The control algorithm of whole angle mode for HRG based on the vector composition.

The Hemispherical Resonator Gyroscope (HRG) has many advantages such as high precision, high reliability and long life-time, it is widely used in the space-launcher and the satellites. The HRG has been mechanized to operate in the distinct operating modes, the Force to Rebalanced (FTR) mode and the Whole Angle (WA) mode. In the paper, different from the traditional control algorithm is based on average methods which usually used for the WA mode, a new electrostatic control algorithm is presented, which based on the vector composition and decomposition method to control the equivalent drive force in order to track the phase of the standing wave. The mathematics model and the control algorithm are presented in the paper, and the hardware experimental circuit system is implemented, the HRG has a range of more than 300°/s with the linearity of 40 ppm. Meanwhile, the energy transition efficiency increases by an order of magnitude.