本文试图利用简便的分析方法给出多平衡环动力调谐陀螺的动力调谐条件和消除驱动轴具有二倍频角振动输入所引起的误差力矩的条件。作为特例,对当内外扭杆平面和驱动轴不正交时的单环挠性陀螺给出了动力调谐条件,以及驱动轴作二倍频角振动对陀螺漂移的影响。 This paper attempts to use simple analytical methods to give the dynamic tuning conditions of the multi-balance ring tuned gyro and eliminate the error caused by the input torque of the drive shaft with double-frequency vibration. As a special case, the dynamic tuning conditions are given for the single-loop flexure gyroscope when the plane of the torsion bar and the drive shaft are not orthogonal to each other, and the effect of the drive shaft on the gyro drifting caused by the double frequency vibration.