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介绍了振动轮式微机械陀螺仪的工作原理 ,给出了振动轮式微机械陀螺仪的结构示意图和工作原理图。利用刚体转动的欧拉动力学方程 ,通过严格的力学分析和严密的数学验算推导了振动轮式微机械陀螺仪的基座与驱动轮之间的夹角θ和驱动轮与外框架之间的夹角 φ 的关系的一个微分方程模型 ,并对这个微分方程数学模型进行了简化。
The working principle of vibrating wheel micro-mechanical gyroscope is introduced and the structure diagram and working principle diagram of vibrating wheel micro-mechanical gyroscope are given. Using the Euler kinetic equation of rigid body rotation, the angle θ between the base and the driving wheel of the vibrating wheel micro-mechanical gyroscope and the angle between the driving wheel and the outer frame are deduced through rigorous mechanical analysis and rigorous mathematical checking. Angle φ relationship of a differential equation model, and the mathematical model of the differential equation is simplified.