半球谐振陀螺仪频率裂解及固有刚性轴的测试方法

半球谐振陀螺仪以其寿命长、可靠性高、体积小、重量轻、精度高而且可微型化的优点将在卫星、潜艇等导航领域有着广泛的应用前景。对半球谐振陀螺仪的而言，频率裂解值与固有刚性轴的位置是其关键的技术指标，因此设计测试方案对其进行精确测试是十分必要的。根据陀螺仪工作原理，从理论角度进行了推导，建立存在频率裂解及与固有刚性轴不重合时谐振子的运动方程，通过研究主驻波及辅助波的表达式，进而得到了振动位移的精确表达式，最后设计了在固定位置安装两组激励电极以及两组位移传感器对频率裂解以及固有刚性轴位置进行测试的测试方案，并给出了最佳的测试时间。

Measurement of frequency splitting and inherent rigidity shaft of hemispherical resonator gyro

Hemispherical resonator gyro(HRG)has a wide application prospect in fields of satellite,submarine etc, which has the features of high precision reliability,long life span,small volume,light-weight,high-precision and be?ing miniaturized. Frequency splitting and inherent rigidity shaft are very important specification for HRG,therefore, it is necessary to design the measurement to identify that. According to the operational principle of the gyroscope , the radial vibration equation of resonator is established while the frequency splitting and inherent rigidity shaft are taken into account,by studying the expression of the main wave and auxiliary wave,the exact expression of vibra?tion displacement is given,the measurement and identification method of frequency splitting and inherent rigidity shaft using two groups of electrodes and displacement sensors was designed,and the optimal sample time was given too at last.