Research On Modeling And Control Method Of Rate Integrating Hemispherical Resonator Gyro

Hemispherical resonator gyro is a new generation of high-precision gyro developed after the traditional mechanical rotor gyro and optical gyro.It is one of the mainstream high-precision inertia,and has been widely used in aerospace,navigation and other fields.The traditional operation mode of HRG in China is force to rebalance.In this mode,HRG has high precision,but its dynamic range is small and its application range is limited.In order to solve these problems,in this paper,the rate integral mode hemispherical resonance gyro is studied.Through the theoretical modeling and control method research,the hemispherical resonator gyro can be applied in the environment with large dynamic range requirements.The main contents of this paper are as follows:1.According to the classical thin shell theory,the dynamic model of the rate integral mode hemispherical resonator gyro is established,which provides the basis for the study of the vibration characteristics of the hemispherical resonator gyro.By using the variational method and the principle of virtual work in mechanics,the abstract second-order vibration mode of standing wave is transformed into a spring to spring harmonic vibration with a concentrated mass in two-dimensional space.2.To solve the problem of modeling difficulty caused by the actual geometric structure of flat electrode,the concept of equivalent pitch angle is introduced,the equivalent capacitor model is established,and the approximate analytical solution is given.According to the principle of the least square sum of errors,the parameter identification method of capacitance model is proposed.On this basis,the assembly parameter identification scheme is designed,which includes the average spacing of the first electrode,the inclination angle of the second installation and the azimuth angle of the inclination angle.Carry out simulation experiment.The correctness and validity of the static capacitance model and assembly parameter identification method are verified.3.The influence of the main structural parameters of the resonator on the resonator mode of the HRG is simulated.According to the law of modal change and the needs of practical engineering,the method of selecting the structural parameters of the harmonic oscillator is given.At the same time,the simulation of variable wall thickness and variable support rod diameter structure puts forward the precision requirements of machining resonator.The influence of the distance between the electrodes and the base on the resonator frequency of the conducting pin is given.4.By introducing the Pauli matrix to express the second-order vibration equation of the resonator of the hemispherical resonator gyro,the relation between the slow variable and the precession parameter of the resonator is established by using the average method.By detecting the slow variables of the system output to represent the wave node control quantity,wave belly control quantity and azimuth angle,the control scheme of the rate integrating hemispherical resonator gyro is designed and verified by simulation.