壓電驅動半圓球殼振動陀螺儀測試

Abstract

研究半圓球殼陀螺儀振動行為，配合壓電材料的正壓電效應、逆壓電效性，使用該壓電片作為半圓球殼上的致動、感測端。將擷取訊號迴授至後端控制電路，使半圓球殼得以在(2,1)模態下保持振動，在外界對半圓球殼施予轉動外力時，伴隨科氏力作用的產生，觸發半圓球殼振動模態的漂移現象，導入抑制電路控制節點位置訊號，阻擾模態漂移現象發生，量測節點受控制期間訊號變化量，紀錄變化量對應到啟動轉盤電壓關係。針對轉盤轉動誤差分析，轉動過程中讀取旋轉編碼器的轉動物理量，示波器上顯示出旋轉編碼器訊號延遲時間，證實機械轉動下的延遲作用，考慮延遲作用下建立節點訊號變化量與轉動速度關係，探討機械延遲變因後，增加陀螺儀量測數據可靠度。

This paper is experiment of piezoelectricity actuated hemispherical resonator gyro. The material of piezoelectricity make positive piezoelectric effect and inverse piezoelectric effect. The sensing signal and actuation signal are all from the piezoelectricity. In order to controlling the hemispherical gyro vibrates in the first mode, import the feedback signals into control circuit. When the hemispherical gyro turns, coriolis force makes the vibration mode drift. By using the control circuit capture the node’s voltage change signal, the voltage of twirl with relationship to the node’s signal will be established. Then we analysis the error on the mechanical twirl, write down the delay effect of the rotary encoder. After consider error factor, we complete the the angle velocity of twirl with relationship to the node’s signal. The hemispherical resonator gyro can upgrade angle velocity measure reliably.