Coupled electromechanical equations of motion, describing the dynamics of a vibrating cylinder gyroscope, are derived using Hamilton's principle and the Rayleigh-Ritz method. The vibrating cylinder gyroscope comprises a thin walled steel cylinder which is closed at one end with discrete piezoceramic actuation and sensing elements bonded close to the open end. The operation of the gyroscope and the effect of imperfections are briefly described. The model allows direct comparison with experimental measurements in the form of electrical frequency response functions. The effects of ceramic location errors and mass imperfections were investigated. Comparisons with experimental measurements showed that the model could be used to predict the mass modifications required to reduce the effect of these typical imperfections in practical devices.
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