Research On The Mode Reverse Of Cylindrical Vibrating Gyroscope Resonators

The metallic cylindrical vibrating gyroscope,which has characteristic such as easy processing,low cost,high precision,small size,strong impact resistance,has come back into focus in recent years.The metallic resonator is core device.Due to the machining error and material difference,the resonator has generated frequency cracking and damping inhomogeneity,which will affect the gyro performance.Frequency cracking can be suppressed by mechanical trimming,but there is no good method to adjust the damping inhomogeneity at present.In this paper,the basic theory and influence rules of damping inhomogeneity are investigated,and the basic theory of mode reverse is analyzed,and the mode reverse technology of the cylindrical vibrating gyroscope and the implementation method of mode reverse based on FPGA are proposed.What is more,the mode reverse experiment is carried out and the influence rules of main error factors on the performance of mode reverse are analyzed.The main contents of this dissertation are as follows:1.The basic structure and working principle of cylindrical vibrating gyroscope are analyzed.The drift model and the error model including frequency cracking and damping inhomogeneity of cylindrical vibrating gyroscope is established.The influence rule of damping inhomogeneity in the open-loop mode and the closed-loop mode are obtained by theoretical calculation and simulation.2.The mode reverse technology of the symmetric gyroscope and its basic principle are analyzed.The implementation scheme of mode reverse is proposed.The inhibiting rules of damping inhomogeneity after mode reverse in the closed-loop mode are obtained by theoretical calculation and simulation.3.The overall implementation method of mode reverse based on FPGA digital circuit is proposed.The main functional units,working flow and working sequence of FPGA digital circuit are designed,and the mode reverse control circuit of cylindrical vibrating gyroscope based on FPGA is developed.4.The mode reverse room experiment,variable temperature experiment and startup drift experiment of cylindrical vibrating gyroscope based on FPGA digital circuit are carried out.The suppression effect of mode reverse on the damping inhomogeneity is analyzed.The damping inhomogeneity of inhibition by mode reverse is realized.5.The formation mechanism of measurement and control circuit phase Angle,piezoelectric electrode Angle and gain error factors are analyzed.The influences of various error factors on the mode reverse performance are investigated by theoretical calculation and simulation.The suppression effect of mode reverse on various error factors is analyzed.The inhibiting rules of mode reverse on various error factors are obtained.