Angular Rate Sensor of piezoelectric Vibratory Gyro

以压电式振动陀螺作为角速度传感器，利用推导出的电路对陀螺特性进行了考虑，并进行了实验验证。本课题取得的主要成果如下：1.首次建立了陀螺特性的等效电路模型。在此电路的基础上，阐明了无旋转状态下的输出信号主要是由输入输出的静态耦合以及由于压电陶瓷与振子的粘接不准确而产生的力系数不平衡引起的。陀螺的凌日响应从理论上表明，在外加角速率的正弦变化中，科里奥利力具有两个频率分量。具体提出了压电材料陀螺的驱动和检测方法。推导了Sperry型、Watoson型和双谐振型音叉陀螺的等效机械电路，并对它们进行了比较。提出了简易型和对称复合型音叉陀螺仪的新结构，并详细讨论了该陀螺仪的设计指南。设计了除上述陀螺外的其他类型的陀螺，并阐明了其在实际应用中的可能性。对陀螺进行了曼尼实验，并通过电路与解析结果进行了对比。申请了该项目的部分专利。

To use a piezoelectric vibratory gyro as an angular rate sensor, the consideration on the gyro characteristic was done by use of the derived circuit, and the results were confirmed experimentally. Our achievements on the project are concluded as follows:1. Equivalent circuits to simulate the gyro characteristic were derived for the first time.2. On the basis of the circuit, it was clarified that the output signal in no rotation is mainly caused by an input-output static coupling and the unbalanced force factors due to the inaccurate adhension of piezoelectric ceramics to the vibrator.3. The transit response of the gyro theoretically made it clear that the Coliolis force is of two frequency components in the sinusoidal variation of the applied angular rate.4. The driving and detecting methods of the gyro composed of a piezoelectric material were concretely proposed.5. Equivalent mechanical circuits of Sperry-type, Watoson-type and double-resonant-type tuning fork gyros were derived, and compared with each other.6. New constructions on simple-type and symmetric-composite-type tuning fork gyros were proposed, and the guide for designing the gyro was considered in detail.7. The other types except the above-mentioned gyros were devised, and the possibility in practical use was clarified.8. Manny experiments on the gyros were done, and coinsided with the analytical ones by the circuit.9. Some patents about the project were applied.