A control strategy for hemispherical resonator gyros using feedback linearization

Hemispherical resonator gyroscope is one of the vibratory gyroscopes that can work as an angle sensor as well as an angular rate sensor. Vibratory gyroscopes have advantages that it has relatively long operation time since it has no moving part, it has relatively larger measurement range, and so on. These types of gyros are based on the principle of Coriolis effect. To operate the vibratory gyros, its resonance should be performed and maintained at first. Then the external rotation of the platform causes the precession of the vibratory gyros so that one can measure the amount of external rotation reversely. Since there exist several facts that disturb the resonance of the gyros, a control scheme to maintain its resonance is required. In this paper, a mathematical model of the hemispherical resonator gyros is introduced and analyzed. By using the mathematical model introduced, a control strategy for operating hemispherical resonator gyros using feedback linearization is presented.