Abstract
A Hemispherical Resonator Gyro (HRG) is the Coriolis Vibratory Gyro (CVG) that measures rotation angle or angular velocity using Coriolis force acting the vibrating mass. A HRG can be used as a rate gyro or integrating gyro without structural modification by simply changing the control scheme. In this paper, differential control algorithms are designed for a 2-piece HRG. To design a precision controller, the electromechanical modelling and signal processing must be pre-performed accurately. Therefore, the equations of motion for the HRG resonator with switched harmonic excitations are derived with the Duhamel Integral method. Electromechanical modeling of the resonator, electric module and charge amplifier is performed by considering the mode shape of a thin hemispherical shell. Further, signal processing and control algorithms are designed. The multi-flexing scheme of sensing, driving cycles and x, y-axis switching cycles is appropriate for high precision and low maneuverability systems. The differential control scheme is easily capable of rejecting the common mode errors of x, y-axis signals and changing the rate integrating mode on basis of these studies. In the rate gyro mode the controller is composed of Phase-Locked Loop (PLL), amplitude, quadrature and rate control loop. All controllers are designed on basis of a digital PI controller. The signal processing and control algorithms are verified through Matlab/Simulink simulations. Finally, a FPGA and DSP board with these algorithms is verified through experiments.
Highlights
A Hemispherical Resonance Gyroscope (HRG) is a Coriolis Vibrating Gyroscope (CVG), which measures the angle or angular velocity using the Coriolis force generated by the rotational motion [1].HRGs are suitable for miniaturization and high precision due to their simple structure made up of five components and easy production process
HRG is one of the kinds of CVG, which measures the angle or angular velocity using the Coriolis force produced by the rotational motion
The rotational angle or angular velocity can be measured using the principle that the standing wave generated in the quartz resonator in the form of force produced by the rotational motion
Summary
A Hemispherical Resonance Gyroscope (HRG) is a Coriolis Vibrating Gyroscope (CVG), which measures the angle or angular velocity using the Coriolis force generated by the rotational motion [1]. Generation HRGs will evolve into representative gyros, which can materialize the demands for subminiature structure, high precision and high reliability by the development of 2-piece systems applying multi-flexing methods, differential control algorithms, etc. To develop such subminiature and high precision HRGs, advanced core processes such as the production of low-loss hemispherical resonators and electrode blocks, low-stress heterojunctions, the balancing and tuning, high degrees of vacuum packaging, etc. The designed control algorithm will be tested through Matlab/Simulink SW and the design results will be verified by comparing the results of an made sensor with the simulation results through suitable experiments
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