Non-driven Micromechanical Gyroscopes and Their Applications

Preface

About the Book

Contents

Author’s Introduction

Non-driven Mechanical Gyroscopes

1 Operating Theory of a Non-driven Mechanical Gyroscope

1.1 Characteristics of a Flying Aircraft

1.2 Motion Equation for the Sensitive Elements in a Non-driven Mechanical Gyroscope

1.3 Performance of the Gyroscope as the Aircraft Rotates With a Constant Angular Velocity

1.4 Choice of System Scheme for a Non-driven Mechanical Gyroscope

1.5 Dynamic Performance Regulation of the System

1.6 Stability of a Non-driven Mechanical Gyroscope with Negative Velocity Feedback

1.7 Technical Performance of a Non-driven Mechanical Gyroscope

2 Precision of a Non-driven Mechanical Gyroscope with Negative Velocity Feedback

2.1 Measurement Precision of a Constant Angular Velocity Rotating Around The Horizontal Axis

2.2 Regulation of a Non-driven Mechanical Gyroscope

3 Performances of Non-driven Mechanical Gyroscope in the Condition of an Alternating Angular Velocity

3.1 Performance of Non-driven Mechanical Gyroscope in the Condition of an Angular Vibration

3.2 Output Signal of Non-driven Mechanical Gyroscope in the Condition of an Angular Vibration

3.3 Measurement Accuracy of the Harmonic Angular Velocity for the Aircraft

3.4 Performance of Non-driven Mechanical Gyroscope in a Circumferential Vibration

4 The Operating Errors of a Non-driven Mechanical Gyroscope

4.1 Error Caused by Static Unbalance of the Framework

4.2 Error Caused by Angular Vibration and Circumferential Vibration

4.3 Error Caused by Imprecise Installation

4.4 Error Caused by Change of Environmental Temperature

Non-driven Micromechanical Gyroscopes

5 The Micromechanical Accelerometer and the Micromechanical Gyroscope

5.1 The Micromechanical Accelerometer

5.1.1 Basic Principle, Technology Type and Applications of a Micromechanical Accelerometer

5.1.2 The Working Principle of a Micromechanical Accelerometer

5.1.3 The Micromechanical Accelerometer Manufactured by a Bulk Micromachining Process

5.1.4 The Micromechanical Accelerometer Manufactured by a Surface Micromachining Process

5.1.5 Force Feedback

5.1.6 The Resonant Micromechanical Accelerometer

5.2 The Micromechanical Gyroscope

5.2.1 The Structural Basis of a Micromechanical Gyroscope

5.2.2 The Basic Principle of a Micromechanical Gyroscope

5.2.3 Frequency Bandwidth

5.2.4 Thermal Mechanical Noise

5.2.5 Types of Micromechanical Gyroscope

6 The Working Principle of a Non–Driven Micromechanical Gyroscope

6.1 The Structure Principle

6.2 The Dynamic Model

6.2.1 The Mass Vibrational Model

6.2.2 The Solution of the Angular Vibrational Equation

6.3 Analysis and Calculation of Kinetic Parameters

6.3.1 Torsion Stiffness of the Elastic Supporting Beam

6.3.2 Parameter Calculation of the Flexible Joints

6.3.3 The Damping Coefficient of Angular Vibration for the Vibrating Element

6.3.4 Relationship Between the Angular Vibration Natural Frequency, the Angular Vibration Amplitude and the Measured Angular Velocity

6.4 Signal Detection

6.4.1 The Relationship Between the Output Voltage and The Swing Angle

6.4.2 Signal Processing Circuit

6.5 ANSYS Simulation and Analogy

6.5.1 Modal Analysis

6.5.2 Frequency Response Analysis

7 Error of a Non-driven Micromechanical Gyroscope

7.1 Motion Equations of a Vibratory Gyroscope

7.2 Error Principle of a Vibratory Gyroscope

7.3 Error Calculation of a Non-driven Micromechanical Gyroscope

7.4 Error of a Non-driven Micromechanical Gyroscope

8 Phase Shift of a Non-driven Micromechanical Gyroscope

8.1 Phase Shift Calculation of a Non-driven Micromechanical Gyroscope

8.2 Phase Shift of a Non-driven Micromechanical Gyroscope

8.3 Feasibility of Adjusting the Position to Compensate the Phase Shift of the Output Signal

8.4 Characteristic Calculation of a Non-driven Micromechanical Gyroscope in the Angular Vibration Table

9 Static Performance Test of a Non-driven Micromechanical Gyroscope

9.1 Performance of the Prototype of a Non-driven Micromechanical Gyroscope

9.1.1 Temperature Performance of the Prototype

9.1.2 Performance of the Prototype

9.1.3 Temperature Stability of the Prototype

9.2 Performance of a CJS-DR-WB01 Type Silicon Micromechanical Gyroscope

9.3 Performance of a CJS-DR-WB02 Type Silicon Micromechanical Gyroscope

9.4 Performance Test of CJS-DR-WB03 Type Silicon Micromechanical Gyroscope

Applications of Non-driven Micromechanical Gyroscopes

10 Signal Processing

10.1 Inhibiting the Influence of a Change in Rolling Angular Velocity of the Rotating Body on the Stability of the Output Signal

10.1.1 Influence of a Change in Rolling Angular Velocity of the Rotating Body on the Output Signal

10.1.2 Method for Inhibiting the Influence of a Change in Rolling Angular Velocity on the Output Signal

10.1.3 Validation of Inhibiting Influence Method

10.2 The Attitude Demodulation Method of a Micromechanical Gyroscope Based on Phase Difference

10.2.1 Study of the Phase Difference Between the Output Signal and the Reference Signal of the Gyroscope

10.2.2 Factors Influencing Phase Difference

10.2.3 Phase Difference Compensating Method

10.3 Posture Demodulation of the Rotating Body Based on the Micromechanical Gyroscope

10.3.1 Demodulation Method

10.3.2 Simulation Experiment

11 Applications in the Flight Attitude Control System

11.1 Calculation Method Design and Software Creation

11.1.1 Calculation Method and Software

11.1.2 Computer Software Design

11.2 Influence Connected Motion (Angular Vibration) as Three Axes Move Simultaneously

11.3 DSP Digital Output of the Gyroscope

11.3.1 Hardware Circuit Design

11.3.2 Algorithm and Software Realization

11.3.3 Test Results

11.4 Attitude Sensing System for Single Channel Control of the Rotating Flight Carrier

11.5 Three Channels Attitude Sensing System of the Rotating Flight Carrier Through the Rectangular Coordinate Transformation

11.6 Attitude Sensing System of the Rotating Flight Carrier Through the Polar Coordinate Transformation

11.6.1 Method for Obtaining the Transverse Angular Velocity Relative to the Rotating Coordinate System of the Rotating Flight Carrier

11.6.2 Method for Obtaining the Rolling Angular Velocity Relative to the Coordinate System of the Quasi-Rotating Flight Carrier

11.6.3 Method for Obtaining the Pitch Angular Velocity and the Yaw Angular Velocity Relative to the Coordinate System of the Quasi-Rotating Flight Carrier

11.7 Applications in the Non-rotating Flight Carrier

References