A Method for Selecting the Working Axis of a Force-Balanced Hemispherical Resonant Gyroscope

Abstract

The present invention discloses a method for selecting the working axis of a force-balanced hemispherical resonant gyroscope. On the one hand, through the error identification results, error compensation scheme and control scheme, the sensitivity angular velocity accuracy can be well improved, and the influence of circumferential parameter non-uniform errors such as frequency splitting, cross-coupling error, and damping non-uniformity on the output accuracy can be effectively suppressed. On the other hand, by real-time detecting the actually compensated electrostatic force, the optimal azimuth angle of the working axis is selected and determined, further improving the sensitivity angular velocity accuracy of the gyroscope.

Description

Technical Field

[0001] The present invention belongs to the field of hemispherical resonant gyroscopes, and particularly relates to a method for selecting the working axis of a force-balanced hemispherical resonant gyroscope. Background Art

[0002] The hemispherical resonant gyroscope is a new type of high-precision Coriolis vibration gyroscope with great development prospects. It is one of the most promising sensitive devices in the strapdown inertial navigation systems of aircraft and spacecraft. It has the characteristics of high precision and long life, and will be widely used in various fields such as weapons, aviation, and aerospace. Especially in space applications such as environmental satellites, communication satellites, space stations, lunar exploration, space astronomical telescopes, and deep space exploration, it is undoubtedly the best choice and will have broad application prospects.

[0003] A classical gyroscope has a high-speed rotating rotor. According to Newton's law: a high-speed rotating mass has the property of maintaining the direction of its rotation axis unchanged in inertial space (i.e., fixed-axis property), and when this mass is subjected to an external torque perpendicular to the direction of the rotation axis, it will rotate around a third axis perpendicular to the rotation axis and the external torque axis (i.e., precession property). An inertial reference in the moving body is established based on the fixed-axis property, and the angular velocity of the moving body can be measured from the precession property. However, due to the presence of the high-speed rotor, the gyroscope has a complex structure, poor anti-vibration performance, high requirements for stability, and there is a frictional torque on its frame support, causing the instrument to generate drift-sensitive errors, resulting in deviations in the position of the working axis.

[0004] In order to ensure that the gyroscope can enter the steady state as soon as possible after startup, it is necessary to monitor and control its working axis. The traditional mode does not match the open-loop rate of the gyroscope. The gyroscope has problems such as small sensitivity to axis displacement, extremely low circuit noise, and high power consumption; the mode-matching gyroscope will cause an increase in the sensitivity to axis displacement, and at the same time reduce the influence of circuit noise at the cost of reducing the signal bandwidth; for the hemispherical resonant gyroscopes processed in the same batch, the working axis is traditionally randomly determined during the assembly process, and there is a major problem that the working accuracies of the gyroscopes within the same batch vary greatly. The technical problems existing in the current prior art have not been effectively solved. Summary of the Invention

[0005] The purpose of the present invention is to provide a method for selecting the working axis of a force-balanced hemispherical resonant gyroscope to solve the technical problems of low working accuracy and large sensitive errors of the gyroscope caused by randomly determining the working axis in the prior art.

[0006] Embodiment 1 of the present invention provides a method for selecting the working axis of a force-balanced hemispherical resonant gyroscope, including:

[0007] Obtain the drive voltage and force feedback voltage applied in the control loop;

[0008] Calculate the angular velocity calculation value in the pseudo-orthogonal control mode based on the drive voltage and the force feedback voltage;

[0009] Extract the in-phase and quadrature amplitudes of each resonator in the control loop on the 0° electrode axis and the in-phase and quadrature amplitudes on the 45° electrode axis through modulation and demodulation methods;

[0010] Perform sensitive error identification based on the in-phase and quadrature amplitudes on the 0° electrode axis and the in-phase and quadrature amplitudes on the 45° electrode axis, and determine the compensation electrostatic force corresponding to each working axis in the compensation circuit;

[0011] Calculate the compensation voltage values applied to each working axis based on the in-phase and quadrature amplitudes on the 0° electrode axis, the in-phase and quadrature amplitudes on the 45° electrode axis, and the compensation electrostatic force.

[0012] Optionally, performing sensitive error identification based on the in-phase and quadrature amplitudes on the 0° electrode axis and the in-phase and quadrature amplitudes on the 45° electrode axis to determine the compensation electrostatic force corresponding to each working axis in the compensation circuit includes:

[0013] Use the in-phase and quadrature amplitudes on the 0° electrode axis and the in-phase and quadrature amplitudes on the 45° electrode axis as the input of the sensitive error identification matrix equation, and output the compensation electrostatic force of each working axis for each sensitive error.

[0014] Optionally, the method further includes:

[0015] Detect the actual resonator electrostatic force corresponding to each working axis in the compensation circuit;

[0016] Calculate the actual angular velocity applied by the turntable based on the actual resonator electrostatic force.

[0017] Optionally, detecting the actual resonator electrostatic force corresponding to each working axis in the compensation circuit includes:

[0018] Detect the capacitance gap when the resonator of each working axis vibrates;

[0019] Calculate the capacitance value of the corresponding capacitor based on the capacitance gap;

[0020] Calculate the actual resonator electrostatic force based on the capacitance value.

[0021] Optionally, calculating the actual angular velocity applied by the turntable based on the actual resonator electrostatic force includes:

[0022] Use the actual resonator electrostatic force as the input of the sensitive error identification matrix equation, and output the actual angular velocity applied by the turntable.

[0023] Optionally, the method further includes:

[0024] Calculate the difference between the actual angular velocity applied by the turntable and the angular velocity calculation value;

[0025] Determine whether the difference satisfies the preset angular velocity sensitive error range.

[0026] Embodiment 2 of the present invention provides a working axis selection device for a force-balanced hemispherical resonant gyroscope, including a memory, a processor, and a computer program stored in the memory and executable on the processor. The device is characterized in that when the processor executes the computer program, it implements a working axis selection method for a force-balanced hemispherical resonant gyroscope according to any one of the above embodiments.

[0027] The beneficial effects of the present invention are as follows: on the one hand, through the error identification result, error compensation scheme, and control scheme, the sensitive angular velocity accuracy can be well improved, and the influence of circumferential parameter non-uniform errors such as frequency splitting, cross-coupling error, and damping non-uniformity on the output accuracy can be effectively curbed; on the other hand, by real-time detecting the actually compensated electrostatic force and selecting and determining the optimal azimuth angle of the working axis, the gyro sensitive angular velocity accuracy is further improved. Description of the Drawings

[0028] Figure 1 It is a working axis selection method for a force-balanced hemispherical resonant gyroscope provided by Embodiment 1 of the present invention;

[0029] Figure 2 It is a design diagram of a control compensation circuit for a hemispherical resonant gyroscope provided by Embodiment 1 of the present invention;

[0030] Figure 3 It is a schematic diagram of a working axis selection device for a force-balanced hemispherical resonant gyroscope provided by Embodiment 2 of the present invention. Detailed Embodiments

[0031] The present invention will be described in detail below with reference to the drawings and specific embodiments.

[0032] Embodiment 1 of the present invention provides a working axis selection method for a force-balanced hemispherical resonant gyroscope, in combination with Figure 1 and Figure 2 , the specific implementation manner of this method includes:

[0033] Step 101: Obtain the driving voltage and force feedback voltage applied in the control loop;

[0034] In one embodiment, such as Figure 2As shown, the positions of the sixteen excitation electrodes S1, S2, S3, S4, S5, S6, S7, S8, S9, S10, S11, S12, S13, S14, S15, S16 of the gyroscope respectively correspond to the working axes of the electrodes at 0°, 22.5°, 45°, 67.5°, 90°, 112.5°, 135°, 157.5°, 180°, 202.5°, 225°, 247.5°, 270°, 292.5°, 315°, 337.5°, etc. The control loop of the hemispherical resonator gyroscope is mainly divided into a drive control loop and a force feedback control loop. Here, the excitation electrode azimuths S1 and S5 are allocated to the drive control loop, the excitation electrode azimuths S3 and S7 are allocated to the force feedback control loop, and the three groups of excitation electrode azimuths S2 / S4 / S6 / S8, S10 / S12 / S14 / S16, S9 / S11 / S13 / S15 are respectively allocated to the frequency splitting compensation loop, the cross-coupling error compensation loop, and the damping non-uniformity compensation loop. The following two points are worth noting: First, due to the four-wave-bellied vibration mode of the resonator and the second-mode vibration function of the equivalent second-order spring oscillator, the drive electrode and the force feedback electrode are 45° to each other, and the control loop can correspond to a set of excitation electrode azimuths S1 / S3 / S5 / S7; Second, the azimuths of the three groups of compensation electrodes can be interchanged at will, and the specific azimuth positions of each compensation electrode need to be determined through an optimization algorithm. Therefore, in the experimental session, the control loop and the compensation loop randomly allocate the four groups of excitation electrode azimuths mentioned above.

[0035] Since most of the machining errors of the resonator of the gyroscope will be introduced into the orthogonal radial velocity of the gyroscope, and the Coriolis effect of the HRG will also cause the orthogonal vibration of the gyroscope, it is necessary to suppress the two orthogonal signals simultaneously. Therefore, the motion caused by the Coriolis effect is controlled through orthogonal error compensation, and an open-loop strategy is adopted for the orthogonal motion caused by machining errors. The non-uniform error of the resonator radius belongs to one type of machining error.

[0036] Based on the above error analysis, the dynamic equation of the hemispherical resonator gyroscope containing the non-uniform error of the resonator radius can be established as:

[0037]

[0038] where, m0, b0, m1, e0, d, ω0 are all preset constants, is the radial acceleration of the drive mode, is the radial acceleration of the detection mode, is the radial velocity of the drive mode, is the radial velocity of the detection mode, p is the radial displacement of the drive mode, q is the radial displacement of the detection mode, Ω is the angular velocity applied to the sensitive axis of the gyroscope by the external turntable, a R4is the projection error of the circumferential non-uniform error of the radius in the driving mode, b R4 is the projection error of the circumferential non-uniform error of the radius in the detection mode, V1 is the driving voltage, and V3 is the force feedback voltage.

[0039] Based on the above dynamic equation, the adjustable range expression caused by radius non-uniformity is established as follows:

[0040]

[0041] In the formula Precession factor V1 is the driving voltage, and V3 is the force feedback voltage.

[0042] The calculation value of the input angular velocity of the sensitive working axis of the hemispherical resonator gyro control compensation loop for the outside world only involves the driving voltage and the force feedback voltage. Therefore, the driving voltage and the force feedback voltage applied in the control loop are obtained as the control inputs of the control compensation system.

[0043] Step 102: Calculate the angular velocity solution value in the pseudo-orthogonal control mode according to the driving voltage and the force feedback voltage;

[0044] In one embodiment, when the control compensation loop of the gyro circumferential sixteen excitation electrodes causes the output result of the sensitive angular velocity to converge to a steady state, the driving voltage and the force feedback voltage are calculated through the formula to obtain the angular velocity solution value in the control circuit, and the actual angular velocity applied by the turntable, that is, |Ω range | is subtracted from the angular velocity solution value in the control circuit to obtain the sensitive angular velocity error corresponding to the current four groups of functional configuration schemes of the sixteen excitation electrodes. The expression of the sensitive angular velocity error is Among them, |Ω error | is the sensitive angular velocity error. Therefore, the effectiveness of the resonator error compensation can be judged according to the difference between the actual angular velocity applied by the turntable and the angular velocity solution value in the control circuit in the pseudo-orthogonal control mode.

[0045] Step 103: Extract the in-phase and quadrature amplitudes of each resonator in the 0° electrode axis and the in-phase and quadrature amplitudes of the 45° electrode axis in the control loop through the modulation and demodulation method;

[0046] In one embodiment, in the control compensation loop, each electrode is mainly detected in the quasi-orthogonal control mode, and the electrode signals are processed through a differential channel and then filtered. The processed signals are sampled by AD and demodulated by AM. By observing the displacement components of each signal and the steady-state value of the excitation voltage in this mode, various error identifications are performed, and effective compensation is carried out for the error identification results. Since the four-wave-bellied vibration mode of the resonator in the control circuit and the second-mode vibration function of the equivalent second-order spring oscillator cause the driving electrode and the force feedback electrode to be at a 45° electrode axis to each other, according to the law of conservation of energy, the detection electrode detects the in-phase and quadrature amplitudes of the 0° electrode axis and the in-phase and quadrature amplitudes of the 45° electrode axis, and the compensation loop ensures that the vibration energy of the resonator remains unchanged, and the in-phase and quadrature amplitudes n of the resonator are suppressed to zero.

[0047] It should be noted that based on the above dynamic formula (1.1), it can be seen that the first damping term in the formula and the second damping term will cause attenuation of the vibration energy of the driving mode p and the detection mode q Therefore, the driving electrostatic force F 0° cosω0t of the 0° electrode axis is used to delay the loss speed of the in-phase and quadrature amplitudes m in the driving mode p by the damping term, and the electrostatic force F 45° cosω0t of the 45° electrode axis is used to enhance the loss speed of the in-phase and quadrature amplitudes n in the detection mode q by the damping term.

[0048] The expression of the driving electrostatic force F 0° cosω0t of the 0° electrode axis is shown in formula (1.3):

[0049]

[0050] The expression of the electrostatic force F 45° cosω0t of the 45° electrode axis is shown in formula (1.4):

[0051]

[0052] For the attenuation of the above two signals, the electrostatic forces that the corresponding compensation circuit needs to compensate are as follows:

[0053]

[0054]

[0055]

[0056] In the formula, a, b, m, and n respectively represent the quadrature amplitude of the driving mode, the quadrature amplitude of the detection mode, the in-phase amplitude of the driving mode, and the in-phase amplitude of the detection mode.

[0057] Therefore, it is necessary to extract the in-phase and quadrature amplitudes a and m of each resonator in the control loop on the 0° electrode axis, and the in-phase and quadrature amplitudes b and n on the 45° electrode axis through the signal demodulation module, and combine the driving voltage V1 and the force feedback voltage V3 obtained in step 101. Input these state variables into the error identification equation, and combine the equivalent relationship between the error term and the compensating acting force in the dynamic equation to realize the compensation of the electrostatic force F'. p and F' q 、F″ p and F″ q 、F″′ p and F″′ q for accurate calculation.

[0058] Step 104: Identify the sensitive errors based on the in-phase and quadrature amplitudes of the 0° electrode axis and the in-phase and quadrature amplitudes of the 45° electrode axis, and determine the compensating electric force for each working axis in the compensation circuit.

[0059] Optionally, identifying the sensitive errors based on the in-phase and quadrature amplitudes of the 0° electrode axis and the in-phase and quadrature amplitudes of the 45° electrode axis, and determining the compensating electrostatic force for each working axis in the compensation circuit includes:

[0060] Taking the in-phase and quadrature amplitudes of the 0° electrode axis and the in-phase and quadrature amplitudes of the 45° electrode axis as the input of the sensitive error identification matrix equation, and outputting the compensating electrostatic force for each working axis for each sensitive error.

[0061] In one embodiment, the Bubnov constants m0, m1, b0, e0, e1, the natural frequency ω0 of the resonator, and the natural damping d of the resonator are known ξ0 . B 6×6 and the F6 matrix are both known and all internal elements can be calculated. By the sensitive error identification matrix equation B 6×6 X = F6, the error values such as density, radius, and damping can be identified.

[0062] where B 6×6 is the error identification matrix, X is the error vector, and F6 is the compensating electrostatic force matrix, where each element is a compensating electrostatic force.

[0063] Here, it is necessary to substitute the measured in-phase and quadrature amplitudes a and m of the 0° electrode axis and the in-phase and quadrature amplitudes b and n of the 45° electrode axis into the matrix B 6×6 , and participate in the calculation of B 6×6 X = F6. When it is detected that the calculation result contains any one or several of the following four situations:

[0064] 1. The driving electrode needs compensation and Two items, occupying 2 excitation electrodes;

[0065] 2. The force balance electrodes need to be compensated and Two items, occupying 2 excitation electrodes;

[0066] 3. The orthogonal adjustment electrodes need to be compensated and, Four items, occupying 4 excitation electrodes;

[0067] 4. The frequency modulation electrodes need to be compensated and Four items, occupying 4 excitation electrodes.

[0068] Then the excitation electrodes are configured according to the default positions. For example, including These four items, it can be analyzed that the inconsistent part in the coefficients obtained by multiplying the uneven error of the resonator parameters by the radial velocities p and q is called the non-isoeffective error, and the inconsistent part in the coefficients multiplied by the radial velocity is called the non-isodamping error. Therefore, S2 / S4 / S6 / S8 allocated from the frequency splitting compensation loop, S10 / S12 / S14 / S16 allocated from the orthogonal coupling error compensation loop, and S9 / S11 / S13 / S15 allocated from the damping non-uniformity compensation loop are three groups of excitation electrodes, and S2, S9, and S10 are selected for compensation. Each element of F6 represents the theoretical value of the electrostatic force to be compensated by the corresponding compensation electrode.

[0069] Step 105: Compensate the electrostatic force according to the in-phase and quadrature amplitudes of the 0° electrode axis and the in-phase and quadrature amplitudes of the 45° electrode axis, and calculate the compensation voltage values applied to each working axis.

[0070] In one embodiment, the detected in-phase and quadrature amplitudes a, m of the 0° electrode axis and the in-phase and quadrature amplitudes b, n of the 45° electrode axis are respectively substituted into the following formula (1.8):

[0071]

[0072] where, F e2 (S2), F e9 (S9), F e10 (S 10 ) are all elements in F6, V2 is the compensation voltage value applied to the working axis S2, V9 is the compensation voltage value applied to the working axis S9, and V 10 is the compensation voltage value applied to the working axis S10. Therefore, according to formula (1.8), the compensation voltage values to be applied to the working axes that need to be compensated each time can be calculated.

[0073] Optionally, the method further includes:

[0074] Detecting the actual resonator electrostatic force corresponding to each working axis in the compensation circuit;

[0075] Calculating the actual angular velocity applied by the turntable according to the actual resonator electrostatic force.

[0076] In one embodiment, after the initial error compensation, since the actual error caused by movement is unknown, it is impossible to continuously monitor and compensate the gyroscope in real time. Therefore, it is necessary to monitor in real time the actual resonator electrostatic force actually converted by each working axis in the compensation circuit, and calculate the actual angular velocity applied by the turntable according to the actual resonator electrostatic force.

[0077] Optionally, detecting the actual resonator electrostatic force corresponding to each working axis in the compensation circuit includes:

[0078] Detecting the capacitance gap when the resonator of each working axis vibrates;

[0079] Calculating the capacitance value of the corresponding capacitor according to the capacitance gap;

[0080] Calculating the actual resonator electrostatic force according to the capacitance value.

[0081] In one embodiment, it should be noted that the radial displacement of the resonator in any azimuth angle of the ring is:

[0082]

[0083] For example: the expression of the radial displacement of the 22.5° axis excitation electrode of the hemispherical resonator gyro is:

[0084]

[0085] When the resonator is stationary, the detected capacitance gap of the i-th capacitor is d a ; when the resonator vibrates, the capacitance gap of the i-th capacitor is d F (i) = d a - [x cos 2θ c (i) + y sin 2θ c (i)], θ c (i) is the central angle of the i-th electrode.

[0086] Then the capacitance value of the i-th capacitor on the i-th working axis is:

[0087]

[0088] In the formula, is a preset constant.

[0089] In Equation (2.1), the capacitance of capacitor i is simplified to a linear function of x and y. Among the sixteen excitation electrodes of the gyroscope, the capacitance values of capacitance S2 corresponding to the 22.5° electrode axis, capacitance S9 corresponding to the 180° electrode axis, and capacitance S10 corresponding to the 202.5° electrode axis can be written as follows respectively:

[0090]

[0091] According to the principle of Lagrangian mechanics, within a certain excitation detection capacitance, the electrostatic field between the lip edge of the resonator and the flat electrode is where E c is the electric potential energy stored in the capacitor, U F is the voltage applied across the capacitor.

[0092] For the i-th capacitor, when the resonator vibrates, its electrostatic force is:

[0093]

[0094] If the simplification method in Equation (2.1) is used, the expression of the electrostatic force can be simplified as follows:

[0095]

[0096] In Equation (2.4), the electrostatic force is simplified to a linear function of x and y. Among the sixteen excitation electrodes of the gyroscope, the electrostatic forces of capacitor 2 corresponding to the 22.5° electrode axis, capacitor 9 corresponding to the 180° electrode axis, and capacitor 10 corresponding to the 225° electrode axis are:

[0097]

[0098] To study the influence of the radius non-uniformity error on the excitation system under the quasi-orthogonal control mode, substituting p = a cos ω0t + m sin ω0t and q = b cos ω0t + n sin ω0t into Equation (2.5) gives:

[0099]

[0100] where the actual electrostatic forces of the working axes S2, S9, and S10 can be calculated respectively according to Equation (2.6).

[0101] Optionally, calculating the actual angular velocity applied by the turntable according to the actual electrostatic force of the resonator includes:

[0102] Taking the actual electrostatic force of the resonator as the input of the sensitive error identification matrix equation and outputting the actual angular velocity applied by the turntable.

[0103] In one embodiment, based on the calculated actual electrostatic force of the working axis and the equivalent electrostatic force relationship calculated through the sensitive error identification matrix equation, the actual angular velocity applied by the turntable can be calculated. For example:

[0104]

[0105] Substitute the detected electrostatic force F e2 (S2), F e9 (S9), F e10 (S 10 ) into formula (2.7) to calculate Ω in each formula, where Ω is the actual angular velocity applied by the turntable.

[0106] Optionally, the method further includes:

[0107] Calculating the difference between the actual angular velocity applied by the turntable and the angular velocity solution value;

[0108] Determining whether the difference satisfies a preset angular velocity sensitive error range.

[0109] In one embodiment, according to the formula where is the angular velocity solution value, Ω is the actual angular velocity applied by the turntable, and |ΔΩ| is the difference between the actual angular velocity applied by the turntable and the angular velocity solution value. Further determine whether |ΔΩ| is within the range of |Ω error | to determine whether the compensation voltage is sufficient for compensating the actual angular velocity error next time.

[0110] It should be noted that the present invention also provides an optimization scheme for the optimal working axis, which is specifically as follows:

[0111] Assume β i =(i - 1)×22.5°, i = 1, 2,..., 16. The optimal allocation of the positions of the four groups of excitation electrodes, that is, the determination of the optimal working axis, takes the optimization algorithm as the breakthrough point. The four groups of excitation azimuth angles such as β1, β2, β 10 , β9 are used as optimization variables, and the gyroscope range and sensitive error are used as optimization objectives. Select the problem-based optimization type in the optimization toolbox. The advantage is that it is easy to define the problem and can symbolically represent the problem input and build-in automatic differentiation. Using the multi-objective optimization algorithm solver based on the genetic algorithm can achieve the optimal configuration of the positions of the four groups of excitation axes.

[0112] The setting range of the optimization variables is:

[0113]

[0114] The minimization expression of the optimization objective function is:

[0115] min[-|Ωrange |,|Ω error = gamultiobj(HRGFcn) (2.9)

[0116] The optimization constraints are as follows:

[0117]

[0118] The gyroscope range Ω can be obtained by using the multi-objective optimization algorithm based on the genetic algorithm in the MATLAB toolbox range and the sensitive angular velocity error Ω error of the Pareto optimal solution.

[0119] Embodiment 2 of the present invention provides a force balance hemispherical resonant gyroscope working axis selection device 300, as Figure 3 shown, including a memory 310, a processor 320, and a computer program 330 stored in the memory 310 and operable on the processor. When the processor 320 executes the computer program, it implements a force balance hemispherical resonant gyroscope working axis selection method according to any one of the above embodiments.

Claims

1. A method for selecting the working axis of a force-balanced hemispherical resonant gyroscope, characterized in that, Including: Obtain the drive voltage and the force feedback voltage applied in the control loop; Calculate the angular velocity solution value in the pseudo-orthogonal control mode according to the drive voltage and the force feedback voltage; Extract the in-phase and quadrature amplitudes of each resonator in the control loop on the 0° electrode axis and the in-phase and quadrature amplitudes on the 45° electrode axis through a modulation and demodulation method; Perform sensitive error identification according to the in-phase and quadrature amplitudes on the 0° electrode axis and the in-phase and quadrature amplitudes on the 45° electrode axis, and determine the compensation electrostatic force corresponding to each working axis in the compensation circuit; Calculate the compensation voltage value applied to each working axis according to the in-phase and quadrature amplitudes on the 0° electrode axis and the in-phase and quadrature amplitudes on the 45° electrode axis and the compensation electrostatic force; 2. The method for selecting the working axis of a force-balanced hemispherical resonant gyroscope according to claim 1, characterized in that, Determining the compensation electrostatic force corresponding to each working axis in the compensation circuit includes: Taking the in-phase and quadrature amplitudes on the 0° electrode axis and the in-phase and quadrature amplitudes on the 45° electrode axis as the input of the sensitive error identification matrix equation, and outputting the compensation electrostatic force of each working axis for each sensitive error; 3. The method for selecting the working axis of a force-balanced hemispherical resonant gyroscope according to claim 1, characterized in that, The method further includes: Detect the actual resonator electrostatic force corresponding to each working axis in the compensation circuit; Calculate the actual angular velocity applied by the turntable according to the actual resonator electrostatic force; 4. The method for selecting the working axis of a force-balanced hemispherical resonant gyroscope according to claim 3, characterized in that, Detecting the actual resonator electrostatic force corresponding to each working axis in the compensation circuit includes: Detect the capacitance gap when the resonator of each working axis vibrates; Calculate the capacitance value of the corresponding capacitor according to the capacitance gap; Calculate the actual resonator electrostatic force according to the capacitance value; 5. The method for selecting the working axis of a force-balanced hemispherical resonant gyroscope according to claim 3, characterized in that, Calculating the actual angular velocity applied by the turntable according to the actual resonator electrostatic force includes: Taking the actual resonator electrostatic force as the input of the sensitive error identification matrix equation, and outputting the actual angular velocity applied by the turntable; 6. The method for selecting the working axis of a force-balanced hemispherical resonant gyroscope according to claim 3 or 5, characterized in that, The method further includes: Calculate the difference between the actual angular velocity applied by the turntable and the angular velocity solution value; Judge whether the difference satisfies the preset angular velocity sensitive error range; 7. A device for selecting the working axis of a force-balanced hemispherical resonant gyroscope, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements a method for selecting a working axis of a force-balanced hemispherical resonator gyroscope according to any one of claims 1-6.

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