Spherical Harmonic Gyro Model Analysis And Control Circuit Techniques

The Hemispherical Resonator Gyro (HRG) is a new–technology inertial grade solid-state gyro with performance of high-precision, high reliability and long life. The HRG operation is base on the inertial sensing property of the hemisphere shell standing vibration wave radial precession effect in vibration pattern.Based on the resonator's fluctuation mathematics mode and dynamics principle of vibration, this paper studies the force to rebalance (FTR) control model. Studied the control model, and improve on the emendation circuit. The paper gets the optimized control parameter. The system gets the satisfying dynamic characteristic by theory analyzing, experimentations and emulating design. The paper presents the optimized unit circuitries, the improved readout precision circuit of the wave voltage, the new designed combinational high-order band-pass filter. Analyze the temperature characters of HRG, and decrease the influence of temperature by compensating the error. Studying the control model and researching the control circuit is the key to improve HRG performance.This paper also discusses the test data evaluated by the Allan variance means. Based on the building of the AR (2) model of HRG drift data, the HRG drift data are processed using FLP filter, and the filter results are analyzed and compared with the unfiltered.