基于轨迹图法的半球谐振陀螺动力学模型描述  

Kinetic model of hemispherical resonator gyro based on orbit plot method

作　　者：高胜利[1] 吴简彤[1] 

机构地区：[1]哈尔滨工程大学自动化学院

出　　处：《中国惯性技术学报》2007年第5期589-592,共4页Journal of Chinese Inertial Technology

摘　　要：谐振子弹性系数和阻尼系数的不对称是引起半球谐振陀螺漂移的主要原因。根据半球谐振陀螺的动力学模型,用轨迹图法对谐振子的振动特性进行了研究。轨迹图直观地反映了谐振子的振动特性。当谐振子处于理想状态并且有角速率输入时,谐振子的轨迹图是以一定的角速率进动的标准椭圆。谐振子的非理想性严重影响陀螺的正常工作。当谐振子弹性系数不对称时,谐振子的轨迹图会发生明显变形。阻尼系数的不对称会导致振动平面向最低阻尼轴漂移。因此,消除弹性系数和阻尼系数不对称的影响对提高半球谐振陀螺的精度有重要意义。The asymmetry ofresonator＇s spring-coefficient and damping-coefficient is the the hemispherical resonator gyro （HRG）＇s main cause of drifting. Based on the HRG＇s kinetic model, the paper studies the vibrating characteristics of HRG by using orbit plot method. The orbit plot can directly reflect the vibrating characteristics of resonator. When the resonator is in ideal status and has been placed to revolve, the orbit plot of resonator is a standard ellipse which precesses at a certain angular-rate. The resonator＇s imperfection will seriously influence the normal work of HRt2 When the elastic coefficient is asymmetric, the orbit plot will obviously distort. When the damping coefficient is asymmetric, the plane of oscillation will drift to the lowest damping axis. So, it is important to eliminate influences of elastic and damping coefficient＇s asymmetry.

关 键 词：半球谐振陀螺 谐振子 动力学模型 轨迹 

分 类 号：U666.1[交通运输工程—船舶及航道工程]