Dynamic Models of Hemispherical Resonator Gyros and Tests of Basic Control Characteristics

Abstract

This article focuses on a hemispherical resonator gyro driven by the Coriolis effect. The operational principle of resonator gyros and mathematical models are introduced. These models are useful to explain the behavior of a resonator and to design controllers. Several control tests of a resonator have been done. A resonator has been excited by electromagnets controlled by a computer. Its amplitude has been adjusted by a PI control. The transient response is matched with a simulation result based on a mathematical model. A vibrating pattern may drift due to non-uniform factors of a resonator. The drift of the vibrating pattern is controlled and aligned to a reference direction by a PI control. These results are very useful to understand the behavior of resonator gyros and to design advanced control algorithm for better performance.

Force-To-Rebalance Mode of a Resonator Gyro and Angular Rate Measurement Tests

“…공진 자이로 동역학 모델 1. 평균화 모델 그림 1은 반구형 공진기의 실제 모습과 공진기 끝 부분의 n = 2 모드 진동을 수학적으로 표현하기 위한 모델이다 [4]. 실선 은 진동하지 않을 때의 형상이고, 점선은 진동할 때의 것이다.…”