Nonlinear oscillations in coriolis based gyroscopes

In this paper we model and analyze nonlinear oscillations which are known t o 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 which includes geometric nonlinearities is given, and energy tra nsfer between the system's modes are analyzed using perturbation theory and by proposing a simplified model. The model is also simulated, and the resu lts are shown to give an accurate description of the experimental results. This work is done 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.