The Hemispherical Resonator Gyroscope (HRG) has many advantages such as high precision, high reliability and long life-time, it is widely used in the space-launcher and the satellites. The HRG has been mechanized to operate in the distinct operating modes, the Force to Rebalanced (FTR) mode and the Whole Angle (WA) mode. In the paper, different from the traditional control algorithm is based on average methods which usually used for the WA mode, a new electrostatic control algorithm is presented, which based on the vector composition and decomposition method to control the equivalent drive force in order to track the phase of the standing wave. The mathematics model and the control algorithm are presented in the paper, and the hardware experimental circuit system is implemented, the HRG has a range of more than 300°/s with the linearity of 40 ppm. Meanwhile, the energy transition efficiency increases by an order of magnitude.

半球形谐振陀螺仪（HRG）具有精度高，可靠性高，寿命长等优点，广泛应用于航天发射器和卫星。HRG已机械化，可以在不同的工作模式，“再平衡力”（FTR）模式和“全角度”（WA）模式下运行。在本文中，不同于传统的控制算法是基于通常用于WA模式的平均方法，提出了一种新的静电控制算法，该算法基于矢量组成和分解方法来控制等效驱动力以进行跟踪。驻波的相位。提出了数学模型和控制算法，并实现了硬件实验电路系统，HRG的范围大于300°/ s，线性度为40 ppm。