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Sensors 2016, 16(4), 555; doi:10.3390/s16040555

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

Inertial Sensors & Instruments, Agency for Defense Development, Bugyuseong daero 488 beon gi, Yuseong-Gu, Daejeon 305-152, Korea
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Academic Editor: Stephane Evoy
Received: 16 February 2016 / Revised: 12 April 2016 / Accepted: 14 April 2016 / Published: 20 April 2016
(This article belongs to the Special Issue Resonator Sensors)
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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)
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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

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Lee, J.; Yun, S.W.; Rhim, J. Design and Verification of a Digital Controller for a 2-Piece Hemispherical Resonator Gyroscope. Sensors 2016, 16, 555.

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