Tsiruk H. Compensation of errors аnd external disturbances under measuring of angle rate by vibratory sensor of differential type

The thesis is devoted to the scientific substantiation and development of algorithms for the compensation of internal errors and external disturbances in an angle rate sensor of differential type, as well as the improvement of the standing wave control system so that it can automatically switch from a differential mode of operation to the corresponding rate and rate integrating (whole angle) modes. Non-linear model of an angular rate sensor of differential type has been developed, which consists of a well-known model of a sensitive element and control system and information processing algorithm that has been developed. These two models were connected in a single measuring system so that it allows one to automatically switch the three modes of sensor's operation. By experimental investigations of an angular rate sensor sample of differential type have been numerically determined the degree of compensation for internal errors and the following external disturbances: shock disturbances, vibration disturbances, sound pulses at the resonant frequency and sound noises covering the resonant frequency, as well as constant and variable magnetic fields.