基于虚拟旋转的速率积分型半球谐振陀螺锁区克服方法

A Method via Virtual Rotation to Overcome Lock-in of Rate-integrating HRG

半球谐振陀螺是一种新型哥氏陀螺,具有广阔的发展前景。制造工艺和装配误差等因素会引起半球谐振陀螺阻尼不均匀,进而导致外界小角速度输入时系统会产生闭锁效应。针对此问题,在半球谐振陀螺动力学模型以及信号处理模型的基础上,提出了一种驱动振型虚拟旋转的锁区克服方法。首先,对半球谐振陀螺的闭锁效应进行了理论分析;其次,介绍了虚拟旋转法的基本原理;最后,验证了虚拟旋转法对克服锁区的有效性。仿真结果表明,加入虚拟旋转后,陀螺的方位进动角能够实时跟踪外界输入角速度,有效地克服了陀螺的闭锁问题。

Hemispherical resonant gyroscope(HRG)is a new type of Coriolis gyroscope with broad prospects for development.Due to the damping mismatch caused by the manufacturing process and assembly errors,the gyroscope has a lock-in effect when the rate input is small.Aiming at this problem,based on the dynamic model and signal processing model of the HRG,a method of virtual rotation to overcome the lock-in effect is proposed in this paper.Firstly,the lock-in effect of the HRG is analyzed.Secondly,the basic principle of virtual rotation method is introduced.Finally,the effectiveness of virtual rotation method on the lock-in effect is verified.The simulation results show that the pattern angle can track the rate input in real time which effectively overcomes the lock-in problem of the HRG after applying virtual rotation.