The scale factor of micro hemispherical resonator gyroscope(μHRG) is affected by the degree of damping nonuniformity and amplitude control accuracy. While ensuring the high symmetry of the gyroscope structure, the accuracy of driving mode amplitude control is also particularly important. In response to the common problems of the same frequency driving noise interference and compensation phase delay in the common first harmonic and second harmonic voltage driving methods, such as low amplitude control accuracy of the driving mode of μHRG and insufficient stability of the scale factor, due to the altered equivalent driving form of the gyroscope post-resonance, a novel approach is proposed based on the voltage driving principle of micro resonators. A dynamic vibration model for micro resonators during the stable amplitude stage is constructed. A same-phase double-frequency voltage driving method is introduced for this stage, alongside the design of a mixed AC-DC voltage switching driving method for gyroscope modal control. This method effectively mitigates amplitude fluctuation interference caused by phase compensation and same-frequency drive. Simulation experiments in force balance mode validate a 5.882% improvement in the control accuracy of modal amplitude and a 6.625% enhancement in the stability of the gyroscope scale factor under the mixed voltage switching driving method.