Zhao Wanliang, Yang Hao, Liu Fucheng, Su Yan, Song Lijun
School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing 210094, China.
Shanghai Aerospace Control Technology Institute, Shanghai 201100, China.
Sensors (Basel). 2020 Jun 23;20(12):3549. doi: 10.3390/s20123549.
In this study, for energy compensation in the whole-angle control of Hemispherical Resonator Gyro (HRG), the dynamical equation of the resonator, which is excited by parametric excitation of the discrete electrode, is established, the stability conditions are analyzed, and the method of the double-frequency parametric excitation by the discrete electrode is derived. To obtain the optimal parametric excitation of the resonator, the total energy stability of the resonator is simulated for the evolution of the resonator vibration with different excitation parameters and the free precession of the standing wave by the parametric excitation. In addition, the whole-angle control of the HRG is designed, and the energy compensation of parametric excitation is proven by the experiments. The results of the experiments show that the energy compensation of the HRG in the whole-angle control can be realized using discrete electrodes with double-frequency parametric excitation, which significantly improves the dynamic performance of the whole-angle control compared to the force-to-rebalance.
在本研究中，针对半球谐振陀螺（HRG）全角度控制中的能量补偿问题，建立了由离散电极参数激励驱动的谐振器动力学方程，分析了其稳定性条件，并推导了离散电极双频参数激励方法。为获得谐振器的最优参数激励，针对不同激励参数下谐振器振动的演化以及参数激励下驻波的自由进动，对谐振器的总能量稳定性进行了仿真。此外，设计了HRG的全角度控制，并通过实验验证了参数激励的能量补偿效果。实验结果表明，采用双频参数激励的离散电极可实现HRG全角度控制中的能量补偿，与力平衡方式相比，显著提高了全角度控制的动态性能。
