Working Principle and Error Analysis for Hemispherical Resonator Gyro under Force-rebalance Mode  

作　　者：Hong-Bo Zhao Shun-Qing Ren 

机构地区：[1]Space Control and Inertial Technology Research Center,Harbin Institute of Technology

出　　处：《Journal of Harbin Institute of Technology(New Series)》2013年第1期75-80,共6页哈尔滨工业大学学报（英文版）

基　　金：Sponsored by the National Defense Advanced Research Project(Grant No.51309050601)

摘　　要：The two control methods, namely the general-control and the quadrature-control modes for HRG under force-rebalance mode were introduced firstly. Then the azimuth of antinode on the hemispherical resonator was deduced. The dynamics equations of resonator under the nonuniformity of density distribution were established by way of Bubonov-Galerkin method which is commonly used for solution of differential equations, and the state equation was established through the dynamics equations. The analytic solutions of the vibration displacement and the velocity were achieved by solving the state equation, and then the ratio of rebalance excitation to primary excitation was derived under the two working modes, thus the estimation of input angular rate of HRG were obtained. By comparing and calculating these two modes, the error caused by resonator's machining defects can be greatly inhibited under quadrature-control, and the fourth harmonic density error's tolerance were calculated to ensure the accuracy of HRG under these two modes.The two control methods, namely the general-control and the quadrature-control modes for HRG under force-rebalance mode were introduced firstly. Then the azimuth of antinode on the hemispherical resonator was deduced. The dynamics equations of resonator under the nonuniformity of density distribution were established by way of Bubonov-Galerkin method which is commonly used for solution of differential equations, and the state equation was established through the dynamics equations. The analytic solutions of the vibration displacement and the velocity were achieved by solving the state equation, and then the ratio of rebalance excitation to primary excitation was derived under the two working modes, thus the estimation of input angular rate of HRG were obtained. By comparing and calculating these two modes, the error caused by resonator＇s machining defects can be greatly inhibited under quadrature-control, and the fourth harmonic density error＇s tolerance were calculated to ensure the accuracy of HRG under these two modes.

关 键 词：hemispherical resonator gyro force-rebalance mode quadrature-control density distribution nonuniformity 

分 类 号：U666.1[交通运输工程—船舶及航道工程]