| Hemispherical Resonator Gyroscope(HRG)is a kind of solid-state gyrosope,which has the characteristics of high precision,extremely long life,simple architecture,small SWa P(Size,Weight and Power),highly reliability,and calibration-free.It is perfectly suitable for the future development of aviation,aerospace,and marine inertial navigation system fields.However,the current operation mode of HRG in China mainly adopts the force-to-rebalance mode,and its dynamic range is very small,which greatly limits the application range of HRG.In view of the lack of large dynamic HRG technology in China,the error mode is deduced by the dynamic equation of HRG in this dissertation.The energy compensation mechanism of HRG is researched,and the control scheme and error compensation method of the large dynamic HRG are realized,which solves the technical bottleneck of the performance of large dynamic HRG.The main contents of this dissertation are as follows:1)The dynamic model and error mode of large dynamic HRG are derived.The Lagrangian of HRG is derived from the theory of thin shell deformation,and the dynamic model of HRG is obtained through the introduction of the effect of electric driving by the Lagrange equations.Then,the influence of frequency-mismatch and anisodamping are introduced into the dynamic model based on the normal frequency axis and the normal damping axis,the error model of large dynamic HRG including frequency-mismatch and damping-mismatch is derived and verified by simulation,which provides reference for the control of large dynamic HRG,and a theoretical basis for scheme design and error compensation.2)The energy compensation and quadrature control methods of HRG in the whole-angle mode are researched.A mathematical model based on the parameter excitation of the double resonant frequency with discrete electrodes is derived,and the optimal solution of stable boundary under double-frequency parameter excitation is obtained.The energy compensation control scheme of double-frequency parameter excitation is proposed.The precision of quadrature error is analyzed,and the control scheme is proposed to suppress the quadrature error by AC voltage.The simulation and experimental verification are carried out,which proved that the energy compensation of HRG can be realized under the double-frequency parameters excitation with the discrete electrodes and the feasibility of quadrature control scheme.3)The error principle and compensation method of the large dynamic HRG are researched.The influence of anisodamping on the standing wave offset of HRG is analyzed,and the error equation of standing wave drift caused by anisodamping is derived.A method of virtual rotation for threshold error compensation is proposed.Aiming at the angle calculation error caused by the anisodamping of HRG,a mathematical compensation scheme for the angle calculation error is proposed.and the effects of threshold and angle error compensation are evaluated by experiments.4)The hardware system of large dynamic HRG is realized and its performance is evaluated.The hardware circuit and software architecture of HRG are introduced.The circuit platform and experimental device based on FPGA are constructed,and the performance of the large dynamic HRG is evaluated.The test results are Range ? ± 500°/ s,Bandwidth ? 250 Hz,Bias stability?0.03°/h,Random walk coefficient ? 0.0038°/ ?h ? The large dynamic control scheme and the error compensation method developed in this dissertation are verified. |
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