A New Control Optimization Strategy for Error Identification of Open-loop Hemispherical Resonator Gyroscopes

An Active Disturbance Rejection Control (ADRC) algorithm based on Particle Swarm Optimization (PSO) is proposed in Open-Loop mode Hemispherical Resonator Gyroscope (HRG) due to the multiple and complex error types and the serious limitations of uncertainty error on the output accuracy of HRG. In open-loop HRG control, the algorithm mainly applies PSO technology for intelligently debuging the parameters of ADRC algorithm, and introduces Pareto optimal strategy to intervene in the process of particle swarm position iteration in PSO to keep the diversity of particle swarm. Such a control optimization strategy ensures the control precision and output precision of the system. Accurate open-loop control voltage and pickup output provide very effective reference index for HRG error identification matrix. Finally, all errors caused by machining process in HRG are accurately identified by solving matrix equation, which provides an effective error compensation basis for Force-to-Rebalance and Whole-Angle HRG control system designing.