About the Method of Compensation of Harmful Disturbances in a Three-Step Micromechanical Gyroscope

The accuracy of measurements of modern small-sized gyroscopic devices substantially depends on various disturbing factors caused by both imperfect manufacturing techniques and errors in measurement methods and operating conditions. Known methods for compensating for such effects are often technically difficult to implement in microelectromechanical systems. The method proposed by the authors is based on the use of nutation oscillations observed in three-stage micromechanical gyroscopes and the implementation of the disturbance control principle. A modified kinematic diagram of the device is presented, including a valve actuator that revolves the rotor. A mathematical model of the gyroscope motion in a rotating coordinate system is constructed, and numerical calculations are performed. The relations between the amplitudes of nutational vibrations caused by harmful disturbing moments and the angular motion of the base are analyzed. A block diagram of the allocation of gyro information signals is proposed.