An electrostatic driving model of the resonator of hemispherical resonator gyroscopes (HRG) has been established in this paper. The electrostatic driving force of 1/2 times, 1 times, 2 times and higher frequency voltage signals of hemispherical harmonic oscillator is analyzed theoretically. The results show that the obtained hemispherical harmonic oscillator is only sensitive to 1/2 times, 1 times and 2 times of the resonant frequency of hemispherical harmonic oscillator, and is not sensitive to other frequency signals. The magnitude of the force of the driving voltage signal applied in different ways is deduced, which provides a basis for the driving and closed loop circuit design of the hemispherical resonant gyroscope.