ICROS 2012

2012 4 5-6,

Hemispherical Resonator gyro Test-bed Using
Electromagnetic
* , *, **
* (E-mail:0489fhfl@naver.com, umhijin@naver.com)
** (TEL: 061-750-3827; E-mail: donworry@sunchon.ac.kr )

Abstract This paper deals with a test-bed for resonator gyros driven by electro-magnetic force.
The test-bed is composed of electro-magnets, proximity sensors and resonator. Electro-magnets are
divided into driving and controlling ones. The driving magnets excite the resonance and the
controlling part eliminates undesirable quadrature vibration. Even though there is a limitation for
good performance because of the open loop control, we have confirmed that the possibility of the
quadrature control and the usefulness of the test-bed to research resonator gyros.
Keywords HRG, electro-magnetic, test-bed, open loop control, quadrature vibration,

1.

(Hemispherical resonator
gyro, HRG)
, 1890 Bryan
.
,
Fused
Quartz .
HRG
. HRG

.
Whole Angle(WA) .

.

.
Force to Rebalance(FTR) .[1]
FTR
.
FFT



.

.[2]
HRG
.
HRG


FTR 1
open loop
.

2.
2.1

,
.


n=2 .

45 .
1
n=2 (a)

coriolis force
.

(a) n=2
(b)
1.

2.2

(1)
.[3]

(1)


.
,
, .

3.
3.1

.

.


.

3.2 open loop

(171.9Hz)

(85.9Hz) .
.
4
5.

45 4
.
open loop 45
5 54%
.

4.

open loop

. open loop



. open loop
close loop
.

2.
, ,


. AC power source 2
45
2 .
function generator .

90

[1] M. Kang, T. Kang, Y. Lee, S. Sung and K. Lee,

Research on High Precision Solid State
Gyroscope, Proc. of the 2007 Fall Conference of
KSAS(I), pp.911-914, 2007.
[2] H. Myoung, H. Bang J. Lee and J. Lim, Controller
Design of Hemispherical Resonator Gyroscopes
using Feedback Linearization, Proc. of the 2008
Fall Conference of KSAS, pp.911-914, 2008.
[3] H. Kong, S. Hong, J. Kim, The Implementation
and Experiments of Open-Loop Cylindrical
Vibratory Gyroscope, Journal of Control,
automation and Systems Engineering, vol. 10, No. 8,
pp. 669-672, 2004