CN203014748U - Micromechanical gyroscope closed-loop driving automatic gain control circuit - Google Patents
Micromechanical gyroscope closed-loop driving automatic gain control circuit Download PDFInfo
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- CN203014748U CN203014748U CN 201220655211 CN201220655211U CN203014748U CN 203014748 U CN203014748 U CN 203014748U CN 201220655211 CN201220655211 CN 201220655211 CN 201220655211 U CN201220655211 U CN 201220655211U CN 203014748 U CN203014748 U CN 203014748U
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Abstract
The utility model provides a micromechanical gyroscope closed-loop driving automatic gain control circuit. The micromechanical gyroscope closed-loop driving automatic gain control circuit comprises a frequency detection phase-locked loop, an amplitude control circuit and a variable gain amplification circuit, wherein the amplitude control circuit receives vibration differential signals and reference signals of a micromechanical gyroscope, and performs peak detection on the vibration differential signals of the micromechanical gyroscope, and compares peak detection results with the reference signals, and performs processing, and then outputs gain control signals; and therefore, driving signal amplitude of the gyroscope can be stabilized, and the measurement precision of the gyroscope can be improved.
Description
Technical field
The utility model relates to micro-mechanical gyroscope and drives signal processing technology, relates in particular to a kind of micro-mechanical gyroscope closed loop and drives automatic gain control circuit.
Background technology
In order to improve the sensitivity of micromachined vibratory gyroscope output signal, usually require the frequency of driving voltage consistent with the resonance frequency of gyroscope driven-mode.The micro-mechanical gyroscope type of drive is divided into the open loop driving and closed loop drives.Adopt the open loop type of drive, there are two problems: the one, due to the impact of processing technology and mismachining tolerance, the gyroscope of making on same project organization, same silicon chip, the resonance frequency of its driven-mode is different, must carry out one by one the measurement of resonance frequency by sweep method to a collection of gyro, determine the frequency of driving voltage; The 2nd, for a certain specific gyroscope, the reasons such as temperature and air pressure change and device aging can cause that all the resonance frequency of its driven-mode changes.Although frequency change may be less, because gyrostatic quality factor are usually larger, therefore can cause the output signal skew larger, reduce certainty of measurement.And closed-loop driving circuit can real-time tracing micromachined vibratory gyroscope driven-mode resonance frequency variation, in time adjust frequency and the amplitude of driving voltage, thus the sensitivity that improves output from Gyroscope.
Therefore, under the mode that industry closed loop commonly used drives, the natural frequency that the gyroscope vibration frequency can the real-time automatic tracking driven-mode, the gyroscope survey precision is higher, and stability is better, so closed-loop drive system has better development prospect.
The amplitude control circuit that the utility model provides a kind of micro-mechanical gyroscope closed loop to drive with the stabilizing gyroscope drive signal amplitude, improves the gyroscope survey precision.
The utility model content
The purpose of this utility model is to provide a kind of micro-mechanical gyroscope closed loop and drives automatic gain control circuit, with the stabilizing gyroscope drive signal amplitude, improves the gyroscope survey precision.
For addressing the above problem, the utility model provides a kind of closed loop of micro-mechanical gyroscope to drive automatic gain control circuit, comprising: the frequency detecting phase-locked loop receives and according to the vibration differential signal of described micro-mechanical gyroscope, clock signal; Amplitude control circuit, receive vibration differential signal and the reference signal of described micro-mechanical gyroscope, described amplitude control circuit carries out the peak value detection to the vibration differential signal of described micro-mechanical gyroscope, and after peak value testing result and reference signal are compared and process, outputing gain control signal, wherein said amplitude control circuit comprise that successively peak detection block, addition module, gain circuitry module, difference turn single-end circuit and low pass filter; Wherein said peak detection block receives and according to vibration differential signal and the described clock signal of described micro-mechanical gyroscope, obtains and export the peak difference sub-signal; Described addition module receives described peak difference sub-signal and reference signal, and after described peak difference sub-signal and reference signal are compared, obtains and export poor sub-signal; And described gain circuitry module receives described poor sub-signal and described clock signal, the output gain differential signal, described difference turns single-end circuit and receives described gain inequality sub-signal and described clock signal, output has the gain control signal of out-of-band noise signal, low pass filter receives described gain control signal and described clock signal with out-of-band noise signal, outputing gain control signal after the filtering noise signal; And variable-gain amplification circuit, receive vibration differential signal and the described gain control signal of described micro-mechanical gyroscope, and drive differential signal to described micro-mechanical gyroscope according to described gain control signal output, so that described micro-mechanical gyroscope keeps stablizing the constant amplitude oscillation state.
Further, the switched-capacitor circuit that described peak detection block, addition module and gain circuitry module form comprises: two inputs, two outputs, the computing circuit that is formed by eight switches, four electric capacity and by an operational amplifier, two electric capacity and two difference channels that switch forms; After described computing circuit is used for obtaining the peak value of described vibration differential signal and compares with described reference signal, obtain peak difference sub-signal and poor sub-signal and also export poor sub-signal; After described difference channel receives and described poor sub-signal is carried out gain process, the output gain differential signal.
further, in described computing circuit: the first input end of described computing circuit connects a signal in the vibration differential signal of described micro-mechanical gyroscope, and described first input end and common mode electrical level connect the first electric capacity after connecing respectively the first switch and second switch jointly, peak value with a signal in the vibration differential signal that gathers described micro-mechanical gyroscope, ground wire level and described reference signal connect the second electric capacity after connecing respectively the 3rd switch and the 4th switch jointly, to gather the peak value of described reference signal, described the first electric capacity and described the second electric capacity connect the first input end of described difference channel jointly, and another signal in the vibration differential signal of the second described micro-mechanical gyroscope of input termination of described computing circuit, and described the second input and common mode electrical level connect the 3rd electric capacity after connecing respectively the 5th switch and the 6th switch jointly, peak value with another signal in the vibration differential signal that gathers described micro-mechanical gyroscope, ground wire level and described reference signal connect the 4th electric capacity after connecing respectively minion pass and the 8th switch jointly, to gather the peak value of described reference, described the 3rd electric capacity and described the 4th electric capacity connect the second input of described difference channel jointly, described clock signal is controlled the opening and closing of the first to the 8th switch.
Further, in described difference channel: an end of described the 9th switch and described the 5th Capacitance parallel connection is the first input end of described difference channel, the other end is the first output of described difference channel, a signal in described the first described gain inequality sub-signal of output output; One end of described the tenth switch and described the 6th Capacitance parallel connection is the second input of described difference channel, and the other end is the second output of described difference channel, another signal in described the second described gain inequality sub-signal of output output; And first operational amplifier two inputs connect respectively first input end and second input of described difference channel, two outputs connect respectively the first output and second output of described difference channel; Described clock signal is controlled the opening and closing of described the 9th switch and the tenth switch.
Further, the switched-capacitor circuit that described difference turns single-end circuit comprises two inputs, an output, four electric capacity, four switches and an operational amplifier, wherein: the first input end that described difference turns single-end circuit connects a signal in described gain inequality sub-signal, and the first input end that described difference turns single-end circuit is connected with the second operational amplifier one input by the 7th electric capacity; Described difference turns second of single-end circuit and inputs another signal in the described gain inequality sub-signal of termination, and the first input end that described difference turns single-end circuit is connected with described another input of the second operational amplifier by the 8th electric capacity; Common mode electrical level is connected between described the 7th electric capacity and described the second operational amplifier one input by the 11 switch and the 9th electric capacity successively, and common mode electrical level also closes by the twelvemo of parallel connection and the tenth electric capacity is connected between described the 8th electric capacity and described another input of the second operational amplifier; The 13 switch one is terminated between described the 11 switch and described the 9th electric capacity, and the output of the other end and described the second operational amplifier connects the output that described difference turns single-end circuit jointly; The 14 switch is connected between described the 7th electric capacity and described the second operational amplifier one input, and the described difference of another termination turns the output of single-end circuit.
Further, the switched-capacitor circuit of low pass filter comprises an input, an output, an operational amplifier, four switches and two electric capacity, wherein, the input of described low pass filter closes by the 15 switch, the 11 electric capacity and sixteenmo an end that connects the 3rd operational amplifier successively, a termination described sixteenmo pass of the 12 electric capacity and an end of described the 3rd operational amplifier; Between described the 11 electric capacity of termination that the tenth minion is closed and described sixteenmo close, the other end of described the 3rd operational amplifier of another termination, common mode electrical level connects the other end of described the 3rd operational amplifier; And between eighteenmo described the 15 switch of termination and described the 11 electric capacity that close, the output of the described low pass filter of another termination.
Further, the described frequency detecting phase-locked loop loop and the phase-shifter that comprise successively frequency comparator, formed by phase frequency detector, charge pump, voltage controlled oscillator and frequency divider; Wherein said frequency comparator receives the vibration differential signal of described micro-mechanical gyroscope, and output is with reference to comparison signal; In the loop that described phase frequency detector, charge pump, voltage controlled oscillator and frequency divider consist of, described phase frequency detector receives described fractional frequency signal with reference to comparison signal and the output of described frequency divider, the poor sub-signal of output-response frequency error and phase error, described charge pump is through receiving described poor sub-signal, signal is adjusted in output, described voltage controlled oscillator receives described adjustment signal output and controls voltage signal to described frequency divider, and the described fractional frequency signal of described frequency divider output is to described phase frequency detector and phase-shifter; Described phase-shifter receives described fractional frequency signal, clock signal after phase shift 90 degree.
In sum, the closed loop of micro-mechanical gyroscope described in the utility model drives automatic gain control circuit and comprises frequency detecting phase-locked loop, amplitude control circuit and variable-gain amplification circuit, wherein said frequency detecting phase-locked loop can provide the clock signal of frequency locking, described amplitude control circuit is by receiving vibration differential signal and the reference signal of described micro-mechanical gyroscope simultaneously, vibration differential signal to described micro-mechanical gyroscope carries out the peak value detection, and after peak value testing result and reference signal are compared and process, outputing gain control signal.Can get final product self electric circuit inspection by self frequency detecting therefore described closed loop drives automatic gain control circuit, and realize automatic gain control, need not to increase peripheral checkout equipment, with the stabilizing gyroscope drive signal amplitude, improve the gyroscope survey precision.
Further, the switched-capacitor circuit of described amplitude control circuit is simple in structure, be easy to realize and low cost of manufacture, and then reduce the manufacturing cost that described micro-mechanical gyroscope closed loop drives automatic gain control circuit, improve the scope of application that described micro-mechanical gyroscope closed loop drives automatic gain control circuit.
Description of drawings
Fig. 1 drives by closed loop in the utility model one embodiment the micro-mechanical gyroscope closed loop drive system that automatic gain control circuit forms.
Fig. 2 is the structured flowchart that the closed loop of micro-mechanical gyroscope in the utility model one embodiment drives automatic gain control circuit.
Fig. 3 is the structured flowchart that the closed loop of micro-mechanical gyroscope in the utility model one embodiment drives amplitude control circuit in automatic gain control circuit.
Fig. 4 is the closed loop of micro-mechanical gyroscope in the utility model one embodiment peak detection block that drives amplitude control circuit in automatic gain control circuit, addition module and the switched-capacitor circuit schematic diagram of gain circuitry module composition.
Fig. 5 is the oscillogram of the switched-capacitor circuit course of work shown in Figure 4.
Fig. 6 is the switched-capacitor circuit schematic diagram that difference that the closed loop of micro-mechanical gyroscope in the utility model one embodiment drives amplitude control circuit in automatic gain control circuit turns single-end circuit.
Fig. 7 is the oscillogram of the switched-capacitor circuit course of work shown in Figure 6.
Fig. 8 is the switched-capacitor circuit schematic diagram that the closed loop of micro-mechanical gyroscope in the utility model one embodiment drives the low pass filter of amplitude control circuit in automatic gain control circuit.
Fig. 9 is the oscillogram of the switched-capacitor circuit course of work shown in Figure 8.
Figure 10 is that the closed loop of micro-mechanical gyroscope in the utility model one embodiment drives the structured flowchart that the automatic gain control circuit medium frequency detects phase-locked loop.
Embodiment
For making content of the present utility model more clear understandable, below in conjunction with Figure of description, content of the present utility model is described further.Certainly the utility model is not limited to this specific embodiment, and the known general replacement of those skilled in the art also is encompassed in protection range of the present utility model.
Secondly, the utility model utilizes schematic diagram to carry out detailed statement, and when the utility model example was described in detail in detail, for convenience of explanation, schematic diagram did not amplify according to general ratio is local, should be with this as to restriction of the present utility model.
Fig. 1 drives by closed loop in the utility model one embodiment the micro-mechanical gyroscope closed loop drive system that automatic gain control circuit forms.Fig. 2 is the structured flowchart that the closed loop of micro-mechanical gyroscope in the utility model one embodiment drives automatic gain control circuit.In conjunction with Fig. 1 and Fig. 2, the utility model provides a kind of closed loop of micro-mechanical gyroscope to drive automatic gain control circuit, comprising: frequency detecting phase-locked loop 103, amplitude control circuit 102 and variable-gain amplification circuit 101.
Described frequency detecting phase-locked loop 103 receives and according to vibration differential signal Vin1, the Vin2 of described micro-mechanical gyroscope, clock signal CLK;
Described amplitude control circuit 102, receive vibration differential signal Vin1, Vin2 and the reference signal Vref of described micro-mechanical gyroscope, vibration differential signal Vin1, the Vin2 of 102 pairs of described micro-mechanical gyroscopes of described amplitude control circuit carries out peak value and detects, and after peak value testing result and reference signal Vref are compared and process, outputing gain control signal Vctrl; And
Described variable-gain amplification circuit 101, receive vibration differential signal Vin1, Vin2 and the described gain control signal Vctrl of described micro-mechanical gyroscope, and drive differential signal D1, D2 to described micro-mechanical gyroscope 10 according to described gain control signal Vctrl output, so that described micro-mechanical gyroscope 10 keeps stablizing the constant amplitude oscillation state.
Fig. 3 is the structured flowchart that the closed loop of micro-mechanical gyroscope in the utility model one embodiment drives amplitude control circuit in automatic gain control circuit.Preferably, as shown in Figure 3, the described amplitude control circuit 102 of the closed loop of micro-mechanical gyroscope described in the utility model driving automatic gain control circuit comprises that successively peak detection block 201, addition module 202, gain circuitry module 203, difference turn single-end circuit 204 and low pass filter 205.
Wherein, described peak detection block 201 receives and according to vibration differential signal Vin1, Vin2 and the described clock signal clk of described micro-mechanical gyroscope, obtains and export peak difference sub-signal 1a, 1b.
Described peak detection block 201 is for detection of the crest voltage of vibration differential signal Vin1 and Vin2.Described peak detection block 201 has two differential input ends, the 3rd input and two difference output ends, and wherein two differential input ends are accepted vibration differential signal Vin1 and Vin2 input.The 3rd input termination clock signal clk, 90 ° of clock signal clk and input signal Vin1 and Vin2 phase differences, difference output end 1a, 1b connect the differential input end of addition module 202.
Described addition module 202 receives described peak difference sub-signal 1a, 1b and reference signal Vref, and after described peak difference sub-signal 1a, 1b and reference signal Vref are compared, obtains and export poor sub-signal 2a, 2b.
Described addition module 202 obtains crest voltage according to peak difference sub-signal 1a, the 1b of peak detection block 201 outputs, and deducts crest voltage with reference signal Vref, thus poor sub-signal 2a, the 2b of output-response peak change.Described addition module 202 has two differential input ends, the 3rd input and two difference output ends, two differential input ends connect the output of peak detection block 201, the 3rd input termination reference signal Vref, two difference output ends connect the differential input end of gain circuitry module 203.
the poor sub-signal 2a that described gain circuitry module 203 is used for adder 202 outputs, 2b carries out signal and amplifies, receive described poor sub-signal 2a, 2b and described clock signal clk, output gain differential signal 3a, 3b, comprise two differential input ends, the 3rd input and two difference output ends, two differential input ends connect the output of addition module 202, two difference output ends connect the input that described difference turns single-end circuit 204, described difference turns single-end circuit 204 and receives described gain inequality sub-signal 3a, 3b and described clock signal clk, output has the gain control signal 4a of out-of-band noise signal, low pass filter 205 receives described gain control signal 4a and described clock signal clk with out-of-band noise signal, outputing gain control signal Vctrl after the filtering noise signal, described poor sub-signal 2a, 2b is by regulating the gain of gain circuitry module 203, can regulate the loop stability that the micro-mechanical gyroscope closed loop drives.
Described difference turns single-end circuit 204, and gain inequality sub-signal 3a, 3b that gain circuitry module 203 is exported are converted to the single-ended gain control signal 4a with out-of-band noise signal.Difference turns single-end circuit 204 and has two differential input ends, the 3rd input and a Single-end output end, two differential input ends connect the output of gain circuitry module 203, the 3rd input termination clock signal clk, Single-end output termination low pass filter 205 inputs, output has the gain control signal 4a of out-of-band noise signal.
Described low pass filter 205 is used for filtering out-of-band noise signal, outputing gain control signal Vctrl.Described low pass filter 205 has first signal input, secondary signal input and an output Vctrl, described first signal input termination difference turns the output of single-end circuit 204, the second input termination clock signal clk, the gain control end of the described variable-gain amplification circuit 101 of output termination.
Fig. 4 is the closed loop of micro-mechanical gyroscope in the utility model one embodiment peak detection block that drives amplitude control circuit in automatic gain control circuit, addition module and the switched-capacitor circuit schematic diagram of gain circuitry module composition.In preferred embodiment, the switched-capacitor circuit (SC circuit) that described peak detection block 201, addition module 202 and gain circuitry module 203 form as shown in Figure 4, specifically comprise: two inputs, two outputs are by eight switch S 1～S4, S1 '～S4 ', four capacitor C
i1～C
i4The computing circuit that forms and by an operational amplifier OPA1, two capacitor C
f1, C
f2Difference channel with two switch S 5, S5 ' composition; After described computing circuit is used for obtaining the peak value of described vibration differential signal Vin1, Vin2 and compares with described reference signal Vref, obtain peak difference sub-signal 1a, 1b and poor sub-signal 2a, 2b also export poor sub-signal 2a, 2b; After described difference channel receives and described poor sub-signal 2a, 2b is carried out gain process, output gain differential signal 3a, 3b.
Further, in described computing circuit: the first input end of described computing circuit meets a signal Vin1 in the vibration differential signal of described micro-mechanical gyroscope, and described first input end and common mode electrical level Vc connect the first capacitor C after meeting respectively the first switch S 2 and second switch S1 jointly
i1, with the peak value of a signal Vin1 in the vibration differential signal that gathers described micro-mechanical gyroscope, ground wire level and described reference signal Vref connect respectively the 3rd switch S 4 and rear second capacitor C that jointly connects of the 4th switch S 3
i2, to gather the peak value of described reference signal Vref, described the first capacitor C
i1With described the second capacitor C
i2Jointly connect the first input end of described difference channel.
Another signal Vin2 in the vibration differential signal of the second input termination described micro-mechanical gyroscope of described computing circuit, and described the second input and common mode electrical level Vc connect respectively the 5th switch S 2 ' and the 6th switch after S1 ' jointly connect the 3rd capacitor C
i3, with the peak value of another signal Vin2 in the vibration differential signal that gathers described micro-mechanical gyroscope, ground wire level and described reference signal Vref connect respectively and jointly connect the 4th capacitor C after minion is closed S3 ' and the 8th switch S4 '
i4, to gather the peak value of described reference signal Vref, described the 3rd capacitor C
i3With described the 4th capacitor C
i4Jointly connect the second input of described difference channel; Described clock signal clk is controlled the opening and closing of first to the 8th switch S1～S4, S1 '～S4 '.
Further, in described difference channel: described the 9th switch S 5 and described the 5th capacitor C
f1An end in parallel is the first input end of described difference channel, and the other end is the first output of described difference channel, a signal 3a in described the first described gain inequality sub-signal of output output; Described the tenth switch S 5 ' and described the 6th capacitor C
f2An end in parallel is the second input of described difference channel, and the other end is the second output of described difference channel, another signal 3b in described the second described gain inequality sub-signal of output output; And first operational amplifier OPA1 two inputs connect respectively first input end and second input of described difference channel, two outputs connect respectively the first output and second output of described difference channel; Described clock signal clk is controlled the opening and closing of described the 9th switch S 5 and the tenth switch S 5 '.
Fig. 5 is the oscillogram of the switched-capacitor circuit course of work shown in Figure 4.In conjunction with Fig. 5 and Fig. 4, described the 9th switch S 5 and the tenth switch S 5 ' are for peak value detects, sampling switch.First to the 8th switch S1～S4, S1 '～S4 ' realize addition function, when the 9th switch S 5 and the tenth switch S 5 ' disconnection, and the first operational amplifier OPA1, four capacitor C
i1～C
i4With two capacitor C
f1, C
f2Consist of feedback control loop, thereby realize the gain enlarging function.
Fig. 6 is the switched-capacitor circuit schematic diagram that difference that the closed loop of micro-mechanical gyroscope in the utility model one embodiment drives amplitude control circuit in automatic gain control circuit turns single-end circuit.In preferred embodiment, the switched-capacitor circuit (SC circuit) that described difference turns single-end circuit 204 specifically comprises two inputs, an output, four electric capacity, four switches and an operational amplifier as shown in Figure 6.
Wherein, the first input end that described difference turns single-end circuit 204 meets a signal 3a in described gain inequality sub-signal, and described difference turns the first input end of single-end circuit 204 by the 7th capacitor C
S2Connect with the input (negative input particularly) of the second operational amplifier OPA2; Described difference turns second of single-end circuit and inputs another signal 3b in the described gain inequality sub-signal of termination, and described difference turns the first input end of single-end circuit 204 by the 8th capacitor C
S1Connect with another input (positive input particularly) of described the second operational amplifier OPA2; Common mode electrical level Vc is successively by the 11 switch S 11 and the 9th capacitor C
h2Be connected to described the 7th capacitor C
S2And between the input of described the second operational amplifier OPA2, common mode electrical level Vc also closes S12 and the tenth capacitor C by twelvemo in parallel
h1Be connected to described the 8th capacitor C
S1And between another input of described the second operational amplifier OPA2, described the tenth capacitor C
h1Play the maintenance effect; The 13 switch S 13 1 is terminated at described the 11 switch S 11 and described the 9th capacitor C
h2Between, the output of the other end and described the second operational amplifier OPA2 connects the output that described difference turns single-end circuit 204 jointly, described the 9th capacitor C
h2Play the maintenance effect; The 14 switch S 14 is connected to described the 7th capacitor C
S2And between described the second operational amplifier OPA2 one input, the described difference of another termination turns the output of single-end circuit 204, and described difference turns the output of single-end circuit 204 and exports the gain control signal 4a with out-of-band noise signal.
Fig. 7 is the oscillogram of the switched-capacitor circuit course of work shown in Figure 6.In conjunction with Fig. 7 and Fig. 6, when switch the 11 switch S 11, when twelvemo is closed S12 and the 14 switch S 14 conducting, difference turns single-end circuit 204 sampling input gain differential signal 3a, 3b.When the 13 switch S 13 conducting, difference turns single-end circuit 204 can realize subtraction function, transfers differential signal to single-ended signal output.Shown in the difference transfer function that turns single-end circuit 204 be
C wherein
h1=C
h2, C
S1=C
S2
Fig. 8 is the switched-capacitor circuit schematic diagram that the closed loop of micro-mechanical gyroscope in the utility model one embodiment drives the low pass filter of amplitude control circuit in automatic gain control circuit.In preferred embodiment, the switched-capacitor circuit of described low pass filter 205 (SC circuit) as shown in Figure 8, comprise an input, an output, an operational amplifier, four switches and two electric capacity, wherein, the input of described low pass filter 205 is successively by the 15 switch S 15, the 11 capacitor C
i5And sixteenmo closes the end that S16 meets the 3rd operational amplifier OPA3, the 12 capacitor C
f2A described sixteenmo of termination close between the end of S16 and described the 3rd operational amplifier OPA3; The tenth minion is closed described the 11 capacitor C of termination of S17
i5And between described sixteenmo pass S16, the other end of described the 3rd operational amplifier OPA3 of another termination, common mode electrical level Vc connects the other end of described the 3rd operational amplifier OPA3; And eighteenmo closes described the 15 switch S 15 of a termination and described the 11 capacitor C of S18
i5Between, the output of the described low pass filter 205 of another termination, the output outputing gain control signal 4a of described low pass filter 205.
Fig. 9 is the oscillogram of the switched-capacitor circuit course of work shown in Figure 8.In conjunction with Fig. 9 and Fig. 8, wherein, the 11 capacitor C
i5Close S15, S16 with the 15 switch to the eighteenmo, S17, S18 consist of respectively input and feedback equivalent resistance,, described the 12 capacitor C
f2Strobe.Low pass filter 205-three dB bandwidth is
Figure 10 is that the closed loop of micro-mechanical gyroscope in the utility model one embodiment drives the structured flowchart that the automatic gain control circuit medium frequency detects phase-locked loop.As shown in figure 10, better, described frequency detecting phase-locked loop 103 for detection of and the frequency of following the tracks of vibration differential signal Vin1, Vin2, and produce the clock signal clk of 90 ° of phase shifts.Loop and phase-shifter 306 that described frequency detecting phase-locked loop 103 comprises successively frequency comparator 301, is comprised of phase frequency detector 302, charge pump 303, voltage controlled oscillator 304 and frequency divider 305.Described frequency comparator 301 receives vibration differential signal Vin1, the Vin2 of described micro-mechanical gyroscope, and output is with reference to comparison signal.
at described phase frequency detector 302, charge pump 303, in the loop that voltage controlled oscillator 304 and frequency divider 305 consist of, described phase frequency detector 302 receives described fractional frequency signal Fdiv with reference to comparison signal and 305 outputs of described frequency divider, the poor sub-signal of output-response frequency error and phase error, described charge pump 303 is through receiving described poor sub-signal, signal is adjusted in output, described voltage controlled oscillator 304 receives described adjustment signal output and controls voltage signal to described frequency divider 305, the described frequency divider 305 described fractional frequency signals of output are to described phase frequency detector 302 and phase-shifter 306, described phase-shifter 306 receives described fractional frequency signal Fdiv, and clock signal CLK after phase shift 90 degree.
In sum, the closed loop of micro-mechanical gyroscope described in the utility model drives automatic gain control circuit and comprises frequency detecting phase-locked loop, amplitude control circuit and variable-gain amplification circuit, wherein said frequency detecting phase-locked loop can provide the clock signal of frequency locking, described amplitude control circuit is by receiving vibration differential signal and the reference signal of described micro-mechanical gyroscope simultaneously, vibration differential signal to described micro-mechanical gyroscope carries out the peak value detection, and after peak value testing result and reference signal are compared and process, outputing gain control signal.Can get final product self electric circuit inspection by self frequency detecting therefore described closed loop drives automatic gain control circuit, and realize automatic gain control, need not to increase peripheral checkout equipment, with the stabilizing gyroscope drive signal amplitude, improve the gyroscope survey precision.
Further, the switched-capacitor circuit of described amplitude control circuit is simple in structure, be easy to realize and low cost of manufacture, and then reduce the manufacturing cost that described micro-mechanical gyroscope closed loop drives automatic gain control circuit, improve the scope of application that described micro-mechanical gyroscope closed loop drives automatic gain control circuit.
Although the utility model discloses as above with preferred embodiment; so it is not to limit the utility model; have in technical field under any and usually know the knowledgeable; within not breaking away from spirit and scope of the present utility model; when doing a little change and retouching, therefore protection range of the present utility model is as the criterion when looking claims person of defining.
Claims (7)
1. the closed loop of a micro-mechanical gyroscope drives automatic gain control circuit, it is characterized in that, comprising:
The frequency detecting phase-locked loop receives and according to the vibration differential signal of described micro-mechanical gyroscope, clock signal;
Amplitude control circuit, receive vibration differential signal and the reference signal of described micro-mechanical gyroscope, described amplitude control circuit carries out the peak value detection to the vibration differential signal of described micro-mechanical gyroscope, and after peak value testing result and reference signal are compared and process, outputing gain control signal, wherein said amplitude control circuit comprise that successively peak detection block, addition module, gain circuitry module, difference turn single-end circuit and low pass filter; Wherein
Described peak detection block receives and according to vibration differential signal and the described clock signal of described micro-mechanical gyroscope, obtains and export the peak difference sub-signal;
Described addition module receives described peak difference sub-signal and reference signal, and after described peak difference sub-signal and reference signal are compared, obtains and export poor sub-signal; And
Described gain circuitry module receives described poor sub-signal and described clock signal, the output gain differential signal, described difference turns single-end circuit and receives described gain inequality sub-signal and described clock signal, output has the gain control signal of out-of-band noise signal, low pass filter receives described gain control signal and described clock signal with out-of-band noise signal, outputing gain control signal after the filtering noise signal; And
Variable-gain amplification circuit, receive vibration differential signal and the described gain control signal of described micro-mechanical gyroscope, and drive differential signal to described micro-mechanical gyroscope according to described gain control signal output, so that described micro-mechanical gyroscope keeps stablizing the constant amplitude oscillation state.
2. the closed loop of micro-mechanical gyroscope as claimed in claim 1 drives automatic gain control circuit, it is characterized in that, the switched-capacitor circuit that described peak detection block, addition module and gain circuitry module form comprises: two inputs, two outputs, the computing circuit that is formed by eight switches, four electric capacity and by an operational amplifier, two electric capacity and two difference channels that switch forms; After described computing circuit is used for obtaining the peak value of described vibration differential signal and compares with described reference signal, obtain peak difference sub-signal and poor sub-signal and also export poor sub-signal; After described difference channel receives and described poor sub-signal is carried out gain process, the output gain differential signal.
3. the closed loop of micro-mechanical gyroscope as claimed in claim 2 drives automatic gain control circuit, it is characterized in that, in described computing circuit:
The first input end of described computing circuit connects a signal in the vibration differential signal of described micro-mechanical gyroscope, and described first input end and common mode electrical level connect the first electric capacity after connecing respectively the first switch and second switch jointly, peak value with a signal in the vibration differential signal that gathers described micro-mechanical gyroscope, ground wire level and described reference signal connect the second electric capacity after connecing respectively the 3rd switch and the 4th switch jointly, to gather the peak value of described reference signal, described the first electric capacity and described the second electric capacity connect the first input end of described difference channel jointly; And
Another signal in the vibration differential signal of the second described micro-mechanical gyroscope of input termination of described computing circuit, and described the second input and common mode electrical level connect the 3rd electric capacity after connecing respectively the 5th switch and the 6th switch jointly, peak value with another signal in the vibration differential signal that gathers described micro-mechanical gyroscope, ground wire level and described reference signal connect the 4th electric capacity after connecing respectively minion pass and the 8th switch jointly, to gather the peak value of described reference, described the 3rd electric capacity and described the 4th electric capacity connect the second input of described difference channel jointly; Described clock signal is controlled the opening and closing of the first to the 8th switch.
4. the closed loop of micro-mechanical gyroscope as claimed in claim 2 drives automatic gain control circuit, it is characterized in that, described difference channel comprises the 9th switch, the tenth switch, the 5th electric capacity, the 6th electric capacity and the first operational amplifier, in described difference channel:
One end of described the 9th switch and described the 5th Capacitance parallel connection is the first input end of described difference channel, and the other end is the first output of described difference channel, a signal in described the first described gain inequality sub-signal of output output;
One end of described the tenth switch and described the 6th Capacitance parallel connection is the second input of described difference channel, and the other end is the second output of described difference channel, another signal in described the second described gain inequality sub-signal of output output; And
The first operational amplifier two inputs connect respectively first input end and second input of described difference channel, and two outputs connect respectively the first output and second output of described difference channel; Described clock signal is controlled the opening and closing of described the 9th switch and the tenth switch.
5. the closed loop of micro-mechanical gyroscope as claimed in claim 1 drives automatic gain control circuit, it is characterized in that, the switched-capacitor circuit that described difference turns single-end circuit comprises two inputs, an output, four electric capacity, four switches and an operational amplifier, wherein:
The first input end that described difference turns single-end circuit connects a signal in described gain inequality sub-signal, and the first input end that described difference turns single-end circuit is connected with the second operational amplifier one input by the 7th electric capacity; Described difference turns second of single-end circuit and inputs another signal in the described gain inequality sub-signal of termination, and the first input end that described difference turns single-end circuit is connected with described another input of the second operational amplifier by the 8th electric capacity;
Common mode electrical level is connected between described the 7th electric capacity and described the second operational amplifier one input by the 11 switch and the 9th electric capacity successively, and common mode electrical level also closes by the twelvemo of parallel connection and the tenth electric capacity is connected between described the 8th electric capacity and described another input of the second operational amplifier;
The 13 switch one is terminated between described the 11 switch and described the 9th electric capacity, and the output of the other end and described the second operational amplifier connects the output that described difference turns single-end circuit jointly;
The 14 switch is connected between described the 7th electric capacity and described the second operational amplifier one input, and the described difference of another termination turns the output of single-end circuit.
6. the closed loop of micro-mechanical gyroscope as claimed in claim 1 drives automatic gain control circuit, it is characterized in that, the switched-capacitor circuit of low pass filter comprises an input, an output, an operational amplifier, four switches and two electric capacity, wherein,
The input of described low pass filter closes by the 15 switch, the 11 electric capacity and sixteenmo an end that connects the 3rd operational amplifier successively, a termination described sixteenmo pass of the 12 electric capacity and an end of described the 3rd operational amplifier;
Between described the 11 electric capacity of termination that the tenth minion is closed and described sixteenmo close, the other end of described the 3rd operational amplifier of another termination, common mode electrical level connects the other end of described the 3rd operational amplifier; And
Between described the 15 switch of termination and described the 11 electric capacity that eighteenmo closes, the output of the described low pass filter of another termination.
7. the closed loop of micro-mechanical gyroscope as claimed in claim 1 drives automatic gain control circuit, it is characterized in that loop and phase-shifter that described frequency detecting phase-locked loop comprises successively frequency comparator, is comprised of phase frequency detector, charge pump, voltage controlled oscillator and frequency divider; Wherein
Described frequency comparator receives the vibration differential signal of described micro-mechanical gyroscope, and output is with reference to comparison signal;
In the loop that described phase frequency detector, charge pump, voltage controlled oscillator and frequency divider consist of, described phase frequency detector receives described fractional frequency signal with reference to comparison signal and the output of described frequency divider, the poor sub-signal of output-response frequency error and phase error, described charge pump is through receiving described poor sub-signal, signal is adjusted in output, described voltage controlled oscillator receives described adjustment signal output and controls voltage signal to described frequency divider, and the described fractional frequency signal of described frequency divider output is to described phase frequency detector and phase-shifter;
Described phase-shifter receives described fractional frequency signal, clock signal after phase shift 90 degree.
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| CN 201220655211 CN203014748U (en) | 2012-11-29 | 2012-11-29 | Micromechanical gyroscope closed-loop driving automatic gain control circuit |
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| CN 201220655211 CN203014748U (en) | 2012-11-29 | 2012-11-29 | Micromechanical gyroscope closed-loop driving automatic gain control circuit |
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