RESONANCE CONTROL DEVICE, VIBRATORY GYROSCOPE, AND RESONANCE CONTROL METHOD

摘要

A vibratory gyroscope (1) comprises a circular resonator (101), a plurality of actuators (102) for applying radial excitation force to the resonator (101), and a plurality of displacement sensors (103) for detecting the radial displacement of the resonator (101). A resonance control device (106) of the vibratory gyroscope (1) uses a reference signal having a reference signal frequency matching a resonant frequency of the resonator (101), which is calculated on the basis of the sensor signals output by the displacement sensors (103), and the amplitude and the antinode azimuth of resonant vibration that has been excited in the resonator (101), which are derived from the sensor signals, to generate an in-phase signal that is in phase with the reference signal and an antiphase signal that is in antiphase with the reference signal. The resonance control device (106) uses the in-phase signal and antiphase signal to drive the actuator (102) with alternating current and uses the amplitude and antinode azimuth of the in-phase signal and the amplitude and antinode azimuth of the antiphase signal to output an estimated angular velocity for the resonator (101).