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Nonlinear Effects in the Dynamics of HRG with Flat Electrodes

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Abstract—The paper addresses a hemispherical resonator gyroscope (HRG) with flat electrodes applied in the vehicle control and navigation. In order to enhance the gyro accuracy, we formulate the problem of constructing a new mathematical model describing the nonlinearities of the electromechanical system controlling the hemispherical resonator oscillations. The mathematical model of the resonator dynamics is based on Lagrange−Maxwell differential equations. The obtained nonlinear model is studied with the asymptotic Krylov−Bogolyubov averaging method. The reference voltage on flat control electrodes is shown to arouse systematic drift and changes in the resonance frequency. The provided example demonstrates the influence of reference voltage on the gyro drift and reduction in the resonator oscillation frequency.

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Notes

  1. HRG is also referred to as wave solid-state gyroscope (WSG) in Russian publications.

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Funding

The research has been supported by the Russian Science Foundation, grant no. 23-21-00546.

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  1. Moscow Power Engineering Institute, Moscow, Russia

    A. A. Maslov, D. A. Maslov & I. V. Merkuryev

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  1. A. A. Maslov
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  2. D. A. Maslov
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Correspondence to A. A. Maslov.

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Maslov, A.A., Maslov, D.A. & Merkuryev, I.V. Nonlinear Effects in the Dynamics of HRG with Flat Electrodes. Gyroscopy Navig. 14, 320–327 (2023). https://doi.org/10.1134/S2075108724700044

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