Abstract
In this study, for energy compensation in the whole-angle control of Hemispherical Resonator Gyro (HRG), the dynamical equation of the resonator, which is excited by parametric excitation of the discrete electrode, is established, the stability conditions are analyzed, and the method of the double-frequency parametric excitation by the discrete electrode is derived. To obtain the optimal parametric excitation of the resonator, the total energy stability of the resonator is simulated for the evolution of the resonator vibration with different excitation parameters and the free precession of the standing wave by the parametric excitation. In addition, the whole-angle control of the HRG is designed, and the energy compensation of parametric excitation is proven by the experiments. The results of the experiments show that the energy compensation of the HRG in the whole-angle control can be realized using discrete electrodes with double-frequency parametric excitation, which significantly improves the dynamic performance of the whole-angle control compared to the force-to-rebalance.
Highlights
The hemispherical resonator gyro (HRG) is a kind of vibratory gyroscope; it measures the gyro rotation by the precession effect of a vibration standing wave and has the advantages of high accuracy, high reliability, and long life
With the energy compensation loop and the quadrature control loop, a pure standing wave with constant amplitude will be established in the resonator and the HRG works as a rate-integrating gyro
Parametric excitation was first proposed to control the energy of the HRG in references [11,12], which was supported by the ring electrode surrounding the cover of the three-suite configuration
Summary
The hemispherical resonator gyro (HRG) is a kind of vibratory gyroscope; it measures the gyro rotation by the precession effect of a vibration standing wave and has the advantages of high accuracy, high reliability, and long life. The dynamic range of the HRG with traditional force-to-rebalance is only about ±10◦ /s [7], and its scale factor is affected by temperature [8]. It cannot meet application requirements in many fields. With the energy compensation loop and the quadrature control loop, a pure standing wave with constant amplitude will be established in the resonator and the HRG works as a rate-integrating gyro. The method of energy compensation in whole-angle control is more complex and more difficult than that of force-to-rebalance because the standing wave needs to move freely in the resonator. The optimal excitation method of the resonator is determined by simulation of the evolution with different excitation parameters, and a practical system is built to verify the energy compensation of the resonator by the double-frequency parametric excitation of the discrete electrode
Sign-in/Register to view highlights & summary Sign-in/Register to access full text options 
Free) 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a call
