A high-sensitivity shell resonant gyroscope based on electrostatic and voltage dual-drive

Abstract

This invention relates to shell resonant gyroscopes, specifically a high-sensitivity shell resonant gyroscope based on electrostatic-piezoelectric dual-drive. This invention solves the problem of low sensitivity in existing shell resonant gyroscopes. A high-sensitivity shell resonant gyroscope based on electrostatic-piezoelectric dual-drive includes a support disk, eight support screws, eight locking nuts, a support disc, a support tube, two driving plane electrodes, two detection plane electrodes, two driving mode feedback plane electrodes, two detection mode compensation plane electrodes, eight conductive cylinders, eight conductive diaphragms, a resonator, a central tube, four driving piezoelectric electrodes, four detection mode compensation piezoelectric electrodes, and fastening bolts. This invention is applicable to fields such as aviation, aerospace, navigation, industry, agriculture, and transportation.

Description

Technical Field

[0001] This invention relates to a shell resonant gyroscope, specifically a high-sensitivity shell resonant gyroscope based on electrostatic and voltage dual-drive. Background Technology

[0002] Shell resonant gyroscopes are widely used in aviation, aerospace, marine, industrial, agricultural, and transportation fields due to their outstanding characteristics such as high accuracy, long service life, good stability, low power consumption, short preparation time, insensitivity to linear overload, and simple mechanical component structure. The specific working principle of a shell resonant gyroscope is as follows: When there is no angular velocity input, the resonator of the shell resonant gyroscope operates in the driving mode, and the output of the shell resonant gyroscope is zero. When there is an angular velocity input, the resonator of the shell resonant gyroscope operates in the detection mode, and the shell resonant gyroscope measures the input angular velocity in real time. However, practice shows that existing shell resonant gyroscopes generally suffer from low sensitivity due to their inherent structural limitations. Therefore, it is necessary to invent a high-sensitivity shell resonant gyroscope based on electrostatic-voltage dual-drive to solve the problem of low sensitivity in existing shell resonant gyroscopes. Summary of the Invention

[0003] To address the problem of low sensitivity in existing shell resonant gyroscopes, this invention provides a high-sensitivity shell resonant gyroscope based on electrostatic and voltage dual-drive.

[0004] This invention is achieved using the following technical solution:

[0005] A high-sensitivity shell resonant gyroscope based on electrostatic and piezoelectric dual drive includes a support square disk, eight support screws, eight locking nuts, a support disc, a support circular tube, two driving plane electrodes, two detection plane electrodes, two driving mode feedback plane electrodes, two detection mode compensation plane electrodes, eight conductive cylinders, eight conductive diaphragms, a resonator, a central circular tube, four driving piezoelectric electrodes, four detection mode compensation piezoelectric electrodes, and fastening bolts;

[0006] The support plate has eight through-holes on its surface, and the eight holes are symmetrically distributed around the center line of the support plate.

[0007] Eight support screws are screwed into eight support screw holes one by one, and the eight support screws are symmetrically distributed around the center line of the support square plate; the upper end face of each of the eight support screws extends beyond the upper plate surface of the support square plate.

[0008] Eight locking nuts are screwed onto the sides of eight support screws in a corresponding manner, and the eight locking nuts are symmetrically distributed around the center line of the support square plate; all eight locking nuts are pressed tightly against the upper surface of the support square plate;

[0009] The edge of the supporting disk has eight through-hole conductive holes, and the eight conductive holes are symmetrically distributed around the center line of the supporting disk.

[0010] The supporting round tube is coaxially fixed to the center of the upper plate surface of the supporting disc, and the supporting round tube is an internally threaded tube;

[0011] Two driving planar electrodes, two detection planar electrodes, two driving modal feedback planar electrodes, and two detection modal compensation planar electrodes are all attached and fixed to the edge of the upper surface of the supporting disk, and the two driving planar electrodes, two detection planar electrodes, two driving modal feedback planar electrodes, and two detection modal compensation planar electrodes are symmetrically distributed around the center line of the supporting disk; the two driving planar electrodes are respectively sealed on the first and fifth conductive circular holes; the two detection planar electrodes are respectively sealed on the second and sixth conductive circular holes; the two driving modal feedback planar electrodes are respectively sealed on the third and seventh conductive circular holes; and the two detection modal compensation planar electrodes are respectively sealed on the fourth and eighth conductive circular holes.

[0012] Eight conductive cylinders are fixedly inserted into eight conductive holes, one-to-one, and are symmetrically distributed around the center line of the supporting disk. The upper end face of the eight conductive cylinders is fixed in correspondence with the lower surface of the two driving plane electrodes, the lower surface of the two detection plane electrodes, the lower surface of the two driving mode feedback plane electrodes, and the lower surface of the two detection mode compensation plane electrodes. The lower end face of each of the eight conductive cylinders extends beyond the lower surface of the supporting disk.

[0013] Eight conductive films are attached and fixed to the lower edge of the supporting disk, and the eight conductive films are symmetrically distributed around the center line of the supporting disk. The surface of each of the eight conductive films has eight through-holes, and the eight conductive films are fixedly fitted onto the lower side of the eight conductive cylinders through the eight through-holes. The lower surface of each of the eight conductive films is fixedly supported on the upper end of the eight supporting screws, and the center line of the supporting disk coincides with the center line of the supporting square disk.

[0014] The resonator is a cup-shaped structure with its opening facing downwards. A central circular hole is formed in the center of the top wall of the resonator, and the lower edge of the central circular hole is coaxially supported on the upper end face of the supporting circular tube. The lower end face of the resonator is simultaneously opposite to the upper surfaces of the two driving plane electrodes, the two detection plane electrodes, the two driving mode feedback plane electrodes, and the two detection mode compensation plane electrodes. Eight vertically penetrating isolation circular holes are formed on the edge of the top wall of the resonator, and the eight isolation circular holes are symmetrically distributed around the center line of the resonator.

[0015] The resonator's sidewalls consist of an upper sidewall and a lower sidewall. The upper sidewall has a conical structure, and its diameter gradually increases from top to bottom. The upper sidewall has eight stress concentration slots that are internally and externally connected and arranged along the generatrix direction. These eight stress concentration slots are symmetrically distributed around the centerline of the resonator. The centerlines of the eight stress concentration slots intersect the centerlines of the eight isolation circular holes one by one. The lower sidewall has a spherical strip structure, and its diameter gradually increases from top to bottom.

[0016] The central circular tube is coaxially fixed to the upper edge of the central circular hole.

[0017] All four driving piezoelectric electrodes and four detection mode compensation piezoelectric electrodes are elongated sheet structures, and all four driving piezoelectric electrodes and four detection mode compensation piezoelectric electrodes are piezoelectric ceramic electrodes polarized along the thickness direction.

[0018] The negative electrode surfaces of the four driving piezoelectric electrodes and the four detection mode compensation piezoelectric electrodes are all fixed to the upper outer wall of the resonator, and both are arranged along the generatrix direction. The four driving piezoelectric electrodes and the four detection mode compensation piezoelectric electrodes are symmetrically distributed around the centerline of the resonator. The four driving piezoelectric electrodes are located one-to-one between the first and second stress concentration slots, between the third and fourth stress concentration slots, between the fifth and sixth stress concentration slots, and between the seventh and eighth stress concentration slots. The four detection mode compensation piezoelectric electrodes are located one-to-one between the second and third stress concentration strip holes, the fourth and fifth stress concentration strip holes, the sixth and seventh stress concentration strip holes, and the eighth stress concentration strip hole and the first stress concentration strip hole; the circumferential positions of the four driving piezoelectric electrodes correspond one-to-one with the circumferential positions of the two driving planar electrodes and the two driving mode feedback planar electrodes; the circumferential positions of the four detection mode compensation piezoelectric electrodes correspond one-to-one with the circumferential positions of the two detection planar electrodes and the two detection mode compensation planar electrodes.

[0019] The fastening bolt passes through the central tube and the central hole, and the tail end of the fastening bolt is screwed into the supporting tube; the head of the fastening bolt presses tightly against the upper end face of the central tube.

[0020] During operation, the lower end faces of the eight support screws, the positive electrode faces of the four driving piezoelectric electrodes, the positive electrode faces of the four detection mode compensation piezoelectric electrodes, and the outer wall of the resonator are all connected to the control system through metal wires.

[0021] The specific working process is as follows: First, the control system generates two driving voltage signals with the same amplitude, frequency, and opposite phase. The first driving voltage signal is applied to the first and third driving piezoelectric electrodes, while the second driving voltage signal is applied to the second and fourth driving piezoelectric electrodes and the two driving planar electrodes, thus achieving electrostatic piezoelectric dual-drive. Under the action of the inverse piezoelectric effect, the first and third driving piezoelectric electrodes vibrate with the same amplitude, frequency, and phase; the second and fourth driving piezoelectric electrodes vibrate with the same amplitude, frequency, and phase; the first and second driving piezoelectric electrodes vibrate with the same amplitude, frequency, and opposite phase; and the third and fourth driving piezoelectric electrodes vibrate with the same amplitude, frequency, and opposite phase. Under the action of electrostatic force, the two driving planar electrodes vibrate with the same amplitude, frequency, and phase.

[0022] When there is no angular velocity input, the resonator, driven by four driving piezoelectric electrodes and two driving planar electrodes, vibrates in four antinodes in the driving mode (e.g., Figure 9 As shown), this generates a standing wave in the circumferential direction. At this time, the two detection planar electrodes are located at the nodes of the four antinodes of the vibration (the two driving mode feedback planar electrodes are located at the antinodes of the four antinodes of the vibration), thus making the output of the present invention zero. The two driving mode feedback planar electrodes generate two feedback voltage signals in real time. The control system calculates the vibration frequency and vibration amplitude of the resonator in real time based on the two feedback voltage signals, and adjusts the two driving voltage signals in real time according to the calculation results, thereby keeping the vibration frequency and vibration amplitude of the resonator stable, and thus keeping the mode shape of the resonator stable.

[0023] When an angular velocity is input, the standing wave precesses under the Coriolis force (the direction of precession is related to the direction of the angular velocity), which causes the mode shape of the harmonic oscillator to deflect, thus causing the harmonic oscillator to vibrate with four antinodes in the detected mode (e.g., Figure 10(As shown). At this point, the two detection planar electrodes are no longer located at the nodes of the four-antinode vibration (the two driving mode feedback planar electrodes are no longer located at the antinodes of the four-antinode vibration). The two detection planar electrodes generate two detection voltage signals in real time. The control system calculates the mode deflection angle of the resonator in real time based on the two detection voltage signals, and generates six compensation voltage signals in real time based on the calculation results. Then, the six compensation voltage signals are applied to the two detection mode compensation planar electrodes and the four detection mode compensation piezoelectric electrodes in real time. The two detection mode compensation planar electrodes apply electrostatic force, and the four detection mode compensation piezoelectric electrodes vibrate, thereby keeping the mode deflection angle of the resonator stable. Then, the control system calculates the input angular velocity in real time based on the mode deflection angle of the resonator, thereby enabling the present invention to measure the input angular velocity in real time. In the above process, the function of the isolation circular hole is to eliminate disturbances between the electrodes. The function of the stress concentration strip hole is to increase the vibration displacement of the resonator, thereby improving the sensitivity of the present invention.

[0024] Based on the above process, the high-sensitivity shell resonant gyroscope based on electrostatic and voltage dual drive described in this invention effectively improves sensitivity while maintaining accuracy through a brand-new drive and detection method (the drive method is electrostatic and voltage dual drive, and the detection method is electrostatic detection) and the design of stress concentration slots.

[0025] This invention has a reasonable structure and ingenious design, which effectively solves the problem of low sensitivity of existing shell resonant gyroscopes, and is applicable to aviation, aerospace, navigation, industry, agriculture, transportation and other fields. Attached Figure Description

[0026] Figure 1 This is a three-dimensional structural diagram of the present invention.

[0027] Figure 2 This is a partial three-dimensional structural schematic diagram of the present invention.

[0028] Figure 3 This is a three-dimensional structural diagram of the supporting disk, supporting tube, two driving planar electrodes, two detection planar electrodes, two driving mode feedback planar electrodes, two detection mode compensation planar electrodes, eight conductive cylinders, and eight conductive films in this invention.

[0029] Figure 4 This is a schematic diagram of the planar structure of the present invention, which includes a supporting disk, a supporting tube, two driving planar electrodes, two detection planar electrodes, two driving mode feedback planar electrodes, two detection mode compensation planar electrodes, eight conductive cylinders, and eight conductive films.

[0030] Figure 5 yes Figure 4 Rear view.

[0031] Figure 6This is a three-dimensional structural diagram of the resonator, central circular tube, four driving piezoelectric electrodes, and four detection mode compensation piezoelectric electrodes in this invention.

[0032] Figure 7 This is a schematic diagram of the planar structure of the resonator, central circular tube, four driving piezoelectric electrodes, and four detection mode compensation piezoelectric electrodes in this invention.

[0033] Figure 8 yes Figure 7 Rear view.

[0034] Figure 9 This is a schematic diagram of the mode shape of the harmonic oscillator in the driving mode of the present invention.

[0035] Figure 10 This is a schematic diagram of the mode shape of the harmonic oscillator in the detection mode of this invention.

[0036] In the diagram: 1-Supporting square plate, 2-Supporting screw, 3-Locking nut, 4-Supporting disc, 5-Supporting tube, 6-Driving planar electrode, 7-Detection planar electrode, 8-Driving modal feedback planar electrode, 9-Detection modal compensation planar electrode, 10-Conductive cylinder, 11-Conductive diaphragm, 12-Resonator, 13-Central tube, 14-Driving piezoelectric electrode, 15-Detection modal compensation piezoelectric electrode, 16-Fasting bolt, 17-Central hole, 18-Isolation hole, 19-Stress concentration strip hole, 20-Protective cover, 21-Storage compartment, 22-Mounting tube. Detailed Implementation

[0037] A high-sensitivity shell resonant gyroscope based on electrostatic piezoelectric dual drive includes a supporting square disk 1, eight supporting screws 2, eight locking nuts 3, a supporting disc 4, a supporting circular tube 5, two driving planar electrodes 6, two detection planar electrodes 7, two driving mode feedback planar electrodes 8, two detection mode compensation planar electrodes 9, eight conductive cylinders 10, eight conductive diaphragms 11, a resonator 12, a central circular tube 13, four driving piezoelectric electrodes 14, four detection mode compensation piezoelectric electrodes 15, and fastening bolts 16.

[0038] Among them, the surface of the support plate 1 has eight vertically penetrating support screw holes, and the eight support screw holes are symmetrically distributed around the center line of the support plate 1.

[0039] Eight support screws 2 are screwed into eight support screw holes in a one-to-one correspondence, and the eight support screws 2 are symmetrically distributed around the center line of the support square plate 1; the upper end face of each of the eight support screws 2 extends beyond the upper plate surface of the support square plate 1.

[0040] Eight locking nuts 3 are screwed onto the sides of eight support screws 2 in a one-to-one correspondence, and the eight locking nuts 3 are symmetrically distributed around the center line of the support square plate 1; all eight locking nuts 3 are pressed tightly against the upper plate surface of the support square plate 1;

[0041] The edge of the support disk 4 has eight through-hole conductive holes, and the eight conductive holes are symmetrically distributed around the center line of the support disk 4.

[0042] The supporting round tube 5 is coaxially fixed to the center of the upper plate surface of the supporting disc 4, and the supporting round tube 5 is an internally threaded tube;

[0043] Two driving planar electrodes 6, two detection planar electrodes 7, two driving modal feedback planar electrodes 8, and two detection modal compensation planar electrodes 9 are all attached and fixed to the edge of the upper surface of the supporting disk 4, and the two driving planar electrodes 6, two detection planar electrodes 7, two driving modal feedback planar electrodes 8, and two detection modal compensation planar electrodes 9 are symmetrically distributed around the center line of the supporting disk 4; the two driving planar electrodes 6 are respectively sealed on the first conductive circular hole and the fifth conductive circular hole; the two detection planar electrodes 7 are respectively sealed on the second conductive circular hole and the sixth conductive circular hole; the two driving modal feedback planar electrodes 8 are respectively sealed on the third conductive circular hole and the seventh conductive circular hole; the two detection modal compensation planar electrodes 9 are respectively sealed on the fourth conductive circular hole and the eighth conductive circular hole.

[0044] Eight conductive cylinders 10 are fixedly inserted into eight conductive holes, and the eight conductive cylinders 10 are symmetrically distributed around the center line of the supporting disk 4. The upper end face of the eight conductive cylinders 10 is fixed in correspondence with the lower surface of the two driving plane electrodes 6, the lower surface of the two detection plane electrodes 7, the lower surface of the two driving mode feedback plane electrodes 8, and the lower surface of the two detection mode compensation plane electrodes 9. The lower end face of the eight conductive cylinders 10 all extends beyond the lower surface of the supporting disk 4.

[0045] Eight conductive films 11 are attached and fixed to the lower edge of the supporting disk 4, and the eight conductive films 11 are symmetrically distributed around the center line of the supporting disk 4; eight through-holes are opened on the surface of the eight conductive films 11, and the eight conductive films 11 are fixedly sleeved on the lower side of the eight conductive cylinders 10 through the eight through-holes; the lower surface of the eight conductive films 11 is fixedly supported on the upper end of the eight supporting screws 2, and the center line of the supporting disk 4 coincides with the center line of the supporting square disk 1.

[0046] The resonator 12 is a cup-shaped structure with its opening facing downwards. A central circular hole 17 is formed in the center of the top wall of the resonator 12, and the lower end edge of the central circular hole 17 is coaxially supported on the upper end face of the supporting circular tube 5. The lower end face of the resonator 12 is simultaneously opposite to the upper surfaces of the two driving planar electrodes 6, the two detection planar electrodes 7, the two driving mode feedback planar electrodes 8, and the two detection mode compensation planar electrodes 9. Eight vertically penetrating isolation circular holes 18 are formed on the edge of the top wall of the resonator 12, and the eight isolation circular holes 18 are symmetrically distributed around the center line of the resonator 12.

[0047] The sidewalls of the resonator 12 include an upper sidewall and a lower sidewall; the upper sidewall has a conical structure, and its diameter gradually increases from top to bottom; the upper sidewall has eight stress concentration slots 19 that are internally and externally connected and arranged along the generatrix direction, and the eight stress concentration slots 19 are symmetrically distributed around the center line of the resonator 12; the center lines of the eight stress concentration slots 19 intersect the center lines of the eight isolation circular holes 18 one by one; the lower sidewall has a spherical strip structure, and its diameter gradually increases from top to bottom;

[0048] The central circular tube 13 is coaxially fixed to the upper end of the central circular hole 17 at the edge of the hole.

[0049] All four driving piezoelectric electrodes 14 and four detection mode compensation piezoelectric electrodes 15 are elongated sheet structures, and all four driving piezoelectric electrodes 14 and four detection mode compensation piezoelectric electrodes 15 are piezoelectric ceramic electrodes polarized along the thickness direction.

[0050] The negative electrode surfaces of the four driving piezoelectric electrodes 14 and the four detection mode compensation piezoelectric electrodes 15 are all fixed to the upper outer wall of the resonator 12, and the four driving piezoelectric electrodes 14 and the four detection mode compensation piezoelectric electrodes 15 are all arranged along the generatrix direction; the four driving piezoelectric electrodes 14 and the four detection mode compensation piezoelectric electrodes 15 are symmetrically distributed around the center line of the resonator 12; the four driving piezoelectric electrodes 14 are located one-to-one between the first stress concentration strip hole 19 and the second stress concentration strip hole 19, between the third stress concentration strip hole 19 and the fourth stress concentration strip hole 19, between the fifth stress concentration strip hole 19 and the sixth stress concentration strip hole 19, and between the seventh stress concentration strip hole 19 and the eighth stress concentration strip hole 19. Between holes 19; four detection mode compensation piezoelectric electrodes 15 are located one-to-one between the second stress concentration strip hole 19 and the third stress concentration strip hole 19, between the fourth stress concentration strip hole 19 and the fifth stress concentration strip hole 19, between the sixth stress concentration strip hole 19 and the seventh stress concentration strip hole 19, and between the eighth stress concentration strip hole 19 and the first stress concentration strip hole 19; the circumferential positions of the four driving piezoelectric electrodes 14 correspond one-to-one with the circumferential positions of the two driving planar electrodes 6 and the two driving mode feedback planar electrodes 8; the circumferential positions of the four detection mode compensation piezoelectric electrodes 15 correspond one-to-one with the circumferential positions of the two detection planar electrodes 7 and the two detection mode compensation planar electrodes 9.

[0051] The fastening bolt 16 passes through the central tube 13 and the central hole 17, and the tail end of the fastening bolt 16 is screwed into the supporting tube 5; the head of the fastening bolt 16 presses tightly against the upper end face of the central tube 13.

[0052] It also includes a protective cover 20; the protective cover 20 is a cup-shaped structure with an opening facing downwards, and the protective cover 20 is coaxially fastened to the edge of the upper plate surface of the supporting square plate 1; the sidewall of the protective cover 20 includes an upper sidewall and a lower sidewall; the upper sidewall is a conical structure, and the diameter of the upper sidewall gradually increases from top to bottom; the lower sidewall is a cylindrical structure. During operation, the protective cover serves to protect the resonator.

[0053] It also includes a storage compartment 21; the storage compartment 21 is a square cup-shaped structure with an upward opening, and the storage compartment 21 is coaxially fastened to the lower edge of the supporting square plate 1. During operation, the storage compartment is used to house the control system.

[0054] It also includes four mounting tubes 22; four through mounting holes are correspondingly provided at the four corners of the support plate 1, and the four mounting holes are symmetrically distributed around the center line of the support plate 1; the four mounting tubes 22 are fixedly inserted into the four mounting holes, and the four mounting tubes 22 are symmetrically distributed around the center line of the support plate 1; all four mounting tubes 22 are internally threaded tubes. In operation, the invention can be installed on various devices through the four mounting tubes.

[0055] The four corners of the supporting square plate 1 are all chamfered; the two driving plane electrodes 6, the two detection plane electrodes 7, the two driving mode feedback plane electrodes 8, and the two detection mode compensation plane electrodes 9 are all in the shape of an I-beam.

[0056] The resonator 12 is made of Ni-Span-C Alloy 902 constant elastic alloy.

[0057] The piezoelectric ceramic is PZT-5H piezoelectric ceramic.

[0058] The negative electrode surfaces of the four driving piezoelectric electrodes 14 and the four detection mode compensation piezoelectric electrodes 15 are all fixed to the upper outer wall of the resonator 12 by conductive adhesive.

[0059] The top wall of the resonator 12 has a thickness of 0.5 mm; the upper side wall of the resonator 12 has a thickness of 0.85 mm and a height of 7.2 mm; the lower side wall of the resonator 12 has a thickness of 1.25 mm, a height of 7.5 mm, and an outer diameter of 30 mm; the central circular tube 13 has a radius of 2 mm and a height of 3 mm; the four driving piezoelectric electrodes 14 and the four detection mode compensation piezoelectric electrodes 15 each have a length of 7.5 mm, a width of 2 mm, and a thickness of 0.2 mm; the central circular hole 17 has a diameter of 2 mm; the eight isolation circular holes 18 each have a diameter of 1.5 mm; the hole spacing between the eight isolation circular holes 18 and the central circular hole 17 is 4 mm; the eight stress concentration strip holes 19 each have a height of 7.2 mm and a width of 2 mm.

[0060] The resonator 12 has the following natural frequencies: first natural frequency 1091.38 Hz, second natural frequency 1092.49 Hz, third natural frequency 4602.55 Hz, fourth natural frequency 4818.55 Hz, fifth natural frequency 7886.83 Hz, sixth natural frequency 7887.01 Hz, seventh natural frequency 17829.36 Hz, eighth natural frequency 17840.61 Hz, driving mode frequency 7886.83 Hz, and detection mode frequency 7887.01 Hz.

[0061] While specific embodiments of the present invention have been described above, those skilled in the art should understand that these are merely illustrative examples, and the scope of protection of the present invention is defined by the appended claims. Those skilled in the art can make various changes or modifications to these embodiments without departing from the principles and essence of the present invention, but all such changes and modifications fall within the scope of protection of the present invention.

Claims

1. A high-sensitivity shell resonant gyroscope based on electrostatic and voltage dual-drive, characterized in that: Includes a support square plate (1), eight support screws (2), eight locking nuts (3), a support disc (4), a support tube (5), two driving plane electrodes (6), two detection plane electrodes (7), two driving modal feedback plane electrodes (8), two detection modal compensation plane electrodes (9), eight conductive cylinders (10), eight conductive diaphragms (11), a resonator (12), a central tube (13), four driving piezoelectric electrodes (14), four detection modal compensation piezoelectric electrodes (15), and fastening bolts (16). Among them, the support plate (1) has eight vertically penetrating support screw holes on its surface, and the eight support screw holes are symmetrically distributed around the center line of the support plate (1). Eight support screws (2) are screwed into eight support screw holes one by one, and the eight support screws (2) are symmetrically distributed around the center line of the support square plate (1); the upper end face of the eight support screws (2) all extends beyond the upper plate surface of the support square plate (1); Eight locking nuts (3) are screwed one-to-one onto the sides of eight support screws (2), and the eight locking nuts (3) are symmetrically distributed around the center line of the support plate (1); all eight locking nuts (3) are pressed tightly against the upper plate surface of the support plate (1); The edge of the support disk (4) is provided with eight through-hole conductive holes, and the eight conductive holes are symmetrically distributed around the center line of the support disk (4). The supporting round tube (5) is coaxially fixed to the center of the upper plate surface of the supporting disc (4), and the supporting round tube (5) is an internally threaded tube; Two driving planar electrodes (6), two detection planar electrodes (7), two driving modal feedback planar electrodes (8), and two detection modal compensation planar electrodes (9) are all attached and fixed to the edge of the upper disk surface of the support disk (4), and the two driving planar electrodes (6), two detection planar electrodes (7), two driving modal feedback planar electrodes (8), and two detection modal compensation planar electrodes (9) are symmetrically distributed around the center line of the support disk (4); the two driving planar electrodes (6) are respectively sealed on the first conductive circular hole and the fifth conductive circular hole; the two detection planar electrodes (7) are respectively sealed on the second conductive circular hole and the sixth conductive circular hole; the two driving modal feedback planar electrodes (8) are respectively sealed on the third conductive circular hole and the seventh conductive circular hole; the two detection modal compensation planar electrodes (9) are respectively sealed on the fourth conductive circular hole and the eighth conductive circular hole; Eight conductive cylinders (10) are fixedly inserted into eight conductive holes in a one-to-one correspondence, and the eight conductive cylinders (10) are symmetrically distributed around the center line of the supporting disk (4); the upper end face of the eight conductive cylinders (10) is fixed in a one-to-one correspondence with the lower surface of the two driving plane electrodes (6), the lower surface of the two detection plane electrodes (7), the lower surface of the two driving mode feedback plane electrodes (8), and the lower surface of the two detection mode compensation plane electrodes (9); the lower end face of the eight conductive cylinders (10) all extends beyond the lower surface of the supporting disk (4); Eight conductive films (11) are attached and fixed to the lower edge of the support disk (4), and the eight conductive films (11) are symmetrically distributed around the center line of the support disk (4); eight through-holes are opened on the surface of the eight conductive films (11), and the eight conductive films (11) are fixedly fitted onto the lower side of the eight conductive cylinders (10) through the eight through-holes; the lower surface of the eight conductive films (11) is fixedly supported on the upper surface of the eight support screws (2), and the center line of the support disk (4) coincides with the center line of the support square disk (1); The resonator (12) is a cup-shaped structure with its opening facing downwards; a central circular hole (17) is provided in the center of the top wall of the resonator (12), and the lower end of the central circular hole (17) is coaxially supported on the upper end face of the supporting circular tube (5); the lower end face of the resonator (12) is simultaneously opposite to the upper surfaces of the two driving planar electrodes (6), the two detection planar electrodes (7), the two driving mode feedback planar electrodes (8), and the two detection mode compensation planar electrodes (9); eight vertically penetrating isolation circular holes (18) are provided on the edge of the top wall of the resonator (12), and the eight isolation circular holes (18) are symmetrically distributed around the center line of the resonator (12); The sidewall of the resonator (12) includes an upper sidewall and a lower sidewall; the upper sidewall is a conical structure, and the diameter of the upper sidewall gradually increases from top to bottom; the upper sidewall has eight stress concentration slots (19) that are internally and externally connected and arranged along the generatrix direction, and the eight stress concentration slots (19) are symmetrically distributed around the center line of the resonator (12); the center lines of the eight stress concentration slots (19) intersect the center lines of the eight isolation circular holes (18) one by one; the lower sidewall is a spherical strip structure, and the diameter of the lower sidewall gradually increases from top to bottom; The central circular tube (13) is coaxially fixed to the upper end of the central circular hole (17) at the edge of the hole; The four driving piezoelectric electrodes (14) and the four detection mode compensation piezoelectric electrodes (15) are all long strip sheet structures, and the four driving piezoelectric electrodes (14) and the four detection mode compensation piezoelectric electrodes (15) are all piezoelectric ceramic electrodes polarized along the thickness direction; The negative electrode surfaces of the four driving piezoelectric electrodes (14) and the four detection mode compensation piezoelectric electrodes (15) are all fixed to the upper outer wall of the resonator (12), and the four driving piezoelectric electrodes (14) and the four detection mode compensation piezoelectric electrodes (15) are all arranged along the generatrix direction; the four driving piezoelectric electrodes (14) and the four detection mode compensation piezoelectric electrodes (15) are symmetrically distributed around the center line of the resonator (12); the four driving piezoelectric electrodes (14) are located one-to-one between the first stress concentration strip hole (19) and the second stress concentration strip hole (19), between the third stress concentration strip hole (19) and the fourth stress concentration strip hole (19), between the fifth stress concentration strip hole (19) and the sixth stress concentration strip hole (19), and between the seventh stress concentration strip hole (19) and the eighth stress concentration strip hole (19). Between the holes (19); the four detection mode compensation piezoelectric electrodes (15) are located one-to-one between the second stress concentration strip hole (19) and the third stress concentration strip hole (19), between the fourth stress concentration strip hole (19) and the fifth stress concentration strip hole (19), between the sixth stress concentration strip hole (19) and the seventh stress concentration strip hole (19), and between the eighth stress concentration strip hole (19) and the first stress concentration strip hole (19); the circumferential positions of the four driving piezoelectric electrodes (14) correspond one-to-one with the circumferential positions of the two driving planar electrodes (6) and the two driving mode feedback planar electrodes (8); the circumferential positions of the four detection mode compensation piezoelectric electrodes (15) correspond one-to-one with the circumferential positions of the two detection planar electrodes (7) and the two detection mode compensation planar electrodes (9); The fastening bolt (16) passes through the central tube (13) and the central hole (17), and the tail end of the fastening bolt (16) is screwed into the supporting tube (5); the head of the fastening bolt (16) presses tightly against the upper end face of the central tube (13).

2. A high-sensitivity shell resonant gyroscope based on electrostatic and voltage dual-drive as described in claim 1, characterized in that: It also includes a protective cover (20); the protective cover (20) is a cup-shaped structure with the opening facing downwards, and the protective cover (20) is coaxially fastened to the edge of the upper plate surface of the supporting square plate (1); the side wall of the protective cover (20) includes an upper side wall and a lower side wall; the upper side wall is a conical structure, and the diameter of the upper side wall gradually increases from top to bottom; the lower side wall is a cylindrical structure.

3. A high-sensitivity shell resonant gyroscope based on electrostatic and voltage dual-drive as described in claim 1, characterized in that: It also includes a storage compartment (21); the storage compartment (21) is a square cup-shaped structure with an upward opening, and the storage compartment (21) is coaxially fastened to the lower edge of the supporting square plate (1).

4. A high-sensitivity shell resonant gyroscope based on electrostatic and electrostatic dual-drive as described in claim 1, characterized in that: It also includes four mounting round tubes (22); the four corners of the support square plate (1) are provided with four through mounting round holes, and the four mounting round holes are symmetrically distributed around the center line of the support square plate (1); the four mounting round tubes (22) are fixedly inserted into the four mounting round holes, and the four mounting round tubes (22) are symmetrically distributed around the center line of the support square plate (1); the four mounting round tubes (22) are all internally threaded tubes.

5. A high-sensitivity shell resonant gyroscope based on electrostatic and voltage dual-drive as described in claim 1, characterized in that: The four corners of the supporting square plate (1) are all chamfered; The two driving planar electrodes (6), the two detection planar electrodes (7), the two driving mode feedback planar electrodes (8), and the two detection mode compensation planar electrodes (9) are all in the shape of an I-beam.

6. A high-sensitivity shell resonant gyroscope based on electrostatic and voltage dual-drive as described in claim 1, characterized in that: The resonator (12) is made of Ni-Span-C Alloy 902 constant elastic alloy.

7. A high-sensitivity shell resonant gyroscope based on electrostatic and voltage dual-drive as described in claim 1, characterized in that: The piezoelectric ceramic is PZT-5H piezoelectric ceramic.

8. A high-sensitivity shell resonant gyroscope based on electrostatic and voltage dual-drive as described in claim 1, characterized in that: The negative electrode surfaces of the four driving piezoelectric electrodes (14) and the four detection mode compensation piezoelectric electrodes (15) are all fixed to the upper outer wall of the resonator (12) by conductive adhesive.

9. A high-sensitivity shell resonant gyroscope based on electrostatic and voltage dual-drive as described in claim 1, characterized in that: The thickness of the top wall of the resonator (12) is 0.5 mm; the thickness of the upper side wall of the resonator (12) is 0.85 mm and the height is 7.2 mm; the thickness of the lower side wall of the resonator (12) is 1.25 mm, the height is 7.5 mm and the outer diameter is 30 mm; the radius of the central tube (13) is 2 mm and the height is 3 mm; the length of the four driving piezoelectric electrodes (14) and the four detection mode compensation piezoelectric electrodes (15) are all 7.5 mm, the width is all 2 mm and the thickness is all 0.2 mm; the diameter of the central hole (17) is 2 mm; the diameter of the eight isolation holes (18) is all 1.5 mm; the hole spacing between the eight isolation holes (18) and the central hole (17) is all 4 mm; the height of the eight stress concentration strip holes (19) is all 7.2 mm and the width is all 2 mm.

10. A high-sensitivity shell resonant gyroscope based on electrostatic and voltage dual-drive as described in claim 9, characterized in that: The first natural frequency of the resonator (12) is 1091.38Hz, the second natural frequency is 1092.49Hz, the third natural frequency is 4602.55Hz, the fourth natural frequency is 4818.55Hz, the fifth natural frequency is 7886.83Hz, the sixth natural frequency is 7887.01Hz, the seventh natural frequency is 17829.36Hz, the eighth natural frequency is 17840.61Hz, the driving mode frequency is 7886.83Hz, and the detection mode frequency is 7887.01Hz.

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