection system is analyzed by simulation.A method for identifying the static installation error of the harmonic resonator is designed to realize the high precision of the installation error identification.The principle of vibration angle detection for the whole-angle control scheme is analyzed.On the basis of the foregoing principle,the electrode configuration scheme and the concrete flow of the whole-angle control and detection circuit are designed.The form of the excitation signal is clearly defined and the practical solution of the capacitance-voltage conversion is put forward to realize the control of the whole-angle mode.The difference between the whole-angle and the force-to-rebalance control is introduced and the advantages of the whole-angle control scheme are analyzed.