DE19748294B4 - Apparatus for measuring rotation with a vibrating mechanical resonator - Google Patents

Abstract

A device for measuring rotation about a sensitive axis, comprising a mechanical resonator equipped with transducers axially symmetric about the sensitive axis which generate stationary oscillation in the resonator and transducers for measuring the amplitude of the oscillation of the resonator in at least two certain directions and with a control / control circuit for the maintenance of the vibrations and for determining the position of the nodes and bulges of the vibrations about this sensitive axis, characterized in that the control / control circuit comprises means for supplying the converter, for generating two progressive in With respect to the sensitive axis of contrarotative waves in the resonator whose phase difference corresponds to the rotation angle of the resonator about its axis of rotation corresponding to the sensitive axis and whose amplitudes are such that their composition is one of relative to Vorric stationary wave, which has a vibration component in phase as well as a 90 ° phase-shifted vibration component, wherein the amplitude of the phase component shifted by 90 ° vibration component provokes ...

Description

• – einem mechanischen Element, genannt Resonator, welches eine axiale Symmetrie aufweist, dessen Achse die empfindliche Achse der Vorrichtung ist, und das in der Lage ist, in einer mechanischen Resonanz zu vibrieren,
• – Aufnehmer, die empfindlich gegenüber dem Ausschlag der Schwingung des Elements in zumindest zwei bestimmten Richtungen sind,
• – und Wandler zum Aufbringen von Kräften auf den Resonator in den beiden bestimmten Richtungen, die vor allen Dingen der Kontrolle der Schwingung dienen.

The present invention relates generally to rotational measurement devices comprising:

• A mechanical element, called a resonator, which has an axial symmetry whose axis is the sensitive axis of the device and which is able to vibrate in a mechanical resonance,
• - Transducers that are sensitive to the swing of the element in at least two directions,
• - And transducers for applying forces to the resonator in the two specific directions, which serve above all the control of the vibration.

It There are already a number of devices with resonators of this kind, d. H. they vibrate; they use the Coriolis acceleration, which acts on a vibrating element as its body rotates. The Coriolis acceleration becomes perpendicular to the rotation speed and aligned to the direction of vibration and it has a modifying effect on the alignment of the vibration network, proportional to the rotation of the element around the sensitive axis.

Such devices use resonators that can take pronouncedly different forms. The resonator may have an annular structure; it may be formed from a circular or square plate; it may be in the form of a shell fixed to the ground, with the transducers and transducers distributed around the edge of the shell; it may also comprise an array of four vibrating beams, each distributed around the angles of a rectangle ( EP 0 578 519 A1 ).

you knows about it Beyond at least 1923, that one has a stationary wave in a resonator, with an axial symmetry, such as For example, the compilation of two contrastive progressive Waves of the same wavelength. This possibility is implemented in optical gyrometers with rings (laser gyrometer). The two contrasting waves can change their phase when the resonator rotates about its sensitive axis.

Likewise, it has been proposed to use this combination in the case of devices having an annular resonator ( EP 609 929 A1 ) or with shafts of cylindrical surface ( US 4,384,409 A ). However, the proposed devices still require circuits that perform complex calculations and / or have a large number of transducers.

Likewise, to the present day, these calculations and the arrangement of the transducers and transducers are generally matched to a single type of resonator. For example, the resonator with a ring, the subject of the patent EP 0 609 929 A1 which is already quoted is controlled by transducers corresponding to the particular directions relative to the directions of the transducers for a vibrational mode where n2 corresponds to the use of the resonator's control electronics for another mode of oscillation or another type of resonator excludes.

The The invention particularly aims to circumvent these disadvantages.

deren Lösung eine Beschreibung der Schwingung ist.It is known that in the case of mechanical resonance of any resonator it is possible to analytically represent the vibrational field in a base having two distinct reference modes. One can describe the oscillation by the following system of equations: Equation 1

their solution is a description of the vibration.

η_i(mit i = 1 oder 2):

Koordinaten in der Ebene der Eigenmodi,

ξ_i:

Koeffizienten der reduzierten modalen Amortisation,

m_i:

modale Massen,

ω_i:

Eigenpulsationen,

α_i:

Koeffizienten der gyroskopischen Kopplung,

Ω_b/i:

inertiale Rotationsgeschwindigkeit des Resonators,

f_i:

verallgemeinerte Kräfte.

In these equations is:

η _i (with i = 1 or 2):

Coordinates in the plane of eigenmodes,

_i

Coefficients of reduced modal amortization,

m _i :

modal masses,

ω _i :

Eigenpulsationen,

α _i :

Coefficients of gyroscopic coupling,

Ω _{b / i} :

inertial rotational speed of the resonator,

f _i :

generalized forces.

• – die Aufnehmer die Komponenten der beiden Schwingungen gemäß der Achsen η₁ und η₂ abgeben,
• – die Wandler die Anwendung der Kräfte f₁ und f₂ gemäß derselben Achsen erlauben.

One uses these relations by arranging the transducers and transducers in such a way that:

• The sensors transmit the components of the two oscillations according to the axes η ₁ and η ₂ ,
• - The converters allow the application of the forces f ₁ and f ₂ according to the same axes.

The position and number of transducers and transducers, which depends on the shape of the resonator and its connection, always makes it possible to obtain the outputs η ₁ and η ₂ and the inputs f ₁ and f ₂ corresponding to 1 and to use the control electronics as proposed in this figure, which remains independent of the shape of the resonator and, moreover, does not require any adaptation to the frequency of the resonance used.

It is found that the axes η ₁ and η ₂ mechanically form an angle corresponding to π / 2n, where n is an integer greater than or equal to 1. For a circle that deforms into an ellipse, for example, n = 2 and the two eigenwaves form an angle of π / 4 = 45 °.

The Invention uses these principles and equations for the first time, to be able to provide an electronic module that one can qualify as universal, which is the control / control of mechanical Resonators with axial symmetry of any kind after all common Vibration modes allowed at an angle or rotation speed according to her to deliver sensitive axis.

When Universal module is a module that you do not modify must, if one changes the mode or the resonator, whereby only the Converters and transducers must be adapted insofar as their output or Level of sensitivity and their positions relative to the Resonator according to the mechanical Reference system that the selected Resonance mode corresponds.

The The present invention also provides a device for measurement the rotation of the type defined above, which the use only a minimal number of transducers and transducers as well allows a relatively simple electronics, completely analog can be. In accordance with this aim, the invention proposes a device according to claim 1 ago.

thanks maintaining the amplitude in phase with a specific one achieved, for example by regulating energy the counter-rotating waves and thanks to the repeal of the 90 ° shifted Amplitude it is possible to use a relatively reduced number of transducers. The regulation can be ensured by only those without difficulty implementable elements in the form of a wired circuit used in the calculation, without a microprocessor, especially because of since the calculation of trigonometric functions is optional is.

The The device can easily be realized in the same way a gyroscope or a gyrometer can form. For use as a gyrometer becomes the stationary one Wave held in place by a forced precession is provoked. In case of use as a gyroscope those are for the function as a gyrometer means not necessary, but they allow the implementation a periodic calibration for increased precision.

The The above characteristics as well as beyond them arise better from the following description of a preferred embodiment, which is exemplary and not limiting. The description refers to the attached Drawings, showing:

1 a synoptic scheme intended to represent the control / control mode of the device with a universal module;

1A a schematic diagram illustrating a possible distribution of the transducers on a circular periphery resonator at rest, the connections of the transducers and transducers with a measurement and excitation circuit and a network of stationary waves in the resonator according to a mode were provoked for order;

2 a representation of the oscillation of a point of the resonator of 1 in a frame of reference η ₁ , η ₂ , which corresponds to the mode;

3 a synoptics of the measuring means of the phase shift and the cancellation of the phase shift, can be used for the implementation of the invention;

4 a synoptic which represents the usable operators for maintaining the amplitude of the contrasting waves in a resonator;

5 a synoptic of usable operators for generating a representative signal of the forces to be used to provoke a precision;

6 a synoptic of the entire electronics of a device for measuring the rotation according to the invention, which can operate as a gyrometer or gyroscope.

Before describing the implementation of the invention in detail, it makes sense to realize that the network of n-th order stationary waves (second order in the given example) can be divided into two progressive waves. In the case of an annular resonator, the rotation tends to drive the stationary wave network as the resonator rotates about its axis. As a result, the two progressive waves which allow the stationary wave to be recombined have a frequency difference ω ₁ -ω ₂ corresponding to the rotational velocity Ω and a phase difference corresponding to the rotation angle from an origin.

• – die Amplitude der Schwingung in Phase mit einem konstanten Wert halten;
• – die um 90° phasenverschobene Komponente aufheben.

The invention uses this fact by connecting transducers for measuring the extension of the resonator at several locations about the axis, and transducers for generating attenuation compensation forces with electronics which output two output signals at frequencies whose difference corresponds to the rotational speed ( and whose phase difference corresponds to the angle) and which supplies the transducers in such a way that these forces are generated, which:

• - keep the amplitude of the oscillation in phase at a constant value;
• - cancel out the quadrature component.

The mechanical resonator can have very different constitutions. By way of example, FIG 1A a resonator 10 In particular, it may be in the form of a disk or shell made of a material such that the resonator has low losses. At rest, the resonator is circular or has a structure that mechanically corresponds to a circular area, as in 1 shown in a solid line. When the resonator vibrates in its second order mode, it assumes the two extremes that are in 1A shown in broken line and greatly enlarged scale when passing through an electronic circuit 12 is excited to its resonant frequency, which in opposite phase two transducers 14 supplied, which are offset by 90 ° from each other. In practice, every converter 14 supplied in parallel with an oppositely arranged transducer, which is not shown for reasons of simplicity. Two other pairs of electrodes 15 ₁ . 15 ₂ are arranged at 45 ° with respect to the previously mentioned in the reference frame of the modes.

The radial offset is measured in the case described at the same angle arrangements, in which the transducers are arranged. For example, two pairs of transducers allow this 16 (showing only the connections of a single transducer) a measurement of the amplitude of the vibration and allow the electronic circuit 12 with the signals of the measurement. The circuit is provided to supply the transducers in a manner to maintain a constant amplitude of vibration, as will be seen later.

These Indications as well as the following would be equally valid for everyone in Oscillation resonators according to a mode of order ≥ 1, wherein the arrangement of the transducer and the transducer is slightly modified.

The same device 12 Therefore, it can also be used for a resonator with four parallel, vibrating carriers, such. As described in the document EP-A-0 578 519 which has already been mentioned.

When the container holding the resonator is in a certain angle through the arrow Ω The oscillation field tends to shift under the influence of the Coriolis forces, including the node 18 shifts, if not by the action of an electronic circuit 12 is counteracted and at the moment t, for example, assumes an angle θ. This angle is proportional to the rotation which the container undergoes, with a constant ratio which is ≤ 1, depending on the type of resonator.

η₁ und η₂:

Referenzachsen und Koordinaten im Bezugssystem,

ω

Winkelfrequenz der Schwingung des Resonators,

Ω

Rotationsgeschwindigkeit des Behälters,

α

Formkoeffizient, < 1.

f₁ und f₂:

Entlang der Achsen η₁ und η₂ angelegte Kräfte, in erster Linie vorgesehen zur Kompensation der Verluste sowie zur Korrektur der Anisotropie der Frequenz und in zweiter Linie zur Änderung des Funktionsmodus sowie zur Korrektur der Funktion durch Verwendung gespeicherter Fehlermodelle,

M:

beweglicher Punkt, der den Zustand der Schwingung darstellt,

ω₁ und ω₂:

Winkelfrequenzen der zwei progressiven Wellen, resultierend aus der Zerlegung der stationären Welle mit der Winkelfrequenz ω.

θ:

Inklination der Hauptachse der Ellipse, die der Schwingung in der Ebene der Modi entspricht, in den Referenzachsen η₁ und η₂, verbunden mit dem Behälter des Resonators,

η₁ → oder R →:

ein den beweglichen Punkt M repräsentierender Vektor an der Markierung η₁, η₂,

2a und 2b:

Haupt- und Nebenachsen der Ellipse, die der Schwingung entsprechen,

VCO₁ und VCO₂:

spannungsgesteuerte Oszillatoren, die bei den Frequenzen ω₁ und ω₂ arbeiten,

R₁ → und R₂ →:

Vektoren mit den jeweiligen Modulen r₁ und r₂, die jeweils bei den Frequenzen ω₁ und ω₂ drehen,

ft₁ und ft₂:

Tangentialkräfte, die auf den Resonator wirken, um die Amplituden in Phase mit einem konstanten Wert anzutreiben,

fr₁ und fr₂:

Radialkräfte, die auf den Resonator ausgeübt werden, um die um 90° phasenverschobenen Amplituden zu entfernen,

Ω:

Rotationsgeschwindigkeit des Behälters des Resonators,

Ω_p:

Präzessionsgeschwindigkeit, entspricht (ω₁ – ω₂)/2,

C_p:

Steuersignal der Präzession.

Depending on the type of the mechanical resonator, provided that it has a stationary vibration mode with at least order 1, the offset of a point M in the reference frame of the modes η ₁ , η _{2 can be represented} by the diagram of FIG 2 being represented. The offset of a movable point M can be represented in the parametric form given above. In the following, the formulas are developed using the following notations:

η ₁ and η ₂ :

Reference axes and coordinates in the frame of reference,

ω

Angular frequency of the oscillation of the resonator,

Ω

Rotational speed of the container,

α

Shape coefficient, <1.

f ₁ and f ₂ :

Forces applied along the axes η ₁ and η ₂ , primarily intended to compensate for the losses and to correct the anisotropy of the frequency and secondly to change the mode of operation and to correct the function by using stored fault models,

M:

moving point representing the state of the vibration

ω ₁ and ω ₂ :

Angular frequencies of the two progressive waves, resulting from the decomposition of the stationary wave with the angular frequency ω.

θ:

Inclination of the main axis of the ellipse, which corresponds to the oscillation in the plane of the modes, in the reference axes η ₁ and η ₂ , connected to the container of the resonator,

η₁ → or R →:

a vector representing the movable point M at the mark η ₁ , η ₂ ,

2a and 2b:

Major and minor axes of the ellipse corresponding to the vibration

VCO ₁ and VCO ₂ :

Voltage controlled oscillators operating at frequencies ω ₁ and ω ₂ ,

R₁ → and R₂ →:

Vectors with the respective modules r ₁ and r ₂ , which respectively rotate at the frequencies ω ₁ and ω ₂ ,

ft ₁ and ft ₂ :

Tangential forces acting on the resonator to drive the amplitudes in phase at a constant value,

for ₁ and ₂ :

Radial forces exerted on the resonator to remove the quadrature amplitudes

Ω:

Rotational speed of the container of the resonator,

Ω _p :

Precession speed, corresponds to (ω ₁ - ω ₂ ) / 2,

C _p :

Control signal of precession.

The 2 shows the rotational speed Ω of the container supporting the resonator, with the effect of making the oscillatory field of field rotate and the major axis 2a the ellipse, which represents the movement of the point, for example, to rotate at an angle θ. For gyroscope operation, from a measurement of θ, one deduces the angle through which the container of the resonator is rotated by using a scale factor α, which is dependent on the resonator as well as the order of the mode.

In the 2 The oscillation is represented in the form of an ellipse, which is a major axis of value 2a and a small axis of value 2 B Has. The variations of the coordinates η ₁ and η _{2 of} a moving point M as a function of time can be as follows: η 1 = a cos ωt cosθ - b sin ωt sin θ η 2 = a cos ωt cos θ + b sin ωt sin θ

The Component of the vibration with the amplitude b, which is also called 90 ° rotation can be designated provokes the emergence of parasitic derivatives of the vibration field, which is the quality of the measurements at work of the gyroscope.

• – die Aufrechterhaltung der Amplitude a (oder a² + b², d. h. der Energie) durch Kompensation der Verluste;
• – Verringerung der Quadratur des Raums b auf Null.

According to the invention, two controls are provided for driving the vibration in all cases for:

• The maintenance of the amplitude a (or a ² + b ² , ie the energy) by compensation of the losses;
• - Reduce the squaring of space b to zero.

• – eine externe Präzisionssteuerung, um die Achse der Schwingung mit einer Präzisionsgeschwindigkeit Ω_p drehen zu lassen, die weiter unten definiert wird.

In addition, a third control is necessary for the functioning of the gyrometer or for calibration:

• An external precision control to rotate the axis of vibration at a precision speed Ω _p , which is defined below.

To allow the decomposition into two progressive waves of different frequencies ω ₁ and ω ₂ , it should be noted that the vector OM → can be regarded as the result of R₁ → + R₂ →, where the vector R₁ → of the beam r ₁ = ( a + b) / 2 rotates at the speed + ω and wherein the vector R₂ → of the beam r ₂ = (a - b) / 2 rotates at the speed -ω when the container is stationary.

If you let the container rotate at a speed of Ω, the velocities of the vectors R₁ → and R₂ → corresponding to ω ₁ = ω - Ω and ω ₂ = ω + Ω.

The oscillation can be driven by the control of two oscillators, each providing two alternative phase shifted signals in such a way that their outputs applied to the electron form two vectors rotating at the frequencies ω ₁ and ω ₂ , The vectors V₁ → and V₂ → represent the outputs of the two controlled oscillators VCO ₁ and VCO ₂ , which must be controlled in the position R₁ → and R₂ →. This implies the measurement or the calculation of the phase shift between R₁ → and V₁ → and between R₁ → and V₂ →.

Measurement and cancellation of the phase shift

To measure the phase shift, the use of the peculiarity of the vectorial product is suggested to be zero when the two vectors are aligned. In the case of the vector V ₁ : V₁ → ∧ OM → = V₁ → ∧ (R₁ → + R₂ →) = V₁ → ∧ R₁ → + V₁ → ∧ R₂ →

The expression V₁ → ∧ R₂ → gives after filtering a signal 0, since the vectors V₁ → and R₂ → rotate in the opposite direction, from which:
V₁ → ∧ OM → = sin (V₁ →, R₂ → ·) = arg (V₁ →, R₁ →)) = ξ ₁ , with ξ ₁ as error signal, or:
V₁ → ∧ OM → = η ₂ · cosω ₁ t - η ₁ · sinω ₁ t.

Under the condition of using the oscillators, the square wave signals the amplitude 1 available multiplication takes place simply with the help of the multipliers with +1 and -1 and an adder, which if the signals are analog, a operational amplifier can be. An identical compilation will be for the second Way inserted.

The means for measuring the phase shift and the cancellation of the phase shift can be as a consequence of the in 3 be shown. The input η ₂ denotes the totality of the signals representing the vector OM → = R₁ → + R₂ →.

The components 20 ₁ and 20 ₂ that form the vectorial products due to the multiplication of the input values, alternatively with +1 or -1 and the additions, follow a filtering. The error signals ε1 and ε2 are again applied to VCO ₁ and VCO ₂ .

This gives two outputs 22 ₁ and 22 ₂ whose phases are controlled by two vectors R₁ → and R₂ →, which form the elliptical oscillation and whose phase shift corresponds to 2θ.

Measurement and regulation of Amplitude of the two waves

The amplitude of each of the two contrastive waves, which are rotating with respect to the sensitive axis, is performed by the formation of a scale product instead of a vectorial product. You can do this with two operators 24 ₁ and 24 ₂ use as in 4 schematically.

The algebraic equation remains a type with two multiplications real sizes as well an addition, the two modulators and an algebraic addition necessary.

Assuming that VCO ₁ and VCO _{2 provide} amplitude signals equal to 1, one has for 24 ₁ : V₁ → OM → = V₁ → · (R₁ → + R₂ →) = V₁ → · R₁ → + V₁ → · R₂ → = r 1 · Cos (V₁ →, R₁ →) + r 2 cos (V₁ →, R₂ →)

• – zwei Komponenten η₁ und η₂ des Vektors OM →,
• – zweimal zwei Komponenten der drehenden Vektoren R₁ → und R₂ →.

After filtering, the result is equal to r ₁ ; r ₂ is obtained in the same way; one therefore schedules:

• Two components η ₁ and η _{2 of} the vector OM →,
• - Twice two components of the rotating vectors R₁ → and R₂ →.

It is therefore possible to keep the amplitude of each of the contrarotating waves at an instruction value by sending out the normal driving forces f _t to the vectors R →, ie tangents to the circular paths. The compensation forces must be equal to and opposite to the payback forces induced by the velocity vector.

The principle of control is in 4 shown. The values r ₁ and r ₂ become the additioners 26 ₁ and 26 ₂ introduced and compared with the instructions r ₀₁ and 2 ₀₂ . The outputs of the adders are provided with an input k 28 ₁ and 28 ₂ strengthened and to the multipliers 30 ₁ and 30 ₂ sent that perform simple multiplications. The rotation of the vectors V₁ → and V₂ →, which were previously sent to the multipliers is in 32 ₁ and 32 ₂ by a simple inversion of the coordinates and possibly by a change of the sign.

Cancellation at the phase shift of 90 °

This suspension is easy. It suffices to give the same value r ₀ to the instructions r ₀₁ and r ₀₂ for controlling the two amplitudes. In effect, b = r ₁ - r ₂ .

Präzessionssteuerung

• – wird die Geschwindigkeit ω1 von R₁ → um Ω_p erhöht
• – die Geschwindigkeit ω₂ von R₂ → um dieselbe Menge Ω_p verringert, da: θ = +Ω_p·t ω₁ = ω + Ω_p ω₂ = ω – Ω_p

The precession control is necessary for functioning as a gyrometer and / or calibration. For this purpose, a precession Ω _{p of} the gyroscope is produced and for this purpose:

• - The speed ω1 of R₁ → is increased by Ω _p
• - The speed ω ₂ of R₂ → reduced by the same amount Ω _p , because: θ = + Ω _p · t ω ₁ = ω + Ω _p ω ₂ = ω - Ω _p

For this purpose, a force f _{r is} introduced which is normal to the orbit and therefore makes zero parallel to the vector R and a work.

The tangential velocity v corresponds to ω · r. It can be seen that in this way the Coriolis formula is obtained:
f _p = 2m · Ω _p ωr
with m = k / ω ²

The precession forces, which are parallel to the vectors R₁ → and R₂ →, are obtained by simply multiplying the vectors V₂ → or V₂ → by a scalar C _p , which gives a modulation; the additions to the outputs of the multipliers 30 ₁ and 30 ₂ of the 4 can be added by operators of in 5 be generated type generated. The multipliers 34 ₁ and 34 ₂ get the external precession control C.

If one orders the vectors V₁ → and V₂ →, one can from the sin 2θ and cos 2θ conclude, by a vector product of the vectors V₂ → ∧ V₁ → sin 2θ and a scalar product V₂ → · V₁ → = cos 2θ.

The global scheme of the circuit can be found in 6 be shown where the elements already described bear the same reference numerals.

In the overview of 6 For example, the tracks of the analog signals are indicated by simple solid lines. The numerical signals coded in n-bits are indicated by the lines carrying the number of bits. Finally, the double lines indicate the paths of the value pairs that represent a vector, such as B. R₁ →, R₂ → etc.

In the 6 are already in 3 To find the means used to measure and maintain the Schwingungsamplitudesamplitude and in addition to the input signals, the outputs of the added or subtracted transducer 16 received, depending on their relative position. The interconnection of the VCO includes a numbering circuit. By combining the thus obtained numerical signals can be in an addition 36 get the value of 2θ, where θ results by simply shifting one bit.

The energy level of the vibration is through the introduction of an instruction value r ₀ by an external control in the additionators 26 ₁ and 26 ₂ adjustable. This instruction value is chosen as a function of the mechanical characteristics of the resonator.

The components for ₁ and ft ₁ are in a double addition 46 ₁ combined. The same components for ₂ and ft ₂ are in 46 ₂ combined. The combination of the values of the resulting forces is in an addition 50 performed, which divides these on the signals f ₁ and f ₂ , which the on the converter 14 and 15 correspond to forces to be exercised.

The 6 also shows an operator 38 ₁ for the calculation of sin 2θ, by a vectorial product of V₁ → and V₂ → and an operator 28 ₂ for the calculation of cos 2θ, by a scalar product of the vectors V₁ → and V₂ →.

Finally, the in 6 illustrated device means for generating the resonant frequency F ₀ , starting from vector V₁ → and V₂ →. These facilities include two multipliers 40 ₁ and 40 ₂ , The multiplier 40 ₁ receives the vector corresponding to the vector V₂ → and a signal of a single component of the vectorial multiplier 42 and an amplifier 44 gebil Deten interconnection. The vectorial multiplier receives the output of the two multipliers 40 ₁ and 40 ₂ , the latter being symmetrical too 40 ₁ is.

Claims (7)

Apparatus for measuring rotation around a sensitive axis, comprising a mechanical resonator equipped with transducers axially symmetric about the sensitive axis which generate stationary oscillation in the resonator and transducers for measuring the amplitude of the oscillation of the resonator in at least two certain directions and with a control / control circuit for the maintenance of the vibrations and for determining the position of the nodes and bulges of the vibrations about this sensitive axis, characterized in that the control / control circuit comprises means for supplying the converter, for generating two progressive in With respect to the sensitive axis of contrarotative waves in the resonator, the phase difference of which corresponds to the angle of rotation of the resonator about its axis of rotation corresponding to the sensitive axis and whose amplitudes are such that their composition corresponds to that of the prior art stationary wave provoked, which has a vibration component in phase and a phase-shifted by 90 ° vibration component, wherein the amplitude of the quadrature phase vibration component is substantially zero. Device according to claim 1, characterized in that that they have at least a pair of transducers and at least a pair encompasses transducers that provide even angles around the sensitive one Axis are distributed to a network of stationary waves with an order n greater or equal to 1 to produce. Apparatus according to claim 1 or 2, characterized in that the control / control circuit comprises means for measuring and canceling the phase shift, with two oscillators (VCO ₁ , VCO ₂ ) which are voltage controlled and provide square wave signals of uniform amplitude and vector multiplication operators ( 20 ₁ . 20 ₂ ), each of which provides the corresponding product of the output of a respective oscillator and a corresponding signal of the transducers, the output being applied to the input of the control of the oscillator. Apparatus according to claim 3, characterized in that the control / control circuit comprises means for measuring the amplitude of the two contrastive waves and for maintaining them at an equal instruction value (r ₀ ), with addition units ( 26 ₁ . 26 ₁ ), which at an addition input receive the instruction value and at the other input a signal of the scalar product of the pickup and the output of the corresponding controlled oscillator, which corresponds to the real amplitude. Apparatus according to claim 4, characterized in that the outputs of the adding unit to the multipliers ( 30 ₁ . 30 ₂ ), and a multiplication of the outputs of the oscillators, shifted by 90 °, by simple inversion of the coordinates and possibly by a change of the sign takes place. Device according to one of the preceding claims, characterized characterized in that the circuit additionally comprises means for controlling a forced precession in terms of operation as a gyrometer. Apparatus according to claim 6, characterized in that the means for controlling a forced precession multipliers ( 34 ₁ . 34 ₂ ) of the outputs of the respective oscillators by a scalar value (Cp) corresponding to the forced precession.