Nonlinear oscillations in coriolis-based gyroscopes

In this paper, we model and analyze nonlinear oscillations which are known to exist in some Coriolis-based gyroscopes due to large amplitude excitation in the drive loop. A detailed derivation of a dynamic model for a cylinder gyroscope including geometric nonlinearities is given, and the energy transfer between the system's modes is analyzed using a perturbation theory and by proposing a simplified model. The model is also simulated, and the results are shown to give an accurate description of the experimental results. This work is carried out in order to gain a better understanding of the gyroscope's dynamics, and is intended to be a starting point for designing nonlinear observers and vibration controllers for the gyroscope in order to increase the performance.