开环位置激励半球谐振陀螺仪工作原理与误差分析

为了研究半球谐振陀螺仪的工作原理,首先推导了谐振子上振动波腹方位角的表达式,然后建立了振动位移和速度的状态方程,进而求出了状态方程的精确解析解,给出了在角速率输入和存在密度分布不均匀缺陷时的波腹方位角的稳态解和角速率解算误差.最后在开环位置激励下,给出了为保证半球谐振陀螺角速率估计精度的密度四次谐波的取值范围.

Operating Principle and Error Analysis for Hemispherical Resonator Gyro under Open loop Positional Excitation Mode

The expression of azimuth of radial vibration antinode on the hemispherical resonator has been derived for the study on the operating principle of hemispherical resonator gyro(HRG) firstly.Then the state equation about vibration displacement and velocity was established and the analytic solutions of the state equation were obtained.The steady state solution of antinode azimuth andthe solution error of angular rate at the angular rate input and the density distribution nonuniformityuneven distribution have been given.Finally, the tolerance of fourth harmonic density was determined to ensure the accuracy of HRG under open loop positional excitation mode.