{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,12]],"date-time":"2025-10-12T04:19:11Z","timestamp":1760242751868,"version":"build-2065373602"},"reference-count":13,"publisher":"MDPI AG","issue":"4","license":[{"start":{"date-parts":[[2016,4,20]],"date-time":"2016-04-20T00:00:00Z","timestamp":1461110400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>A Hemispherical Resonator Gyro (HRG) is the Coriolis Vibratory Gyro (CVG) that measures rotation angle or angular velocity using Coriolis force acting the vibrating mass. A HRG can be used as a rate gyro or integrating gyro without structural modification by simply changing the control scheme. In this paper, differential control algorithms are designed for a 2-piece HRG. To design a precision controller, the electromechanical modelling and signal processing must be pre-performed accurately. Therefore, the equations of motion for the HRG resonator with switched harmonic excitations are derived with the Duhamel Integral method. Electromechanical modeling of the resonator, electric module and charge amplifier is performed by considering the mode shape of a thin hemispherical shell. Further, signal processing and control algorithms are designed. The multi-flexing scheme of sensing, driving cycles and x, y-axis switching cycles is appropriate for high precision and low maneuverability systems. The differential control scheme is easily capable of rejecting the common mode errors of x, y-axis signals and changing the rate integrating mode on basis of these studies. In the rate gyro mode the controller is composed of Phase-Locked Loop (PLL), amplitude, quadrature and rate control loop. All controllers are designed on basis of a digital PI controller. The signal processing and control algorithms are verified through Matlab\/Simulink simulations. Finally, a FPGA and DSP board with these algorithms is verified through experiments.<\/jats:p>","DOI":"10.3390\/s16040555","type":"journal-article","created":{"date-parts":[[2016,4,20]],"date-time":"2016-04-20T11:00:40Z","timestamp":1461150040000},"page":"555","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":18,"title":["Design and Verification of a Digital Controller for a 2-Piece Hemispherical Resonator Gyroscope"],"prefix":"10.3390","volume":"16","author":[{"given":"Jungshin","family":"Lee","sequence":"first","affiliation":[{"name":"Inertial Sensors &amp; Instruments, Agency for Defense Development, Bugyuseong daero 488 beon gi, Yuseong-Gu, Daejeon 305-152, Korea"}]},{"given":"Sung","family":"Yun","sequence":"additional","affiliation":[{"name":"Inertial Sensors &amp; Instruments, Agency for Defense Development, Bugyuseong daero 488 beon gi, Yuseong-Gu, Daejeon 305-152, Korea"}]},{"given":"Jaewook","family":"Rhim","sequence":"additional","affiliation":[{"name":"Inertial Sensors &amp; Instruments, Agency for Defense Development, Bugyuseong daero 488 beon gi, Yuseong-Gu, Daejeon 305-152, Korea"}]}],"member":"1968","published-online":{"date-parts":[[2016,4,20]]},"reference":[{"key":"ref_1","unstructured":"Lynch, D., Matthews, A., and Varty, G.T. (1997, January 1). Innovative Mechanizations to Optimize Inertial Sensors for High or Low Rate Operations. Proceedings of the Symposium Gyro Technology, Stuttgart, Germany."},{"key":"ref_2","unstructured":"Matthews, A., and Farmer, R. (1993, January 21\u201323). Applications of the HRG to Strategic Mission. Proceedings of the 49th Annual Meeting of the Institute of Navigation, Cambridge, MA, USA."},{"key":"ref_3","doi-asserted-by":"crossref","first-page":"227","DOI":"10.1134\/S2075108712040086","article-title":"Milli-HRG Inertial Navigation System","volume":"3","author":"Meyer","year":"2012","journal-title":"Gyrosc. Navig."},{"key":"ref_4","doi-asserted-by":"crossref","first-page":"67","DOI":"10.1134\/S2075108714020047","article-title":"HRG and Marine applications","volume":"5","author":"Jeanroy","year":"2014","journal-title":"Gyrosc. Navig."},{"key":"ref_5","unstructured":"Chikovani, V.V., Umakhanov, E.O., and Marusyk, P.I. (2008, January 16\u201317). 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Proceedings of the VoluAlchE Annual Meeting, Reno, NV, USA."}],"container-title":["Sensors"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/1424-8220\/16\/4\/555\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T19:22:33Z","timestamp":1760210553000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/1424-8220\/16\/4\/555"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2016,4,20]]},"references-count":13,"journal-issue":{"issue":"4","published-online":{"date-parts":[[2016,4]]}},"alternative-id":["s16040555"],"URL":"https:\/\/doi.org\/10.3390\/s16040555","relation":{},"ISSN":["1424-8220"],"issn-type":[{"type":"electronic","value":"1424-8220"}],"subject":[],"published":{"date-parts":[[2016,4,20]]}}}