Space Control and Inertial Technology Research Center, Harbin Institute of Technology, Harbin 150080, Heilongjiang, China.
Sensors (Basel). 2019 Apr 9;19(7):1690. doi: 10.3390/s19071690.
The Hemispherical Resonator Gyro (HRG) is a solid-state and widely used vibrating gyroscope, especially in the field of deep space exploration. The flat-electrode HRG is a new promising type of gyroscope with simpler structure that is easier to be fabricated. In this paper, to cover the shortage of a classical generalized Coriolis Vibration Gyroscope model whose parameters are hard to obtain, the model of flat-electrode HRG is established by the equivalent mechanical model, the motion equations of unideal hemispherical shell resonator are deduced, and the calculation results of parameters in the equations are verified to be reliable and believable by comparing with finite element simulation and the reported experimental data. In order to more truthfully reveal the input and output characteristics of HRG, the excitation and detection models with assemble errors and parameters are established based on the model of flat-electrode capacitor, and they convert both the input and output forms of the HRG model to voltage changes across the electrodes rather than changes in force and capacitance. An identification method of assemble errors and parameters is proposed to evaluate and improve the HRG manufacturing technology and adjust the performance of HRG. The average gap could be identified with the average capacitance of all excitation and detection capacitors; fitting the approximate static capacitor model could identify the inclination angle and direction angle. With the obtained model, a firm and tight connection between the real HRG system and theoretical model is established, which makes it possible to build a fully functional simulation model to study the control and detection methods of standing wave on hemispherical shell resonator.
半球谐振陀螺（HRG）是一种固态、广泛使用的振动陀螺仪，特别是在深空探测领域。平面电极 HRG 是一种新型的陀螺仪，具有更简单的结构，更容易制造。在本文中，为了弥补经典广义科里奥利振动陀螺模型参数难以获取的不足，通过等效力学模型建立了平面电极 HRG 的模型，推导了非理想半球壳谐振器的运动方程，并通过与有限元模拟和报道的实验数据进行比较，验证了方程中参数的计算结果是可靠和可信的。为了更真实地揭示 HRG 的输入和输出特性，基于平面电极电容模型建立了带有装配误差和参数的激励和检测模型，它们将 HRG 模型的输入和输出形式都转换为电极两端的电压变化，而不是力和电容的变化。提出了一种装配误差和参数的识别方法，以评估和改进 HRG 制造技术，调整 HRG 的性能。可以通过所有激励和检测电容的平均电容来识别平均间隙；拟合近似静态电容模型可以识别倾斜角和方向角。有了所得到的模型，在真实的 HRG 系统和理论模型之间建立了牢固的连接，这使得建立一个功能齐全的仿真模型来研究半球壳谐振器上驻波的控制和检测方法成为可能。
