A Study of the Dynamics and Drift of a Micromechanical Gyroscope Taking into Account the Nonlinear Elasticity of the Suspension and Non-orthogonality of the Torsion Axes in the Forced Oscillation Mode

The object of research is a micromechanical gyroscope, represented by a sensitive element in an elastic suspension. The dynamics of a gyroscope taking into account the non-orthogonality of the torsion axes and the nonlinear elasticity of the suspension under forced vibrations of the sensitive element is considered. The aim of the research is to study the dynamics of the gyroscope taking into account the instrumental errors of the device manufacturing technology. Formulas for estimation the angular velocity of the base of the gyroscope (when the device is operating as an angular velocity sensor) and the angle of precession of the gyroscope (when the device is operating in the integrating mode) are obtained. A model of a gyroscope drift is presented, taking into account the instrumental manufacturing error, and an estimate of the gyroscope drift caused by this defect is demonstrated.