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Dynamic Models of Hemispherical Resonator Gyros and Tests of Basic Control Characteristics

반구형 공진 자이로의 동작모델과 기초 제어특성 실험

  • Jin, Jaehyun (Division of Aerospace Engineering, Sunchon National University) ;
  • Choi, Hong-Taek (Satellite Control System, Korea Aerospace Research Institute (KARI)) ;
  • Yoon, Hyungjoo (Satellite Control System, Korea Aerospace Research Institute (KARI)) ;
  • Kim, Dongguk (Division of Aerospace Engineering, Sunchon National University) ;
  • Sarapulov, Sergii (Special Technologies and Machines Co., Academy of Science and Technology of Ukraine)
  • 진재현 (순천대학교 우주항공공학전공) ;
  • 최홍택 (한국항공우주연구원 위성제어팀) ;
  • 윤형주 (한국항공우주연구원 위성제어팀) ;
  • 김동국 (순천대학교 우주항공공학전공) ;
  • Received : 2013.03.21
  • Accepted : 2013.07.23
  • Published : 2013.10.01

Abstract

This article focuses on a hemispherical resonator gyro driven by the Coriolis effect. The operational principle of resonator gyros and mathematical models are introduced. These models are useful to explain the behavior of a resonator and to design controllers. Several control tests of a resonator have been done. A resonator has been excited by electromagnets controlled by a computer. Its amplitude has been adjusted by a PI control. The transient response is matched with a simulation result based on a mathematical model. A vibrating pattern may drift due to non-uniform factors of a resonator. The drift of the vibrating pattern is controlled and aligned to a reference direction by a PI control. These results are very useful to understand the behavior of resonator gyros and to design advanced control algorithm for better performance.

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