全角模式半球谐振陀螺振型控制与角度检测

传统半球谐振陀螺采用力平衡工作模式，这种模式仅能直接检测实时转速，且动态范围较小，限制了半球谐振陀螺在具有大动态机动特点的应用场景中的使用。相比之下，全角模式半球谐振陀螺通过滞后角与陀螺转动角度之间的比例关系进行角度检测，相比力平衡模式，具有直接角度检测的功能和更大的动态范围。对全角模式半球谐振陀螺进行了研究，介绍了全角模式半球谐振陀螺的控制与信号处理的方法，以及全角模式半球谐振陀螺系统的实现。该系统通过基于相干解调的信号处理算法，实现了谐振振幅参数的解算，通过PI控制器、正交分解及乘法调制实现了跟踪谐振振型进动控制作用，通过谐振振型进动角度解算器直接解算了陀螺的转动角度。通过数字仿真与实物实验结果可知，所介绍的全角模式半球谐振陀螺系统能够实现不依赖于积分运算的角度检测功能，且较之于力平衡模式，其半球谐振陀螺动态范围有了一定程度的提高。

Vibrating Pattern Control and Angle Detection of Whole Angle Mode Hemispherical Resonator Gyroscope

Traditional hemispherical resonator gyroscope(HRG) adopts force to rebalanced(FTR) mode, which can only detect real-time rotational speed directly and has a small dynamic range, which limits the application of HRG in application scenarios with large dynamic maneuverability. Compared with FTR mode, whole angle(WA) mode HRG detects rotation angle directly through the proportional relationship between precession angle and gyroscope rotation angle, meanwhile HRG with WA mode has a large dynamic range. In this paper, the WA mode HRG is studied, and the control and signal processing methods of the WA mode HRG and the hardware system of the WA mode HRG are introduced. The vibrating amplitude is calculated by multiplication demodulation. The vibrating amplitude is controlled by PI controller and multiplicative modulation. The rotation angle is calculated by precession angle calculator. Simulation and experiment show that the system of WA mode HRG introduced by this paper can detect rotation angle without integral operation and has a larger dynamic range than FTR mode HRG.