Design and Verification of a Digital Controller for a 2-Piece Hemispherical Resonator Gyroscope

Sensors

卷:16

Sung Wook Yun¹  Jaewook Rhim²  Jungshin Lee² 

[1] Instruments, Agency for Defense Development, Bugyuseong daero 488 beon gi, Yuseong-Gu, Daejeon 305-152, Korea;

[2] Inertial Sensors &

关键词: hemispherical resonator gyroscope (HRG);    electromechanical gain;    Duhamel integral;    mode shape;    multi-flexing;    demodulation;    modulation;    force-to-rebalance (FTR) mode;    pendulum variables;    direct digital synthesizer (DDS);   

DOI  :  10.3390/s16040555

来源: DOAJ

【 摘 要 】

A Hemispherical Resonator Gyro (HRG) is the Coriolis Vibratory Gyro (CVG) that measures rotation angle or angular velocity using Coriolis force acting the vibrating mass. A HRG can be used as a rate gyro or integrating gyro without structural modification by simply changing the control scheme. In this paper, differential control algorithms are designed for a 2-piece HRG. To design a precision controller, the electromechanical modelling and signal processing must be pre-performed accurately. Therefore, the equations of motion for the HRG resonator with switched harmonic excitations are derived with the Duhamel Integral method. Electromechanical modeling of the resonator, electric module and charge amplifier is performed by considering the mode shape of a thin hemispherical shell. Further, signal processing and control algorithms are designed. The multi-flexing scheme of sensing, driving cycles and x, y-axis switching cycles is appropriate for high precision and low maneuverability systems. The differential control scheme is easily capable of rejecting the common mode errors of x, y-axis signals and changing the rate integrating mode on basis of these studies. In the rate gyro mode the controller is composed of Phase-Locked Loop (PLL), amplitude, quadrature and rate control loop. All controllers are designed on basis of a digital PI controller. The signal processing and control algorithms are verified through Matlab/Simulink simulations. Finally, a FPGA and DSP board with these algorithms is verified through experiments.

【 授权许可】

Unknown