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.