Abstract
The Hemispherical Resonator Gyro (HRG) is a solid-state and widely used vibrating gyroscope, especially in the field of deep space exploration. The flat-electrode HRG is a new promising type of gyroscope with simpler structure that is easier to be fabricated. In this paper, to cover the shortage of a classical generalized Coriolis Vibration Gyroscope model whose parameters are hard to obtain, the model of flat-electrode HRG is established by the equivalent mechanical model, the motion equations of unideal hemispherical shell resonator are deduced, and the calculation results of parameters in the equations are verified to be reliable and believable by comparing with finite element simulation and the reported experimental data. In order to more truthfully reveal the input and output characteristics of HRG, the excitation and detection models with assemble errors and parameters are established based on the model of flat-electrode capacitor, and they convert both the input and output forms of the HRG model to voltage changes across the electrodes rather than changes in force and capacitance. An identification method of assemble errors and parameters is proposed to evaluate and improve the HRG manufacturing technology and adjust the performance of HRG. The average gap could be identified with the average capacitance of all excitation and detection capacitors; fitting the approximate static capacitor model could identify the inclination angle and direction angle. With the obtained model, a firm and tight connection between the real HRG system and theoretical model is established, which makes it possible to build a fully functional simulation model to study the control and detection methods of standing wave on hemispherical shell resonator.
Highlights
The Hemispherical Resonator Gyro (HRG) is a solid-state vibrating gyroscope that is based on inertial effect of elastic wave and it is well-known for its excellent feature, such as high precision, energy efficiency, long working life, and extremely simple structure
Conclusions electrostatic control forces, as well as assemble errors, is established by theoretical deduction, synthesis model of a is flat-electrode resonator gyro contained several error and part ofAthe synthesis model verified by hemispherical simulations, and the assemble errors are identified by input sources, such as the angle between inherent axes and forcer-pickoff axes, inertial forces, the proposed method
Electrostatic control as well as assemble errors, is established by theoretical deduction, part of Firstly, the modelforces, of an ideal hemispherical shell resonator with perfect dimension and material the synthesis model is verified by simulations, and the assemble errors are identified by the parameters are established with the Lagrangian Mechanics Principle and the Elastic Shell Theory, proposed method. the angle error of axes and external forces in an equivalent mechanical model, and by introducing the motion equations of unideal hemispherical shell resonator are deduced
Summary
The Hemispherical Resonator Gyro (HRG) is a solid-state vibrating gyroscope that is based on inertial effect of elastic wave and it is well-known for its excellent feature, such as high precision, energy efficiency, long working life, and extremely simple structure. Reference [26] presents a fully functional HRG simulation system based on the equations that are provided by reference [14] and the excitation and detection models omitting the distance deviation due to the assemble error of resonator. Within the theoretical research fields of HRG, especially for flat-electrode HRG, some vital motion equations describing the HRG vibration performance under the condition of misalignment between forcer-pickoff axes, inherent frequency axes, and inherent damping axes are still missing when the external control forces act. The motion equations of flat-electrode HRG containing misalignment between the inherent characteristic axes have been deduced, and the excitation and detection models with assemble errors have been established. A fully functional simulation model can be established based on the equations obtained, and the control and detection methods of standing wave of HRG can be studied with these equations in the future
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