Contents 1 Introduction
HRG is a new solid vibration gyro that its standing wave precession effect is used for tachometric survey and angular measure, which works at the continuous vibration of the certain frequency. It has the advantages of high precision, less energy consumption, high stability, simple structure, short preparation time, wide working temperature range, great endurance in over loading, long life, so it is very suitable to long-term working occasions such as space vehicles [1], [2]. Therefore, it is considered as one of the most ideal inertial components in the 21st century [3]. Presently, researches on HRG mainly concerned on theoretical analysis and signal processing, while researches on hemispherical shell resonator are less. So the design and manufacture of resonator are the technological bottleneck confining the development and application of HRG [4]. Obviously, the structure of resonator has a great influence on the output accuracy. Aimed at the practical problems, it is very important to design the resonator of strong anti-interference ability, high output precision. It is very necessary to establish the accurate model of resonator. There are two ways to establish the mathematical model of resonator, the mechanism modeling method and the finite element method. It is difficult to establish the precise mechanism model to satisfy the demand of accuracy. However, the finite element method can establish accurate complex model that the mechanism modeling mode is very difficult to do.
