CN100483074C - Electromagnetic levitation static driven micro-rotation gyro - Google Patents
Electromagnetic levitation static driven micro-rotation gyro Download PDFInfo
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- CN100483074C CN100483074C CNB2006100234550A CN200610023455A CN100483074C CN 100483074 C CN100483074 C CN 100483074C CN B2006100234550 A CNB2006100234550 A CN B2006100234550A CN 200610023455 A CN200610023455 A CN 200610023455A CN 100483074 C CN100483074 C CN 100483074C
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Abstract
The invention relates to an electromagnetic suspension static electricity driving micro-rotating gyrostat in the field of Micro Electro-Me-chanical Systems technique. It comprises: a rotation driving electrode, a micro-rotor, a stabilizing floating coil collar, a tooth outline electrode, a sensing electrode, a base body, a stabilizing floating coil inner ring and a connecting line, wherein the stabilizing floating coil collar, the stabilizing floating coil inner ring, the sensing electrode and the rotation driving electrode are fixed on the base body and forms to the fixed connection; the micro-rotor is positioned on the upper of the base body on the electromagnetic force effect; the micro-rotor is loop type with the tooth outline electrode, the rotation driving electrode and the tooth outline electrode distributed on the inner side of the loop to form the variable capacity; the stabilizing floating coil inner ring is connected with the stabilizing floating coil collar by connecting wire.
Description
Technical field
What the present invention relates to is a kind of gyro of field of micro electromechanical technology, specifically is a kind of electromagnetic levitation static driven micro-rotation gyro.
Background technology
In the time of two more than ten years in the past, the micro machining process of domestic and international application silicon or body Micrometer-Nanometer Processing Technology have processed a variety of little oscillation gyros, but little for various reasons oscillation gyro is difficult to reach the high precision of traditional gyro.The nineties in last century, people such as Shearwood have proposed a kind of electromagnetic suspension micro-rotary gyro, the electromagnetic suspension micro-rotary gyro is made up of major parts such as planar coil, induction electrode and little rotors, and wherein planar coil is divided into three kinds of suspended coil, revolving coil and ballast coils again according to its function difference.The electromagnetic suspension micro-rotary gyro relies on electromagnetic induction principle and electromagnetic force theory to be suspended and rotates, the planar coil top is placed with little rotor, suspended coil is positioned at the position at close center, near suspended coil is revolving coil, revolving coil can be divided into heterogeneous, little rotor is in the rotating magnetic field, and what be in the stator coil outermost is ballast coil, and also distributing between the stator coil has the sensing capacitance electrode.
Find that through literature search U.S. Patent number is to prior art: 5955800, name is called: suspension system (Leivitation Systems).Mentioning this system in this patent literary composition is that following components is formed: a) maximum gauge is the high conductivity body of 1500 μ m; B) suspending power generation device; C) micro device that rotor is rotated.In the little gyro of this electromagnetic suspension rotor, adopt rotating magnetic field that little rotor is rotated driving.Though the little rotor that suspends is without any mechanical constraint, the rotary torque of little rotor need overcome the influence of air damping moment and electromagnetic damping.The rotary torque that rotating magnetic field produces is big inadequately, has therefore limited the rotating speed of little rotor, and then has limited the raising of little Gyro Precision.Also find in the retrieval, at " progress that is used for microactuator suspension motor on the gyro " (" Development of a levitated micromotor for applicationas a gyroscope ") article of 85 pages of magazine " sensor and actuator " (" Sensors and Actuators ") the 83rd volumes (2000), people such as Shearwood have provided the achievement in research of this gyro.At diameter is 520 microns, and thickness is 12 microns rotor, and the maximum (top) speed that obtains is 1000 commentaries on classics per minutes.This rotating speed does not reach the requirement of the little gyro of high precision far away.In order to obtain high-precision gyro, also need further to improve the rotating speed of little rotor.
Summary of the invention
The objective of the invention is to overcome deficiency of the prior art, a kind of electromagnetic levitation static driven micro-rotation gyro is provided, adopt electrostatic force to be rotated driving, make its rotary torque that obtains more much bigger than the moment of torsion that rotation magnetic field produces, the static driven moment of torsion can improve the rotating speed of little rotor greatly, has solved disadvantages of background technology.
The present invention is achieved by the following technical solutions, the present invention includes: rotation drive electrode, little rotor, stable suspersion coil outer ring, claw pole, sensing electrode, matrix, stable suspersion coil inner ring, connecting line.Annexation is: stable suspersion coil inner ring, stable suspersion coil outer ring, sensing electrode, rotation drive electrode all are located on the matrix, formation is fixedly connected with matrix, little rotor at electromagnetic force effect low suspension above matrix, little rotor is annular, the annulus inboard is evenly distributed with claw pole, rotation drive electrode and claw pole form variable capacitance, and stable suspersion coil inner ring is connected by connecting line with stable suspersion coil outer ring.
Little rotor is a kind of cirque structure, is evenly distributed with claw pole in the inboard of little rotor.Rotation drive electrode on the matrix and little epitrochanterian claw pole form variable capacitance.Under the driving of the electrostatic force of variable capacitance, little rotor obtains rotary torque, is able to high speed rotating.Under microscale, the electrostatic force that produces on the unit volume is usually than the big several magnitude of electromagnetic force, and obtainable electrostatic torque is big more a lot of than electromagnetic torque.Because electrostatic force is to work under control circuit is in open-circuit condition, the electric power that electrostatic torque consumes is atomic little, can improve pulse voltage as required with the raising electrostatic torque, and then improves the rotating speed of little rotor, improves the measuring accuracy of little gyro.The rotation drive electrode of introducing among the present invention in addition can also play the spacing effect of little rotor, when little gyro quit work, little rotor rested on the matrix, under the restriction of rotation drive electrode, it is too far away that little rotor can not depart from the matrix center, is convenient to start once more next time.
At present, the little gyro of MEMS all is the little oscillation gyro that adopts the Corioli's acceleration effect mostly.This slightly the gyro weak point be that measuring accuracy is not high, be unable to catch up with traditional large scale gyro far away, thereby limited applying of these gyros.The rotation that the electromagnetic levitation static driven micro-rotation gyro that the present invention proposes adopts electrostatic force to carry out little rotor drives, and can improve the rotary torque of little rotor greatly, and then improve the rotating speed of little rotor, thereby obtain the little gyro of high-precision MEMS.The little gyro of the high precision that the present invention obtains can be generalized to the application of the little gyro of MEMS the high-precision inertial navigation system that requires of Aeronautics and Astronautics, navigation and other.
Description of drawings
Fig. 1 is a general structure synoptic diagram of the present invention;
Fig. 2 is the matrix of the little gyro of the present invention and the 3-D view of top distributed architecture thereof;
Fig. 3 is little rotor 3-D view of the little gyro of the present invention;
Fig. 4 is the vertical view of the little gyro rotation drive electrode of the present invention and little rotor tooth form electrode;
Fig. 5 is the sequential chart that applies voltage on the little gyro rotation of the present invention drive electrode.
Embodiment
As shown in Figure 1, the present invention includes: rotation drive electrode 1, little rotor 2, stable suspersion coil outer ring 3, claw pole 4, sensing electrode 5, matrix 6, stable suspersion coil inner ring 7, connecting line 8.Annexation is: stable suspersion coil inner ring 7, stable suspersion coil outer ring 3, sensing electrode 5, rotation drive electrode 1 all are located on the matrix 6,6 formation are fixedly connected with matrix, little rotor 2 at electromagnetic force effect low suspension above matrix 6, little rotor 2 is annular, the annulus inboard is evenly distributed with claw pole 4, rotation drive electrode 1 and claw pole 4 form variable capacitance, and stable suspersion coil inner ring 7 is connected by connecting line 8 with stable suspersion coil outer ring 3.
As shown in Figure 2, be distributed with stable suspersion coil outer ring 3, connecting line 8 and stable suspersion coil inner ring 7 from outside to inside on matrix 6, the three forms the stable suspersion coil of the multi-turn sealing of a sealing, totally 4, distributes axisymmetricly in a circumferential direction.The lead-in wire of coil adopts the buried regions fabrication techniques at bottom, draws from coil bottom.Coil dimension is by the size decision of little rotor 2, and stable suspersion coil outer ring 3 diameters are bigger than the external diameter of the little rotor 2 of annular, and stable suspersion coil inner ring 7 diameters are bigger than annular little rotor 2 internal diameters.When passing through high-frequency current in the stable suspersion coil, according to Theory of Electromagnetic Field, the little rotor 2 that is in the coil top will be subjected to the effect of induced electricity magnetic force.The distribution of electromagnetic force that stable suspersion coil outer ring 3 electromagnetic fields induce on little rotor 2 is in the outer ledge of little rotor 2, and in being tilted to.The electromagnetic force that stable suspersion coil inner ring 7 magnetic fields produce is positioned at little rotor 2 inside, and is close to the rotational symmetry distribution.The resultant direction of the distribution electromagnetic force that the stable suspersion coil produces upwards makes that little rotor 2 is suspended.When the center of little rotor 2 was in the center of matrix 6, the cross component force of distribution electromagnetic force was cancelled out each other, and made a concerted effort for straight up.When there was off-centre in little rotor 2 relative matrixes 6 centers, the cross component force of electromagnetic force was no longer offset, and the side force direction of generation is pointed to rotor center, makes that little rotor 2 is not dished out, and finally obtains stable suspension.
Two sensing electrodes 5 are arranged, totally eight in the inside of each coil.The a pair of sensing electrode 5 that is in the stable suspersion coil inside is formed one and is detected electric capacity, and this pair of electrodes that detects electric capacity and offside is formed and detected electric capacity and form a differential capacitance, and differential capacitance can detect little rotor 2 deflection angles on this direction.Eight capacitor plates can detect the deflection angle on the both direction.On matrix 6, also be distributed with the rotation drive electrode 1 of little rotor 2.Size on rotation drive electrode 1 short transverse is bigger than the height of little rotor 2 upper surfaces after suspending.In the example that Fig. 2 provides, rotation drive electrode 1 has four groups, is made up of 6 cube electrodes again for every group.The lead-in wire of each sensing electrode 5 and rotation drive electrode 1 also is to adopt the lower floor of buried regions fabrication techniques at coil and electrode, draws from bottom.
As shown in Figure 3, little rotor 2 is annular, and the annulus inboard is evenly distributed with claw pole 4.Little rotor 2 adopts electric conductivity preferred metal material to form.The external diameter of little rotor 2 does not wait to several thousand microns from the hundreds of micron, and thickness can be tens microns.In the example that Fig. 3 provides, the claw pole 4 of little rotor 2 has 30.
As shown in Figure 4, be the vertical view of the rotation drive electrode on little epitrochanterian claw pole and the matrix.Rotation drive electrode 1 that distributes on the matrix 6 and the claw pole of ring-shaped rotor inboard 4 form variable capacitance, when after applying pulse voltage on the rotation drive electrode 1, produce electrostatic force between the variable capacitance electrode and drive little rotor 2 rotations, the rotation drive principle of similar static stepper motor.
As shown in Figure 5, during work, the pulse voltage that applies on each electrode is respectively S1, S2, and, S3, S4, S5, S6.For the signal polarity that applies on the zero potential two adjacent groups electrode that keeps little rotor 2 opposite.As Fig. 5, through behind the 6T, the angle that little rotor 2 turns over is the space width of claw pole 4 on 1 little rotor 2.The rotating speed of little rotor 2 is by the size decision of T.
Stable suspersion coil and sensing electrode 5 all are planar structures, and material generally adopts electric conductivity copper preferably, adopt photoetching to electroplate the fine machining method manufacturing.In order to reduce the dissipation of electromagnetic energy, matrix 6 materials adopt magnetic property ferrite preferably.Rotation drive electrode 1 has very high depth-to-width ratio, can adopt accurate LiGA or the manufacturing of LiGA technology.The material of little rotor 2 is electric conductivity copper or an aluminium preferably, can adopt laser processing manufacturing.For the insulation between little rotor 2 and matrix 6 upper conductors is provided, there is one deck insulating material to play insulating effect on coil or the electrode.
Claims (6)
1, a kind of electromagnetic levitation static driven micro-rotation gyro, comprise: rotation drive electrode (1), little rotor (2), stable suspersion coil outer ring (3), claw pole (4), sensing electrode (5), matrix (6), stable suspersion coil inner ring (7), connecting line (8), it is characterized in that, stable suspersion coil inner ring (7), stable suspersion coil outer ring (3), sensing electrode (5), rotation drive electrode (1) all is located on the matrix (6), and matrix (6) formation is fixedly connected, little rotor (2) is in the top of electromagnetic force effect low suspension in matrix (6), little rotor (2) is annular, the annulus inboard is evenly distributed with claw pole (4), rotation drive electrode (1) and claw pole (4) form variable capacitance, and stable suspersion coil inner ring (7) is connected by connecting line (8) with stable suspersion coil outer ring (3).
2, electromagnetic levitation static driven micro-rotation gyro according to claim 1, it is characterized in that, on matrix (6), be distributed with stable suspersion coil outer ring (3), connecting line (8) and stable suspersion coil inner ring (7) from outside to inside, the three forms the stable suspersion coil of the multi-turn of a sealing, totally 4, distribute axisymmetricly in a circumferential direction, the lead-in wire of coil adopts the buried regions fabrication techniques at bottom, draws from coil bottom.
3, electromagnetic levitation static driven micro-rotation gyro according to claim 2, it is characterized in that, the stable suspersion coil dimension is by the size decision of little rotor (2), stable suspersion coil outer ring (3) diameter is bigger than the external diameter of annular little rotor (2), and stable suspersion coil inner ring (7) diameter is bigger than annular little rotor (2) internal diameter.
4, according to claim 1 or 2 or 3 described electromagnetic levitation static driven micro-rotation gyros, it is characterized in that, the distribution of electromagnetic force that stable suspersion coil outer ring (3) electromagnetic field induces on little rotor (2) is in the outer ledge of little rotor (2), and in being tilted to; The electromagnetic force that stable suspersion coil inner ring (7) magnetic field produces is positioned at little rotor (2) inside, and is close to the rotational symmetry distribution; The resultant direction of the distribution electromagnetic force that the stable suspersion coil produces upwards makes that little rotor (2) is suspended.
5, according to claim 1 or 2 or 3 described electromagnetic levitation static driven micro-rotation gyros, it is characterized in that, two sensing electrodes (5) are arranged in the inside of each coil, totally eight, the a pair of sensing electrode (5) that is in the stable suspersion coil inside is formed a detection electric capacity, this pair of electrodes that detects electric capacity and offside is formed detection electric capacity and is formed a differential capacitance, differential capacitance can detect little rotor (2) deflection angle on this direction, and eight capacitor plates can detect the deflection angle on the both direction.
6, electromagnetic levitation static driven micro-rotation gyro according to claim 1 is characterized in that, the size on rotation drive electrode (1) short transverse is bigger than the height of little rotor (2) upper surface after suspending.
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| Application Number | Priority Date | Filing Date | Title |
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| CNB2006100234550A CN100483074C (en) | 2006-01-19 | 2006-01-19 | Electromagnetic levitation static driven micro-rotation gyro |
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| CNB2006100234550A CN100483074C (en) | 2006-01-19 | 2006-01-19 | Electromagnetic levitation static driven micro-rotation gyro |
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| CN1804548A CN1804548A (en) | 2006-07-19 |
| CN100483074C true CN100483074C (en) | 2009-04-29 |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101561274B (en) * | 2009-05-27 | 2010-12-29 | 上海交通大学 | Micro gyro driven by static suspension corona to rotate |
| CN105005071B (en) * | 2015-08-07 | 2017-08-04 | 中国地震局兰州地震研究所 | Magnetic suspension is capacitively pulsed vibration pickup |
| CN105891742B (en) * | 2016-04-15 | 2018-09-21 | 中国农业大学 | A method of measuring magnetic suspension system magnetic gradient |
| CN110672082B (en) * | 2019-12-06 | 2020-02-28 | 中国人民解放军国防科技大学 | Concentrated mass vibrating gyroscope based on push-up magnetic suspension platform |
| CN111817601B (en) * | 2020-06-28 | 2023-09-19 | 深圳清华大学研究院 | Low-friction shaftless static induction motor |
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Non-Patent Citations (8)
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| 微机械静电陀螺研究. 何国鸿.电子学报，第25卷第5期. 1997 |
| 微机械静电陀螺研究. 何国鸿.电子学报，第25卷第5期. 1997 * |
| 悬浮转子式微机械陀螺仪的研究进展. 崔峰，陈文元，苏宇锋，吴校生.压电与声光，第27卷第3期. 2005 |
| 悬浮转子式微机械陀螺仪的研究进展. 崔峰，陈文元，苏宇锋，吴校生.压电与声光，第27卷第3期. 2005 * |
| 磁悬浮转子微陀螺悬浮线圈的结构设计. 吴校生，陈文元，赵小林，李振波，张卫平，崔峰，何淼.上海交通大学学报，第39卷第1期. 2005 |
| 磁悬浮转子微陀螺悬浮线圈的结构设计. 吴校生，陈文元，赵小林，李振波，张卫平，崔峰，何淼.上海交通大学学报，第39卷第1期. 2005 * |
| 静电悬浮转子微陀螺及其关键技术. 崔峰，苏宇锋，张卫平，吴校生，陈文元，赵小林.中国惯性技术学报，第13卷第6期. 2005 |
| 静电悬浮转子微陀螺及其关键技术. 崔峰，苏宇锋，张卫平，吴校生，陈文元，赵小林.中国惯性技术学报，第13卷第6期. 2005 * |
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