CN100489538C - Dual-mode diamagnetic sensitive mass micro-accelerometer - Google Patents
Dual-mode diamagnetic sensitive mass micro-accelerometer Download PDFInfo
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- CN100489538C CN100489538C CN 200710042302 CN200710042302A CN100489538C CN 100489538 C CN100489538 C CN 100489538C CN 200710042302 CN200710042302 CN 200710042302 CN 200710042302 A CN200710042302 A CN 200710042302A CN 100489538 C CN100489538 C CN 100489538C
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Abstract
The invention provides a double-mode anti-magnet-sensing mass micro accelerator in the field of micro mechanical-electro system, which comprises an upper stator, a rotor and a lower stator. In the lower stator, the side static electrode of the lower stator is located at the most out circumference at top of the base of the lower stator, and is located along the circumference; a cross partition structure of the lower stator is distributed along the central line of the geometric structure of the surface of the base for the lower stator, so as to partition the bottom space of the base for the lower stator into 4 areas, on which the permanent magnets of the lower stator are adhered; in the upper stator, a cross partition structure of the upper stator is distributed along the central line of the geometric structure of the surface of the base for the upper stator, so as to partition the bottom space of the base for the upper stator into 4 areas, on which the permanent magnets of the upper stator are adhered. The invention reduces the difficulties in initial levitation and controlling of the initial levitation of the rotor, can concurrently detect the accelerations of a plurality of freedoms including linear acceleration along X, Y and Z axis as well as angular accelerations about X and Y axis.
Description
Technical field
What the present invention relates to is a kind of micro-acceleration gauge of field of micro electromechanical technology, specifically is a kind of dual-mode inverse magnetic sensitive mass micro-accelerometer.
Background technology
As everyone knows, the micro-mechanical inertia instrument comprises micro-inertia sensor (micro-acceleration gauge and gyroscope) and Micro Inertial Measurement Unit (MIMU is made of micro-inertia sensor, micro-control circuit etc.), is the important MEMS (micro electro mechanical system) of a class.At present, mems accelerometer is that development and application is the most successful in all MEMS sensors, in the micro-mechanical accelerometer existing procucts of low precision come out, apply, and to more high precision development.Floated micro-acceleration gauge is compared non-Floating micro-acceleration gauge owing to eliminated because the thermonoise that manufacturing process and mechanical connection support are brought for the influence of support stiffness, can obtain high resolution in theory.E-consumer series products such as standby as inertial navigation, GPS aspect dual-use, virtual reality, inertia mouse, biologic medical, automotive safety are with a wide range of applications, and have therefore obtained the generally attention of countries in the world.
Find through literature search prior art, people such as Liu Yunfeng, Ding Henggao, Dong Jingxin are in " Tsing-Hua University's journal (natural science edition) " (2007 the 47th the 2nd phases of volume, the 181-185 page or leaf) delivers " design of electrostatic suspension micro-mechanical accelerometer " on, propose a kind of disk type rotor electrostatic suspension micro-acceleration gauge in this article.Its weak point is: need provide suspension electrode and radially control electrode mass (rotor) is carried out the 5DOF position control, realize electrostatic suspension.
Summary of the invention
The objective of the invention is provides a kind of dual-mode anti-magnetic rotor inductive rotating microgyroscope at above-mentioned deficiency of the prior art, makes it have the double mode suspension mode of operation that selectable inverse magnetic suspension mode of operation and anti-magnetic add electrostatic suspension.Rely on upper and lower stator to provide suspending power and lateral stability power just can realize suspending from steady to antimagnetic rotor, can utilize simultaneously electrostatic suspension principle and following stator side to improve axial rigidity, lateral rigidity and the impact resistance of little gyro to electrostatic attraction electrode again, strengthen stable suspersion, make and add under the electrostatic suspension mode of operation at anti-magnetic, before applying electrostatic potential, rotor has been suspended in the equilibrium position because of diamagnetic effect, so compare general electrostatic suspension micro-acceleration gauge, reduced playing a process and playing a control difficulty of rotor.And the present invention can detect simultaneously and comprise along three axis accelerometers of X, Y, Z axle and around X, Y-axis two shaft angle acceleration.
The present invention is achieved through the following technical solutions, and the present invention is by last stator, and rotor and following stator three parts constitute, last stator tips upside down on down on the stator, makes two end faces of stator and following stator relative, finishes assembling, thereby formation cavity, rotor then are suspended in this cavity.When assembling, the face over against rotor in the last stator structure all is referred to as end face, and corresponding another side then is referred to as the bottom surface, and same, the face over against rotor in the following stator structure also all is referred to as end face, and corresponding another side then is referred to as the bottom surface.
Described stator down comprises that stator side is to electrostatic attraction electrode, following stator matrix, following stator cross separation structure, following stator permanent magnet piece down; Following stator side is distributed in down the outermost of the end face of stator matrix to electrostatic attraction electrode, and circumferentially; In the following bottom surface of stator matrix, following stator cross separation structure distributes along the midline position of stator matrix surface geometry down, and the floor space of stator matrix down is separated into four zones, is adhering to the stator permanent magnet piece on these four zones;
The described stator primary structure of going up comprises the stator matrix, goes up stator cross separation structure, goes up the stator permanent magnet piece; In the bottom surface of last stator matrix, last stator cross separation structure distributes along the midline position of last stator matrix surface geometry, and the floor space of last stator matrix is separated into four zones, is adhering to the stator permanent magnet piece on these four zones.
Described rotor is a disc-shaped structure, comprises rotor upper surface Ti layer, the middle anti-magnetic structure layer of rotor, rotor lower surface Ti layer, and the upper and lower surface of anti-magnetic structure layer is covered with rotor upper surface Ti layer and rotor lower surface Ti layer respectively in the middle of rotor.
Described stator down also comprises: following stator public capacitance pole plate and following stator detect and FEEDBACK CONTROL capacitor plate group; On the end face of following stator matrix, distributing stator public capacitance pole plate, following stator detection and FEEDBACK CONTROL capacitor plate group, following stator side to electrostatic attraction electrode from inside to outside successively.
The described stator of going up also comprises: go up stator public capacitance pole plate and last stator and detect and FEEDBACK CONTROL capacitor plate group; Stator public capacitance pole plate and last stator detect and FEEDBACK CONTROL capacitor plate group on distributing successively from inside to outside on the end face of last stator matrix.
The present invention has two kinds of mode of operations, can be chosen under one of them pattern and work: under the inverse magnetic suspension mode of operation, the bottom surface of last stator matrix comprises by the different last stator permanent magnet piece that constitutes of the electromagnetism polarity of four permanent magnetism sheets and the same end face of adjacent permanent magnet piece, the bottom surface of following stator matrix comprises by the different following stator permanent magnet piece that constitutes of the electromagnetism polarity of four permanent magnetism sheets and the same end face of adjacent permanent magnet piece, when last stator tips upside down on down on the stator, need to make the opposite face of going up stator and following stator to form the N-S opposite relation of pole polarity one to one at vertical direction; Anti-magnetic adds under the electrostatic suspension mode of operation, the end face of last stator matrix is distributed with stator and detects and FEEDBACK CONTROL capacitor plate group, the end face of following stator matrix is distributed with down stator and detects and FEEDBACK CONTROL capacitor plate group, and stator side is right to electrostatic attraction electrode under being distributed with on the end face outmost turns circumference of following stator matrix.
The invention solves the deficiencies in the prior art, adopt selectable double mode work, in the dependence, following stator provides suspending power and lateral stability power to antimagnetic rotor, also can utilize simultaneously electrostatic suspension principle and following stator side to electrostatic attraction electrode to improving little gyro axial rigidity, lateral rigidity, and then improved impact resistance, realize stable suspersion, technology is simple relatively, add under the electrostatic suspension mode of operation at anti-magnetic simultaneously, because before applying electrostatic potential, rotor is because diamagnetic effect has been suspended in the equilibrium position, compare general electrostatic suspension micro-acceleration gauge, reduced playing a process and playing a control difficulty of rotor, can detect simultaneously and comprise along X, Y, the linear acceleration of Z axle and around X, the acceleration of a plurality of degree of freedom such as Y-axis angular acceleration.
Description of drawings
Fig. 1 is a general structure synoptic diagram of the present invention
Fig. 2 is stator structure end face synoptic diagram under the present invention
Fig. 3 is stator structure schematic bottom view under the present invention
Fig. 4 is stator structure end face synoptic diagram in the present invention
Fig. 5 is stator structure schematic bottom view in the present invention
Fig. 6 is a rotor structure synoptic diagram of the present invention
Embodiment
Below in conjunction with accompanying drawing embodiments of the invention are elaborated: present embodiment has provided detailed embodiment and process being to implement under the prerequisite with the technical solution of the present invention, but protection scope of the present invention is not limited to following embodiment.
As shown in Figure 1, what present embodiment adopted is three-decker, is made of last stator 1, rotor 3 and following stator 2.Last stator 1 tips upside down on down on the stator 2, makes 2 two end faces of stator 1 and following stator relative, finishes assembling, thereby forms cavity, and 3 of rotors are suspended in this cavity.When assembling, the face over against rotor 3 in last stator 1 structure all is referred to as end face, and corresponding another side then is referred to as the bottom surface, and same, the face over against rotor 3 in following stator 2 structures also all is referred to as end face, and corresponding another side then is referred to as the bottom surface.
Shown in Fig. 2,3, stator public capacitance pole plate 4, following stator detection and FEEDBACK CONTROL capacitor plate group 5, following stator side were to electrostatic attraction electrode 6, following stator matrix 7, following stator cross separation structure 8, following stator permanent magnet piece 9 under following stator 2 comprised.At the end face of following stator matrix 7, distributing stator public capacitance pole plate 4, following stator detection and FEEDBACK CONTROL capacitor plate group 5, following stator side from inside to outside successively to electrostatic attraction electrode 6; In the following bottom surface of stator matrix 7, following stator cross separation structure 8 distributes along the midline position of stator matrix 7 surface geometries down, and the floor space of stator matrix 7 down is separated into four zones, is adhering to stator permanent magnet piece 9 on these four zones.
Shown in Fig. 4,5, last stator 1 comprises stator public capacitance pole plate 10, goes up stator detection and FEEDBACK CONTROL capacitor plate group 11, goes up stator matrix 12, goes up stator cross separation structure 13, goes up stator permanent magnet piece 14.At the end face of last stator matrix 12, distributing successively from inside to outside and going up stator public capacitance pole plate 10, last stator detection and FEEDBACK CONTROL capacitor plate group 11; In the bottom surface of last stator matrix 12, last stator cross separation structure 13 distributes along the midline position of last stator matrix 12 surface geometries, and the floor space of last stator matrix 12 is separated into four zones, is adhering to stator permanent magnet piece 14 on these four zones.
As shown in Figure 6, rotor 3 is disc-shaped structures, comprises rotor upper surface Ti layer 15, the middle anti-magnetic structure layer 16 of rotor, rotor lower surface Ti layer 17.The upper and lower surface of anti-magnetic structure layer 16 is covered with rotor upper surface Ti layer 15 and rotor lower surface Ti layer 17 respectively in the middle of rotor.The circumferential edges of rotor 3 detects with following stator and the external arc edge in the vertical direction of FEEDBACK CONTROL capacitor plate group 5 and detection of last stator and FEEDBACK CONTROL capacitor plate group 11 aligns.Rotor 3 external diameters are with following stator detection and FEEDBACK CONTROL capacitor plate group 5 and last stator detects and the external diameter of FEEDBACK CONTROL capacitor plate group 11 equates.
As Fig. 3,5, in the bottom surface of following stator matrix 7, following stator cross separation structure 8 is separated into the following stator permanent magnet piece 9 that is adhering on four zones and is made of four permanent magnetism sheets, and the electromagnetism polarity of the same end face of adjacent permanent magnet piece is different; Equally, in the bottom surface of last stator matrix 12, last stator cross separation structure 13 is separated into the last stator permanent magnet piece 14 that is adhering on four zones and also is made of four permanent magnetism sheets, and the electromagnetism polarity of the same end face of adjacent permanent magnet piece is different; When last stator tips upside down on down on the stator, need to make the opposite face of going up stator 1 and following stator 2 to form the N-S opposite relation of pole polarity one to one at vertical direction, then the attractive force between them makes that the joint of going up stator 1 and following stator 2 is tightr.
As Fig. 2,3,4,5,6, during present embodiment work, comprise following three aspects:
(1) when being used to detect the acceleration signal of vertical direction z axle input, apply same frequency for last stator detection and FEEDBACK CONTROL capacitor plate group 11 and the detection of following stator and FEEDBACK CONTROL capacitor plate group 5, the amplitude equal and opposite in direction, the high-frequency ac carrier wave of phase differential 180 degree, by last stator public capacitance pole plate 10 and following stator public capacitance pole plate 4 output differential capacitance signals, can detect the z axle acceleration of input through the circuit aftertreatment, simultaneously by detect for last stator and FEEDBACK CONTROL capacitor plate group 11 and play stator detects and FEEDBACK CONTROL capacitor plate group 5 to apply amplitude equal, opposite polarity DC feedback voltage is withdrawn into the equilibrium position to rotor 3;
(2) when being used for the acceleration signal of detection level direction x axle input, detect for last stator and FEEDBACK CONTROL capacitor plate group 11 upper left two capacitor plates and the detection of following stator and two capacitor plates in FEEDBACK CONTROL capacitor plate group 5 lower-lefts, and last stator detects and two capacitor plates in FEEDBACK CONTROL capacitor plate group 11 bottom rights detect with following stator and FEEDBACK CONTROL capacitor plate group 5 upper right two capacitor plates apply same frequency respectively, the amplitude equal and opposite in direction, the high-frequency ac carrier wave of phase differential 180 degree, by last stator public capacitance pole plate 10 and following stator public capacitance pole plate 4 output differential capacitance signals, can detect the x axle acceleration of input through the circuit aftertreatment, simultaneously by detecting for last stator and FEEDBACK CONTROL capacitor plate group 11 upper left two capacitor plates and play stator detect and two capacitor plates in FEEDBACK CONTROL capacitor plate group 5 lower-lefts, and go up that stator detects and two capacitor plates in FEEDBACK CONTROL capacitor plate group 11 bottom rights and the detection of play stator and FEEDBACK CONTROL capacitor plate group 5 upper right two capacitor plates to apply amplitude equal, opposite polarity DC feedback voltage is withdrawn into the equilibrium position to rotor 3;
(3) when being used to detect the acceleration signal of vertical direction y axle input, detect for last stator and two capacitor plates in FEEDBACK CONTROL capacitor plate group 11 lower-lefts and the detection of following stator and FEEDBACK CONTROL capacitor plate group 5 upper left two capacitor plates, and last stator detects and FEEDBACK CONTROL capacitor plate group 11 upper right two capacitor plates detect with following stator and two capacitor plates in FEEDBACK CONTROL capacitor plate group 5 bottom rights apply same frequency respectively, the amplitude equal and opposite in direction, the high-frequency ac carrier wave of phase differential 180 degree, by last stator public capacitance pole plate 10 and following stator public capacitance pole plate 4 output differential capacitance signals, can detect the z axle acceleration of input through the circuit aftertreatment, simultaneously by detecting for last stator and two capacitor plates in FEEDBACK CONTROL capacitor plate group 11 lower-lefts and play stator detect and FEEDBACK CONTROL capacitor plate group 5 upper left two capacitor plates, and go up that stator detects and FEEDBACK CONTROL capacitor plate group 11 upper right two capacitor plates and the detection of play stator and two capacitor plates in FEEDBACK CONTROL capacitor plate group 5 bottom rights to apply amplitude equal, opposite polarity DC feedback voltage is withdrawn into the equilibrium position to rotor 3.
The present invention has two kinds of mode of operations, can be chosen under one of them pattern and work:
First inverse magnetic suspension mode of operation, because the bottom surface of last stator 1 and following stator 2 all is stained with the permanent magnetism sheet, and rotor 3 itself is a diamagnetic body, will form interaction force between rotor 3 and last stator 1 and the following stator 2 is that coercive force provides Z to (axially) suspending power for the suspension antimagnetic rotor, simultaneously also for rotor 3 provides lateral stability power along X, Y direction, and then rotor 3 has been realized the self-stabilization suspension 2 of last stator 1 and following stators.It two is that anti-magnetic adds the electrostatic suspension mode of operation, by applying voltage for stator detection down and FEEDBACK CONTROL capacitor plate group 5 and the detection of last stator and FEEDBACK CONTROL capacitor plate group 11, the electrostatic force that produces between following stator 2 and rotor 3, last stator 1 and the rotor 3, strengthened the axial rigidity of rotor 3, by on electrostatic attraction electrode 6, applying FEEDBACK CONTROL voltage in the peripheral following stator side that distributes of stator, following stator side produces electrostatic force to electrostatic attraction electrode 6 and rotor 3, has strengthened the lateral rigidity of rotor 3.Detect and FEEDBACK CONTROL capacitor plate group 11, stator detects and FEEDBACK CONTROL capacitor plate group 5, stator side applies carrier wave on 6 pairs of electrostatic attraction electrodes down down at last stator, when having axial and lateral deviation, by the signal that generates on last stator public capacitance pole plate 10 and the following stator public capacitance pole plate 4 is picked up, processing such as amplification, modulation, and judge, increase voltage on corresponding capacitance pole plate group or side direction electrostatic attraction electrode, the electrostatic force of generation is withdrawn into the equilibrium position with little rotor.Can improve like this be in inverse magnetic suspension state lower rotor part axially and lateral rigidity, improve the impact resistance of little gyro, ensure that rotor 3 is at 2 of last stator 1 and following stators stable suspersion more.Simultaneously, add under the electrostatic suspension mode of operation,, reduced playing a process and playing a control difficulty of rotor 3 because before applying electrostatic potential, rotor 3 is compared general electrostatic suspension micro-acceleration gauge because diamagnetic effect has been suspended in the equilibrium position at anti-magnetic.The operate as normal that these two kinds of patterns all are micro-acceleration gauge provides safeguard.
Process using Micrometer-Nanometer Processing Technology of the present invention (MEMS technology) combines with Precision Machining, specifically: go up last stator public capacitance pole plate 10 on the stator 1, go up that stator detects and FEEDBACK CONTROL capacitor plate group 11, go up stator cross separation structure 13, and down the following stator public capacitance pole plate 4 on the stator 2, stator detects and FEEDBACK CONTROL capacitor plate group 5, stator side is to electrostatic attraction electrode 6, stator cross separation structure 8 adopts the Micrometer-Nanometer Processing Technologies realizations down down down; Capacitor plate and side direction electrostatic attraction electrode material generally adopt electric conductivity to be preferably copper, the Micrometer-Nanometer Processing Technology that technology generally adopts photoetching to electroplate; The negative glue of material that insulation that last stator cross separation structure 13 and following stator cross separation structure 8 can adopt and magnetic conduction are indifferent such as SU8 is by getting rid of the Micrometer-Nanometer Processing Technology of thick glue and photoetching; Following stator permanent magnet piece 9 and last stator permanent magnet piece 14 adopts permanent magnetic materials, as cobalt nickel manganese phosphorus (CoNiMnP), neodymium iron boron (NdFeB) Precision Machining and magnetize and obtain; 3 of rotors are to be earlier two surface sputtering Ti of the middle anti-magnetic structure layer of rotor at substrate, obtain through fine electric spark processing then, and what substrate adopted is diamagnetic material, as pyrolytic graphite.
Claims (7)
1. dual-mode inverse magnetic sensitive mass micro-accelerometer, constitute by last stator (1), rotor (3) and following stator (2), last stator (1) tips upside down on down on the stator (2), (2) two end faces of last stator (1) and following stator are relative, thereby formation cavity, rotor (3) then is suspended in this cavity, it is characterized in that:
Described stator (2) down comprises that stator side is to electrostatic attraction electrode (6), following stator matrix (7), following stator cross separation structure (8), following stator permanent magnet piece (9) down, following stator side is distributed in down the outermost of stator (2) end face to electrostatic attraction electrode (6), and circumferentially; Bottom surface at following stator matrix (7), following stator cross separation structure (8) is along the midline position distribution of stator matrix (7) surface geometry down, to play the floor space of stator matrix (7) to be separated into four zones, on these four zones, adhere to stator permanent magnet piece (9);
The described stator (1) of going up comprises stator matrix (12), goes up stator cross separation structure (13), goes up stator permanent magnet piece (14), bottom surface at last stator matrix (12), last stator cross separation structure (13) distributes along the midline position of last stator matrix (12) surface geometry, the floor space that will go up stator matrix (12) is separated into four zones, is adhering to stator permanent magnet piece (14) on these four zones; The described stator (1) of going up also is provided with stator public capacitance pole plate (10) and detection of last stator and FEEDBACK CONTROL capacitor plate group (11); Described stator (2) down also is provided with down stator public capacitance pole plate (4), stator detects and FEEDBACK CONTROL capacitor plate group (5) down; The described opposite face of going up stator (1) and following stator (2) forms the N-S opposite relation of pole polarity one to one at vertical direction;
Described rotor (3) comprises rotor upper surface Ti layer (15), the middle anti-magnetic structure layer (16) of rotor, rotor lower surface Ti layer (17);
Described stator permanent magnet piece (9) down constitutes by the electromagnetism polarity of four permanent magnetism sheets and the same end face of adjacent permanent magnet piece is different, and the described stator permanent magnet piece (14) of going up constitutes by the electromagnetism polarity of four permanent magnetism sheets and the same end face of adjacent permanent magnet piece is different.
2. dual-mode inverse magnetic sensitive mass micro-accelerometer according to claim 1, it is characterized in that following stator public capacitance pole plate (4), following stator detection and FEEDBACK CONTROL capacitor plate group (5) and following stator side are distributed in down stator matrix (7) end face from inside to outside successively to electrostatic attraction electrode (6).
3. dual-mode inverse magnetic sensitive mass micro-accelerometer according to claim 1 is characterized in that, last stator public capacitance pole plate (10) and last stator detect and FEEDBACK CONTROL capacitor plate group (11) is distributed in stator matrix (12) end face from inside to outside successively.
4. dual-mode inverse magnetic sensitive mass micro-accelerometer according to claim 1 is characterized in that, described rotor is a disc-shaped structure.
5. according to claim 1 or 4 described dual-mode inverse magnetic sensitive mass micro-accelerometers, it is characterized in that the upper and lower surface of anti-magnetic structure layer (16) is covered with rotor upper surface Ti layer (15) and rotor lower surface Ti layer (17) respectively in the middle of rotor.
6. according to claim 1 or 4 described dual-mode inverse magnetic sensitive mass micro-accelerometers, it is characterized in that the circumferential edges of described rotor (3) detects with following stator and the external arc edge in the vertical direction of FEEDBACK CONTROL capacitor plate group (5) and detection of last stator and FEEDBACK CONTROL capacitor plate group (11) aligns.
7. according to claim 1 or 4 described dual-mode inverse magnetic sensitive mass micro-accelerometers, it is characterized in that, described rotor (3), its external diameter is with following stator detection and FEEDBACK CONTROL capacitor plate group (5) and last stator detects and the external diameter of FEEDBACK CONTROL capacitor plate group (11) equates.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200710042302 CN100489538C (en) | 2007-06-21 | 2007-06-21 | Dual-mode diamagnetic sensitive mass micro-accelerometer |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200710042302 CN100489538C (en) | 2007-06-21 | 2007-06-21 | Dual-mode diamagnetic sensitive mass micro-accelerometer |
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| CN100489538C true CN100489538C (en) | 2009-05-20 |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102435181B (en) * | 2011-11-01 | 2015-05-13 | 努比亚技术有限公司 | Accelerator sensor-based gyroscope and positioning method thereof |
| CN107957506B (en) * | 2017-10-11 | 2019-11-19 | 杭州电子科技大学 | A kind of three-dimensional acceleration detection method |
| CN110244080B (en) * | 2017-10-11 | 2021-02-05 | 杭州电子科技大学 | Preparation method for three-dimensional accelerometer magnetic suspension |
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Non-Patent Citations (2)
| Title |
|---|
| 悬浮转子式微机械陀螺仪的研究进展. 崔峰等.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. 崔峰等.压电与声光，第27卷第3期. 2005 * |
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