根据半球谐振陀螺的动力学方程和闭环反馈理论,推导出离散激励器和信号检测器在壳体环向的角度配置;研究了在力平衡模式下半球谐振陀螺的信号闭环检测方法.当陀螺壳体绕中心轴旋转时,由于哥氏效应,谐振子振型相对壳体产生进动,通过控制双点激励力的幅值比,实现振型对壳体转动角度的跟踪,从而完成半球谐振陀螺在力平衡模式下的信号检测. According to the dynamics of the hemispherical resonator gyro and closed-loop feedback theory, the angular configuration of the discrete exciter and signal detector in the circumferential direction of the housing is deduced. The signal closed-loop detection method of the hemispherical resonant gyroscope in the force balance mode is studied. When the body rotates around the central axis, due to the Coriolis effect, the resonance mode of the resonator vibrates with respect to the housing. By controlling the amplitude ratio of the two-point excitation force, the mode angle can be tracked to the rotation angle of the housing to complete the hemispherical resonance gyroscope Signal detection in force balance mode.