Design and Verification of a Digital Controller for a 2-Piece Hemispherical Resonator GyroscopeReport as inadecuate




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Inertial Sensors and Instruments, Agency for Defense Development, Bugyuseong daero 488 beon gi, Yuseong-Gu, Daejeon 305-152, Korea





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Academic Editor: Stephane Evoy

Abstract 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. View Full-Text

Keywords: 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 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





Author: Jungshin Lee * , Sung Wook Yun and Jaewook Rhim

Source: http://mdpi.com/



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