圆柱壳体振动陀螺的力平衡控制

圆柱壳体振动陀螺是基于弹性驻波的哥氏效应测量载体角速度或角度的新型振动陀螺，具有精度高、体积小、结构简单、功耗低等优点，因此是捷联惯性导航系统的理想陀螺仪。工作在力平衡模式的圆柱壳体振动陀螺输出角速率信息，噪声特性好、漂移误差易补偿、分辨率高。文章首先对力平衡模式下的频率跟踪回路、幅度控制回路、正交控制回路、力平衡控制回路等四大控制回路基本原理进行介绍。其中，频率跟踪回路与幅度控制回路一起构成陀螺主模态控制回路，负责系统的频率与幅度控制；正交控制回路与力平衡控制回路一起构成敏感模态的控制回路，负责系统正交误差的抑制、敏感模态的抑制以及角速率信息的提取。最后实现了力平衡模式下的陀螺闭环控制仿真。

Force to Balance Control of The Cylindrical Vibrating Gyroscope

The cylindrical vibrating gyroscope (CVG) is a type of vibrational gyro measuring the angular velocity or angle of the carrier based on the Coriolis effect. It has the advantages of high precision, small size, simple structure, and low power consumption, which is an ideal gyroscope for the inertial navigation system. The common working modes for CVG comprise the force to rebalance (FTR) mode and the whole-angle ( WA) mode. In the spacecraft attitude determination and other applications requiring high precision and small measurement range, the FTR mode is advantageous in outputting angular rate information, good noise characteristics, drift error compensation and high resolution. This paper first introduces the basic principle of the frequency tracking loop, the amplitude control loop, the orthogonal control loop, and the force to balance control loop. The frequency tracking loop and the amplitude control loop constitute the main mode control loop of the gyroscope, which is responsible for the frequency and amplitude control of the system. The orthogonal control loop and the force balance control loop constitute the control loop of the sensitive mode, which is responsible for the suppression of the orthogonal error, the suppression of the sensitive mode and the extraction of the angular rate information. The simulation of closed-loop control in force to balance mode is then realized.