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진재현(Jaehyun Jin),최홍택(Hong-taek Choi),윤형주(Hyungjoo Yoon),김동국(Dongguk Kim),Sergii Sarapulov 제어로봇시스템학회 2013 제어·로봇·시스템학회 논문지 Vol.19 No.10
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.