Design, analysis and experiment of a novel ring vibratory gyroscope
Design, analysis and experiment of a novel ring vibratory gyroscope
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新型环形振动陀螺仪的设计、分析与实验
DOI：
10.1016/j.sna.2011.04.039
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发表时间：
2011-08-10
影响因子：
4.6
通讯作者：
Zhu, Bingjie
中科院分区：
文献类型：
--
作者：
Tao, Yi;Wu, Xuezhong;Zhu, Bingjie
本文介绍了一种基于压电效应的新型环形振动陀螺仪的设计、分析、仿真和实验。陀螺仪有一个简单的毫米级谐振器，由金属结构和八个压电元件组成。连接到金属结构的压电元件激发谐振器的初级模式，感测由科里奥利力引起的第二模式以及与输入角速度成比例的输出信号。使用 AMM 方法和 DM 方法对包含科里奥利力耦合的主动模式和传感模式的受迫振动求解对所提出的陀螺仪进行了理论分析。获得了陀螺仪的灵敏度及其对一些几何参数的依赖性。通过有限元仿真验证了其工作原理。原型陀螺仪的金属结构采用精密车削和充电技术加工而成，简化了压电元件的粘附过程，提高了定位精度，保证了谐振器的高轴对称性。选择原型陀螺仪进行实际实验。原型机主动模式和传感模式的固有频率接近，频率分割为0.06 Hz，大气中品质因数约为5000。因此陀螺仪无需真空封装即可正常工作。专门设计了控制电路来激活谐振器并读出角速度信号。陀螺仪的性能通过精度速率表来表征。实验获得的比例因子为65.5 mV/度/s，在+/- 150度/s范围内非线性度为1323 ppm，角度随机游动约为0.05度/h(1/2)，室温下零偏不稳定性约为1.5度/h。传感电压和角速度之间存在良好的线性关系，这表明新型环形振动陀螺仪是中低转速测量的良好候选者。 (C) 2011 Elsevier B.V. 保留所有权利。
This work presents the design, analysis, simulation and experiment of a novel ring vibratory gyroscope based on piezoelectric effect. The gyroscope has a simple millimeter-scale resonator which comprises of a metallic structure and eight piezoelectric elements. The piezoelectric elements attached to the metallic structure excite the primary mode of the resonator, sense the second mode caused by Coriolis force and output signal proportional to input angular velocity. A theoretical analysis on the proposed gyroscope is performed using the AMM method and DM method for the forced vibration solution of active mode and sense mode with the inclusion of the Coriolis force coupling. The sensitivity of the gyroscope and its dependence on some geometry parameters are obtained. The working principle is validated by using FEM simulation. The metallic structure of the prototypal gyroscope was machined by precision turning and electrical charge technologies, as a result, the adherence process of the piezoelectric elements is simplified and the positioning precision is improved, which ensures the high axial symmetry of the resonator. A prototypal gyroscope is selected for practical experiments. The natural frequencies of active mode and sense mode of the prototype are close, the frequency split is 0.06 Hz, and the quality factor is approximately 5000 in atmosphere. Therefore, the gyroscope can work properly without a vacuum package. A control circuit was specially designed to activate the resonator and readout the angular velocity signal. The performance of the gyroscope is characterized on a precision rate table. The experimentally obtained scale factor is 65.5 mV/degrees/s, the nonlinearity is 1323 ppm in range of +/- 150 degrees/s, the angle random walk is about 0.05 degrees/h(1/2), and the zero-bias instability is about 1.5 degrees/h at room temperature. There is a good linear relation between the sensing voltage and the angular velocity, suggesting that the novel ring vibratory gyroscope is a good candidate for low and medium rotation speed measurements. (C) 2011 Elsevier B.V. All rights reserved.