Wang Qi, Xie Weinan, Xi Boqi, Li Hanshi, Yi Guoxing
Space Control and Inertial Technology Research Center, Harbin Institute of Technology, Harbin 150001, China.
Micromachines (Basel). 2025 Feb 27;16(3):273. doi: 10.3390/mi16030273.
The vector control method is applied to a whole angle hemispherical resonator gyroscope (HRG). The detection and control of the resonator vibration state are implemented using orthogonal / channels. However, the performance of the HRG is limited by the asymmetry in the gain and phase delay of / channels. To address these issues, a novel detection circuit is proposed. The circuit leverages the closed-loop characteristics to achieve symmetry and stability in the / channel gain while simultaneously eliminating phase delays within the loop. Firstly, a closed-loop single-channel time division multiplexing circuit is designed to overcome the deficiencies of the traditional dual-channel circuit. Secondly, a model is developed to analyze the time division detection errors, and an improved demodulation method is proposed to mitigate detection errors. Lastly, experimental results demonstrate that the designed circuit successfully suppresses drift in both gain and phase delay within the loop, confirming the effectiveness of the proposed solution in enhancing the performance of the HRG.
矢量控制方法应用于全角半球谐振陀螺仪（HRG）。利用正交通道实现谐振器振动状态的检测与控制。然而，HRG的性能受到通道增益和相位延迟不对称性的限制。为了解决这些问题，提出了一种新型检测电路。该电路利用闭环特性实现通道增益的对称性和稳定性，同时消除环路内的相位延迟。首先，设计了一种闭环单通道时分复用电路，以克服传统双通道电路的不足。其次，建立了一个模型来分析时分检测误差，并提出了一种改进的解调方法来减轻检测误差。最后，实验结果表明，所设计的电路成功地抑制了环路内增益和相位延迟的漂移，证实了所提解决方案在提高HRG性能方面的有效性。
