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In this study, for energy compensation in the whole-angle control of Hemispherical Resonator Gyro (HRG), the dynamical equation of the resonator, which is excited by parametric excitation of the discrete electrode, is established, the stability conditions are analyzed, and the method of the double-frequency parametric excitation by the discrete electrode is derived. To obtain the optimal parametric excitation of the resonator, the total energy stability of the resonator is simulated for the evolution of the resonator vibration with different excitation parameters and the free precession of the standing wave by the parametric excitation. In addition, the whole-angle control of the HRG is designed, and the energy compensation of parametric excitation is proven by the experiments. The results of the experiments show that the energy compensation of the HRG in the whole-angle control can be realized using discrete electrodes with double-frequency parametric excitation, which significantly improves the dynamic performance of the whole-angle control compared to the force-to-rebalance.

The Energy Compensation of the HRG Based on the Double-Frequency Parametric Excitation of the Discrete Electrode