A new rate sensing scheme for an innovative actuator/sensor — gyrowheel

In this paper, the operating principle of Gyrowheel is discussed and its mathematical model is derived. The traditional rate sensing scheme based on the linear model of gyrowheel is introduced. A new rate sensing scheme for gyrowheel as sensor is presented by analysing the full nonlinear mathematical model. This method can obviously improve the precision of the angular rate sensing of gyrowheel in comparison with the traditional measurement scheme theoretically. The rate sensing system of gyrowheel is realized to verify the validity of the proposed method by simulation.