Abstract
This paper presents an application of unbalance compensation to a rotary gyro with hybrid suspension. In this gyro, a disk-type rotor is connected to a synchronous motor through a fluid bearing and the motor is fixed to the frame of the holder. The four-degree-of-freedom motions of the holder are constrained by a cross spring and a gimbal. The two rotational motions of the holder are controlled by four electromagnets. Such hybrid suspension makes the system less damped. Therefore, high-accuracy measurement is possible by this gyro. However, one of the problems is that an oscillating component due to unbalance appears in the estimated angular velocity because the estimation is based on the control currents for regulating the relative displacement of the holder to the stator. To solve this problem, unbalance compensation is applied to remove the oscillating component. It is confirmed experimentally that the estimated signal agrees well with the reference signal.
