SYSTEM FOR CONTROLLING THE FORCE REBALANCE USING AUTOMATIC GAIN CONTROLLING LOOP

摘要

A system for controlling force rebalance using an automatic gain control loop is provided to perform a force rebalance feedback control of a vibration type gyroscope by using the automatic gain control loop controlling a speed signal of the mass. A gyroscope(110) includes a sensing axis outputting unit and a sensing axis driving unit. The sensing axis outputting unit senses a displacement signal of the mass according to an inputted angular velocity quantity. The sensing axis driving unit controls the displacement of the mass. A charge amplifier(120) converts the displacement signal detected from the sensing axis output unit into the voltage signal and outputs the detected signal. A differentiator(130) outputs the speed signal of the mass based on the displacement signal outputted from the charge amplifier as the voltage signal. A unit gain reference frequency outputting unit(140) outputs a sine wave signal having the frequency and a single gain. A rectifier half wave-rectifies the speed signal outputted from the differentiator. A low-pass filter(160) outputs the signal which is half-wave rectified from the rectifier to an envelope signal. A reference value inputting unit(170) generates the reference signal inducing the sensing axis vibration of the fixed size regardless of the angular velocity quantity applied to the gyroscope. A controller(180) outputs the control signal to vibrate the gyroscope in a constant amplitude. An analog multiplier applies a computed voltage signal to the sensing axis driving unit.