Research on the Signal Process of a Bell-Shaped Vibratory Angular Rate Gyro

Abstract

A bell-shaped vibratory angular rate gyro, which is inspired by the Chinese traditional bell, is a kind of axisymmetric shell resonator gyroscope. Its sensitive element is a vibratory-like Chinese traditional bell, using a piezoelectric element on the wall of the vibrator to detect the standing wave's precession to solve the input angular rate. This work mainly studies the circuit system of a bell-shaped vibratory angular rate gyro. It discusses the process of circuit system design, analysis and experiment, in detail, providing the foundation to develop a bell-shaped vibratory angular rate gyro. Since the bell-shaped resonator's curved structure has the characteristics of large noise in the piezoelectric signal and large harmonics, this paper analyzes its working and signal detection method, then gives the whole plan of the circuit system, including the drive module, the detection module and the control loop. It also studies every part of the whole system, gives a detailed design and analysis process and proves part of the circuit system using digital simulation. At the end of the article, the test result of the circuit system shows that it can remove the disadvantages of the curved structure having large noise in the piezoelectric signal and large harmonics and is more effective at solving the input angular rate.

Analysis and compensation of mass imperfection effects on 3-D sensitive structure of bell-shaped vibratory gyro

“…The mechanical installation error and positioning accuracy error of the turntable. The influence of experiment circuit [25].…”

External Disturbances Rejection by Differential Single-Mass Vibratory Gyroscope

“…As can be seen from (4) difference signal of X and Y measurement channels has no damping cross coupling term dxy=hsin2(-), and sum of these channels has no angle rate, but contains current information about main bias components that can supposedly be used for their on-line estimation. In case when angle *, and m/4, m=0, 1, 2,…, then difference and sum of the channels have different scale factors, SFx-y=SFx+SFy and SFx+y=SFx-SFy [22]. Differential CVG control system block diagram operating in differential mode of operation under command signal comm=-* is presented in Figure 2.…”

“…Figure 23 shows dependence of bias instability versus vibration amplitude. Sensitivity of bias instability to vibration amplitude is calculated as a tangent of tilt angles of least squares straight 22 1 2cov( , ) 2 d…”

“…There are two well-known modes of CVG operation: 1) Closed loop mode or rate mode [6] [10] [11] [22] where primary stable amplitude standing wave excited in a vibrating structure at one of its resonant frequencies is retained in the vicinity of the drive electrode by the control forces.…”

“…This paper presents test results showing excellent disturbance rejection properties of differential mode of operation for single-mass CVG in comparison to rate mode under action of external mechanical shocks and vibrations. [22] let's shortly describe the differential mode of operation for single-mass resonator gyro.…”