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Hemispherical Resonator Gyro Technology.


Problems and Possible Ways of their Solutions.
(May 1999)
E.A. Izmailov, M.M. Kolesnik, A.M. Osipov, A.V. Akimov.
The Moscow Institute of Electromechanics and Automatics
5 Aviatzionny per. Moscow, 1253 19
Russia
Phone: 155-06-47. Fax: 152-26-3 1
Abstract
Key words: hemispherical resonator gyro,
fundamental wave, quadrature wave.
Hemispherical Resonator Gyro (HRG) technology is
now considered as one of the promising gyroscope
technologies. However, to implement HRG potential
capabilities one should solve a number of problems
connected both with manufacturing an isotropic
resonator having a high mechanical Q-factor and with
conserving its parameters within the gyro.
The article. basing on the experience of developing
HRGs of two standard sizes, presents some of the
mentioned problems and the results of mock-up tests.
Introduction
All known gyro types are based on using either the law
of conservation of momentum or moment of momentum
of solid bodies, material points or fundamental particles
or on using main statements of the theory of relativity.
In any case, gyro quality is determined by the
conservatism level of its proper sensing element and a
pickup system. The more energy dissipates within the
sensing element and the pickup system under other
similar conditions, the lower the gyro accuracy and
reliability are. From this point of view the HRG has
good potential characteristics. Using inertial properties
of a standing wave in a high Q-factor resonator, which
is an axis-symmetrical shell, in combination with an
electrostatic system for excitation. support and control
of vibrations on a resonance frequency, and with a
similar pick off system, the HRG is characterised by
extremely low specific energy losses.
The above mentioned HRG feature is also a basis of its
unique property - to preserve information on angular
movement of an object during momentary interruptions
in power if the HRG is used as an integrating gyro (IG).
Depending upon tolerable error, this interruption can be
of several dozens of seconds.
The same sensing element, depending upon switching
external electronic circuits, can be used both as an IG
and an angular rate sensor (ARS) [ 11.
As the majority of gyros, existing and being developed,
the HRG is an integral system consisting of a sensing
element and functional electronics which not only
generates an output information signal but also provides
conditions for sensing element operation. Depending
upon the conditions of HRG application, this electronics
can be of various complexity ( also from the point of
view of implemented functions), however, there are
common problems and without their solving there is no
sense to speak about the complexity of electronics types.
Simple design of the HRG sensing element consisting of
2-3 rigidly connected parts, and potentially low cost are
also attractive. The current HRG development
experience allows to predict its cost which is at least five
times less than that of a laser gyro provided they have
similar accuracy parameters.
Practical works on HRG creation proved the validity of
main statements of fundamental investigations
conducted in this field [2], [3], [4], [5], and revealed
some application matters presented in this article.
Sensing Element
The HRGs sensing element is a hemispherical
resonator in which a standing wave is excited by
electrostatic forces. As the HRG is based on inertial
properties of the standing wave, it is clear, that
minimisation of energetic connection of this wave with
structural elements moving in the inertial space is the
main way to increase HRG accuracy. The value of this
connection is subdivided into two components:
dissipation of the resonators vibratory energy and
position force action on the vibrating shell.
In case of an ideally made resonator, the first
component includes: energy losses in the resonator and
energy losses in the electrostatic pick off and wave
control systems. This means, that the resonator material
and the whole process of resonator manufacture must
finally provide a vibratory loop with minimum possible
damping. As the resonator is a spatial shell in which the
presence of precedence directions is prohibitive, only
isotropic material can be used for its manufacturing. In
addition, this material must feature minimum possible
losses for internal friction. Fused quartz most fully
Paper presented at the RTO SC1 International Conference on Integrated Navigation Systems,
held at Elektropribor, St. Petersburg, Russia, 24-26 May 1999, and published in RTO MP-43.
6-2
meets these requirements. However to retain potentially
high characteristics of the material in a manufactured
resonator one must solve such technological problems as
full removal of internal stress and a defective layer.
These defects appear in the process of mechanical
treatment, mainly in the process of shaping. It means
that in these processes the forces appearing in the
treatment zone shall be tangentially directed to the
surface being treated. However, in this case internal
stress and a defective layer also appear. Therefore,
chemical and thermal treatment is the necessary
condition to obtain a high-quality resonator.
Creation of the technological process for manufacturing
a resonator on the basis of the above requirements
allowed to produce resonators with the mechanical Q-
factor of (12-13~10~ for a 60-mm diameter and (6-
9)x lo6 for a 20-mm diameter (Figure 1).
As for electrostatic systems, there are problems
connected with pick off channel optimisation and
damping minimisation due to currents induced in the
resonator metal coating. The latter problem is not in
conflict with the requirement to minimum vibration
damping in the resonator because it complies with the
requirement to minimum thickness of the film provided
it retains its homogeneity. But this implies additional
requirements to the quality of treatment and preparation
of the resonator surface to applying the metal film as
well as to the process of film applying. In particular.
surface quality shall comply with the optical class of
cleanness for which chemical and mechanical treatment
is used at the final stage.
Fused quartz features the presence of nonsaturated
radicals on the surface which causes absorption of
different substances. including water. from the
atmosphere by the surface layer. This phenomenon not
only reduces the Q of the resonator but also negatively
influences the quality of the applied metal film which
finally deteriorates Q as well. Therefore, not only
surface layer passivation is necessary but observance of
technical hygiene as well.
In case of electrovacuum application of the metal film,
the most promising method is the one which potentially
provides maximum possible plasma homogeneity
provided it has enough energetic parameters. In this
case, deterioration of the resonator reference Q after
metal film application does not exceed (5lo)%.
It is apparent, that the ideal resonator can not be made.
As it was mentioned in well-known publications [6],
this leads to resonance frequency difference and
vibrations of resonator center of mass. The methodology
for eliminating difference in resonance frequencies is
fully elaborated at present. It includes both adjustment
operations at the phase of sensing element
manufacturing and structural compensation methods
implemented in functional electronics. However, it
should be taken into consideration that the emergence of
the compensation loop of the resonance frequency
residual difference requires solving the task of phase
error minimisation. Elimination of the resonator mass
center vibrations is a more complicated task. Solving
this task is necessary because when the resonator mass
center is vibrating the vibratory energy is substantially
dissipated at the resonator fastening points and in body
members including metallic ones. As far as this process
is principally instable, the standing wave energetic
connection with structural elements moving in the
inertial space also becomes instable. The experience of
development and investigation of 60-mm diameter and
20-mm diameter HRG mock-ups shows that with the
reduction of the resonator diameter the influence degree
of the resonator mass center vibrations becomes
prevailing.
As it is well-known, the process of resonator
symmetrization consists in mass elimination along the
resonator rim perimeter. Availability or nonavailability
of teeth on the resonator rim depends upon its
manufacturing cost and mass elimination procedure as
well, which may be much more expensive than the
resonator manufacturing. If the resonator does not have
teeth, mass elimination shall not cause change in
material structure (at the place of elimination) and
emergence of internal stress. For example, in the course
of comparative experiment minor effect of the COZ laser
radiation in the balancing zone of the resonator without
teeth caused anisotropy of its mechanical Q-factor of SQ
- 40% under simultaneous decrease of maximum value
of - 20%. Similar effect on the resonator with teeth
practically did not influence its reference Q. Thus, if
toothless resonator is used, mass must be eliminated
only by chemical or ion-chemical processes. The
resonator with teeth can be effectively symmetrized
using COZ laser radiation.
The second component in the mentioned case emerges
due to: force electrode system asymmeq, phase errors
of control signal generation, and induced wandering
potentials. Symmetrization of the force electrode system
is implemented both at the design stage and by selecting
appropriate procedures for sensing element assembly
and adjustment. As the residual asymmetry (if the above
procedures are rationally selected) is a small and stable
magnitude, it can be eliminated algorithmically.
Wandering potentials can be eliminated both by
implementing equipotentiality for the resonator metal
film and stability of permanent potentials on all
electrodes. The most complicated problem is
minimisation of phase errors of control signal
generation. As it is connected not only with the
electronic circuits errors and their instability but with
noise in the data channel as well, the best decision can
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be made only when control action generation
algorithms, functional electronics building structure and
component capabilities are considered as a whole.
Pick off Electrode System
The pick off electrode system generates both the
necessary control actions on the resonator and the HRG
output signal as well. It contains 8 electrodes
symmetrically located relative to the resonator; the
electrodes together with the resonator surface form the
same number of capacitors (Figure 2). Of course, in
reality neither absolute symmetry of electrodes nor their
absolute identity are feasible. In addition, a real gap
between electrodes and the resonator surface is not
similar either. Therefore, each capacitor will have its
own C, magnitude and its deviation from an ideal
angular position vi, where i = 1,2,..., 8. Let US write Ci
in the form of an equivalent flat capacitor:
(1)
where: d - dielectric penetrability;
S, - an equivalent area;
6i - an equivalent gap.
Here and further the second resonator vibration mode is
considered. Assuming that resonator vibration
amplitude is A<<Fi, the change of the capacitor
magnitude can be presented in the form of:
Ai=Kix Al,
(2)
where: K, = -5;
4
A, - gap change under resonator vibrations.
--.,_-. - - - - Fundamental Wave
..--...
Quadrature Wave
Figure 2. The pick off electrode system.
Let us assume that there is only the fundamental wave
in the resonator and that the pick off signal is generated
due to constant voltage U applied to the resonator
surface. Assuming that all capacitors are connected to
similar active resistors and there is no relation between
them, output signals over sin and cos channels can be
written with an accuracy of up to the scale factor:
u,=UAr(EIcos28+E2sin28)cosot; (3)
~=UAAE&QB-E4cos2t3)cosot,
where: E1=K1~os~1+K3~os~3+K~cos~5+K~cos~~;
E2=KI sincp, -K3sincp3-K5sincp5+K7sincp7;
E3=K2~os~2+&~os~4+K~cos~6+K~cos~~;
E4=K2sin~-K&in~4-K&in(P6fK-8Sin(Ps;
o - angular frequency of resonator vibrations;
t - time.
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Signals (3) are used to control resonator vibration
amplitude and to determine angular position of the
wave. An expression for estimation of the amplitude
square will be obtained in the form of
A; = O,ZSUA~[B, + B2(40 - c$)] (4)
where: B, =Ef +Ei +E, +Ef;
B, =&* +E;)* +(E; +E$ +2(&!$ -E,E,)* ;
6, = urctg
2(W, - EdA)
E;+E,2--;-Et
Thus, in case of pick off channel non-identity the
amplitude stabilisation loop will produce a false signal
with a period of 48.
It is not dilficult to show that an evaluation error of
wave angular position is determined by the relation:
8 = 4 5arctg 4 + B4 sin@ + 6-I)
B, +B,cos(48+&)
(5)
where: B3=E2+E4;
(E, - E,)2 + (Ed - E2)2 ;
B5=E, +E3;
5, = arctg
E4 -E2 .
E, -E,
Expression (5) describes the HRG scale factor error
which is also a periodic function of 48. In addition,
there is a certain constant shift defined by a relative
angular error of electrode location.
Now let us consider the display of the same asymmetry
under parallel existence of fundamental and quadrature
waves having different angular frequencies of or and oq
vibrations. It is evident that such a mode can exist only
in case of orientation of the mentioned waves over
orthogonal axes of the resonator frequency anisotropy.
Subject to this factor, expression (3) can be rewritten in
the following form:
~=U[A,AE1cos28+E2sin28)coswfi-A@, sin28-
E+os2O)sino,t];
(6)
&=U[At(E&20-
E4cos29)cosoft+A,(E3cos2B+E4sin29)sino,t].
Let us introduce an instant angular frequency o defined
by the relation:
WflOIW,,
then: of = o + wl and q,=o - 02.
(7)
Subject to (7) equation (6) is transformed into:
b=U(z,cosot-z2sinot); (8)
K=U(z+osot-z4sinot),
where:
zl =(A& cosol t-
A,E2sino2t)cos28+(A&2cos~,t+A~E,sinW)sin28;
z2=(A& sinw I t-
A,E2cosW2t)cos28+(Af2sinol t+A?\,E, coso2t)sin28;
z3=(Arl$coso1 t-A, E&ino2t)sin28-
(A&cos0,t+A~E~sin0~t)cos2%
z4=(AfE3sino1 t-d, E4cosw2t)sin28-
(A&&ino, t+AqE3cosa2t)cos20;
As for the real resonator m <Cl, z, are slowly
w
changed periodic time functions.
Phase shift between u, and uC signals is obtained from
(8) as an angle between corresponding vectors in coswt,
sinwt planes (Figure 3).
Y =urctg z
2A,A$3, *a, - $ >t
(A, +A;)& +[(A; -A;,,& -2B&JsW+ -@1sfi4@
-[(A; -A;)B, +2B8A,A4sin(w, -wJ]cas4B
(9)
where: B6=E1E3+E2E4;
B7=E2E3-E,Ed;
B8=E, E3-E2E4;
Bs=E, E4+E2Es;
It follows from (9) that \v is a nonshifted estimation of
A4 for the considered asymmetry of pick off electrodes
and therefore is suitable to be used in an appropriate
control loop. Using v as a control signal of the
electronic balancing loop (quadrature wave
suppression), equation (9) can be simplified subject to
(o&J+O:
2A,A,B,
y = arctg (A> + Ai)B, + (A> - At)B,, sin(48 - 4)
> (10)
where: B,, = (E; + E,~)(E: + E,f) ;
4
& = arctg--
4
It should be mentioned, that in case of pick off electrode
system symmetry i.e. E2=E4=0 and E,=E3, the \v
function described by the relation:
T = arctg
2A,A,B6
(Af -A,) sin48
6-5
Substituting corresponding symbols, we obtain:
Figure 3.
has the first order break v =5/2 either in case of ATA,
or under A#A, in case of 8=(n-l)n/4. In real conditions
full symmetry of pick off electrodes is slightly probable,
but it is necessary to take into consideration the
mentioned feature of the ,l~ function when the control
loop is being formed.
Let us consider free vibrations of the resonator described
by equations (8). It is not difficult to show that in the us,
uc plane (Figure 4) they describe ellipse [7]:
YT(uC) ,
Figure 4.
b2{ (A:+As2)B, ,+[(A: -Aq2)B,2+4ArA,B,5 sin(c+
o,)t]cos48-2[(A:-A,z)B,5-AfAqB,2sin(o,-
o,)t]sin48}+g2{(A:+Aq2)B,3+[(A?-Aq2)B,.I-
4AfAqB,6sin(o,-o,)t]cos48+2[(Af2-
A,2)B,6+AfAqB,4sin(o~o,)t]sin48)-
2u&{ (At+A,2)B,7+[(A: -A,*)Bp-2ArA,B9sin(wt-
o,)t]sin48-[(Afz-Aq2)B9+2ArAqBgsin(wf
o,)t]cos48}=2U2Af2A,2B,j2cos2(o,-Qt. (11)
where: B, ,=E32+E42;
B,2=E42-E32;
B, 3=E, 2+E22;
2 2
B,4=E, -E2 ;
BI~=E&
B,ts=Ed%;
It follows from (11) that coefficients which define
ellipse parameters are periodic time functions. Hence,
we can watch some ellipse evolutions in the us, uc plane
(for example, the screen of a double-beam oscillograph).
For the purpose of simplification, the further
consideration will be provided for symmetric electrode
system. Taking into account. that fundamental axes of
the ellipsoid are orthogonal we can determine them by
evaluating the expression for one of them. In this case
the desired relation is as follows:
4 = Okrctg
(A~-A~)sin48-2A,A,sin(wf-w,)tcos4e,(12)
(A;-A;)cos4f?
Thus, fundamental axes of the ellipse will make angular
movements. In this case, at the moments of t=(n-
l)d(ofw,J cp will exactly correspond to the angular
position of the fundamental wave ( in the us, tic plane
(p=2e).
It follows from (11) that at the moments of t=(2n-l)rr/2,
the ellipse degenerates into direct lines:
AfA7
sin(48 - nrctg ~
A;-A; ; (13)
24, =
Ar -A2 Us
1 + sin(48 + arcfg +)
/ 4
sin( 48 + arctg ~
A; -A;)
u, =
A; -A; Us
1 + sin(48 - arctg r)
/ 4
Thus, ellipse evolution consists in its angular vibrations,
accompanied by its ellipticity change and degeneration
at the boundaries into direct lines (13). Ellipse vibration
period precisely equals CO,-W,, and an angular amplitude
of its vibrations is determined by the amplitude
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relationship Aif and A4. If AFA, at the moments of t=(n-
l)~/(o~oJ the ellipse is changed into a circumference.
In this case direct lines (13) exactly coincide with
angular position of fundamental and quadrature waves,
It follows from the above, that availability of two
different resonance frequencies under free vibrations of
the resonator do not cause wave drift. This fully agrees
with conclusions of the publication [2]. In addition, the
obtained result is an information basis when the
resonator is balanced for elimination of the 4-th
harmonic of the resonator elasticity and mass
inhomogeneity. We should mention here that it is not
difficult to provide practically ideal symmetry of the
pick off electrode system in the production equipment.
In case of generating an pick off signal by applying
alternating voltage of angular frequency R, to the sin
channel electrodes and frequency 0, to the cos channel
electrodes [S], the signals taken from the hemisphere to
the purely resistive load for each frequency can be
represented in the form of:
u,=UIC-21 [E~+A~E,cos2Cl+E2sin28)cosoft-A,(E2sin28-
El cos28)sino,t]sinR, t;
u,=U2R2[Es+Ar(E3sm28-
E~cos20)coso~+A,(E~cos28+E4sin2B)sino,t]sin~~~. (14)
where: E5=K,+K5-Kj-K7;
Eg= K2+K6-K4-Kg.
Technically It is not difficult to provide U,!&=U&&
condition. Having provided an ideal synchronous
detection of signals (14) in accordance with
corresponding carrier frequencies we will obtain signals
different from (6) by availability of permanent members
Es and E6 which express modulation deviation from
100%. Upon liquidation of these members, we obtain
the above considered expression (6). Thus. ignoring
nonideality of the above mentioned operations we can
make a conclusion that errors which occur from
asymmetry of the pick off electrode system do not
depend upon pick off signal generation procedure.
Force Electrode System
The force electrode system includes a ring electrode and
16 discrete electrodes. The ring electrode is used for
parameter stabilisation of the resonator vibration
amplitude. The discrete electrodes opposite the ring one
are combined into pairs and provide resonator excitation
on its resonance frequency. electronic balancing of the
resonator, and wave position control in case of using the
HRG as an ARS. As the force is proportional to the
square of potential difference between the resonator
surface and an electrode, control with the help of
alternating potentials will generate a certain permanent
force.
Practically, the force electrode system features
asymmetry similar to that of the pick off electrode
system. An exception is the ring electrode the
asymmetry of which is generated by gap irregularity. In
the result, permanent force acting on the resonator shell
from the side of vibration amplitude preserve loop will
be the function of 0. As this force changes shell
elasticity, the resonator elasticity-mass parameters will
also become a certain function of 8. which can be
expanded into a Fourier series according to 8. It can be
easily shown that the most characteristic gap
irregularities of eccentricity and ovality type generate
just the first four expansion members or first four
inhomogeneity harmonics. Thus. even in case of
absolutely symmetrical resonator the functioning of the
vibration amplitude preservation loop under asymmetric
gap will cause two resonance frequencies and
occurrence of resonator mass center vibrations, which is
more unpleasant [6]. The latter will inevitably cause
losses of the resonator vibrating energy in the HRG
structural elements and consequently deterioration of
the resonator Q and its asymmetry. It is well known [2]
that the resonator SQ is the reason of HRG drift. Thus,
ring electrode asymmetry is the source of J3RG
additional drift. If to take into account the error of
generating information signal of the vibration amplitude
preservation loop (4), the drift caused by this loop will
be the function of 40.
An additional drift is proportional to the square of
potential difference (necessruy to preserve vibrations).
vibration amplitude, relative asymmetry of the gap and
in inverse proportion to Q. Hence, Q increase and
vibration amplitude decrease will cause decrease of the
additional drift. Decrease of relative asymmetry of the
gap under other similar conditions is possible only by
increasing its nominal value which will require increase
of potential difference. In addition, gap increase and
vibration amplitude decrease requires increase of
hemisphere potential to keep the required signal-to-
noise ratio in the pick off channel. Thus. there is a task
of rational selection of the said parameters.
Figure 5 and Figure 6 present drift velocity
dependencies of one of the HRG mock-ups with a 20-
mm diameter resonator. These dependencies were
obtained in different conditions: the results shown on
Figure 6 were obtained for a reduced vibration
amplitude and an increased potential on the hemisphere.
As vividly seen from the comparison of the presented
curves, they comply with the said above.
Electronic balancing is made by providing appropriate
constant potential difference between the hemisphere
and two pairs of orthogonal discrete electrodes. In case
6-7
Figure 5. Case-Oriented Drift as a Function of Pattern Angle.
I - vertical component of Earth rotation.
Jw
I-
I ! I I/ I
------__ _--_ _________ ___ ____________
i I I 1 r :
d I I
I I i 1 /
/ I I ! I
I I I I I I I I I
-I I I I I 1
I 1
c
2% ml
-20 0 20 40 60 80 100 120 140 160 180 b
Figure 6. Case-Oriented Drifr as a Function of Pattern Angle.
I - vertical component of Earth rotation.
of full symmetry, these potentials create the 4-th
harmonic of resonator elasticity-mass parameter
inhomogeneity which compensates for its initial
inhomogeneity which becomes apparent in availability
of two resonance frequencies. Subject to discrete
electrode system asymmetry the mentioned potentials
will also create lower harmonics of inhomogeneity, i.e.
we shall obtain the result described above.
Equation (9) obtained before, which is an information
signal of electronic balancing loop (quadrature wave
suppression) does not take into account phase errors of
electronic circuits which generate w assessment.
Availability of these errors will cause the shift of the
assessment. In the result, in the resonator there will be
kept two resonance frequencies, the difference of which
is determined by the value and the sign of the \v
assessment shift. Availability of vibration amplitude
stabilisation loop under these conditions will lead to the
drift independent of 8 [2]. By this fact we can explain
availability of constant shift of the curves on Figure 5
and 6 relative to the Earth angular velocity. As phase
errors of the electronic circuits can not be considered as
stable unlike electrode system asymmetry, full or partial
calibration of these circuits is expected to become
apparent in the drift characteristic. Unfortunately, in the
course of experiments it was possible to calibrate only
electronic circuits of input amplifiers of pick off signals
u, and LL. Figure 7 shows drift plots of the said above
mock-up. The plots are drawn by wave return into the
initial point by the mock-up body turn. No calibrations
were made. Figure 8 shows similar plots, but each time
calibration of input amplifiers in initial state was made.
The results obtained are not in conflict with the said
above.
6-8
I
1 7 13 1925313743495561 6773 79859197103 109115121127133139145151157 163
Figure 7. Three 0.5h dr&?i lines.
The calibration was not pe$orrned.
Trend%,[dgr/h]: I-10.13; II-10.09; III-IO.04
Figure 8. Two 0.5h drift lines.
Two calibrations was performed.
Trend 28, [dgr/h] : I - 10.13; II - IO.11
Summary system asymmetry. Experimental data comply with the
statements given above.
Based on the development experience of HRG mock-
ups of two standard sizes, some essential problems of
HRG technology are raised and methods of their solving
are proposed. Errors in pick off signal generation and
assessments of vibration parameters used in control
loops have been analysed. It is shown that free
vibrations of the resonator having two resonance
frequencies do not cause drift. A model of the drift
additional components is given which is defined both by
pick off electrode system symmetry and force electrode
6-9
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