Novel approach for modeling Bell-Shaped Vibratory Angular Rate Gyro

The Bell-Shaped Vibratory Angular Rate Gyro (abbreviated as BVG) is a novel shell vibratory gyroscope which has not only the advantage of low cost, low power, long work life, high sensitive and so on, but also the simple structure, good anti-impact performance for low and medium rotation speed measurements. Building dynamic equation of Bell-Shaped resonator in the orthogonal curvilinear coordinate system using theory of shells to analyze the precession effect. Because of the dynamic equation is too complex to analyze, it is presented the equivalent dynamic equation based on principle of virtual work and simplified governing equation. The character of parameters is presented. Through comparing with experiment result, it is can be demonstrated that the simplified governing equation is valid and correct. It provides a basis for how deeply to design control loops and process signal.