The Synthesis Model of Flat-Electrode Hemispherical Resonator Gyro

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.

The Energy Compensation of the HRG Based on the Double-Frequency Parametric Excitation of the Discrete Electrode

“…As shown in the derivation in Appendix A , from references [ 14 , 15 ], when the parametric excitation of the HRG has occurred, the storage charge of capacitance will change due to the displacement between the electrode plates. To control the fundamental vibrational of the resonator, the amount of charge is input into Equation (1).…”

A Novel Method for Estimating and Balancing the Second Harmonic Error of Cylindrical Fused Silica Resonators

“…The HRG Crystal TM DUAL CORE made by Safran Electronics & Defense (Massy, France) has achieved a bias stability of 0.0001°/h over 100 h [ 2 ]. Inspired by these breakthroughs, HRGs have become a topic of interest within the inertial community, with devoted researchers investigating traditional size HRGs [ 3 , 4 , 5 , 6 ] and micro-version HRGs [ 7 , 8 , 9 ]. However, the complexity of the manufacturing of HRGs has limited the mastering of this technology to a small number of manufacturers.…”

Influence of vacuum and its degradation on the sensing element of the Coriolis Vibratory Gyroscope

“…1(d), there is an exchange of vibration energy between primary and secondary waves. The rate of exchange of energy is a measure of angular velocity, which can be measured electronically in terms of varying amplitude and phase at fixed locations around the resonator [9]. The Primary requirement for the CVG is to maintain a fixed value of the amplitude and frequency of vibration on the resonator during the measurement of angular rotation [10].…”