US20030159510A1 - Phase insensitive quadrature nulling method and apparatus for coriolis angular rate sensors - Google Patents

Phase insensitive quadrature nulling method and apparatus for coriolis angular rate sensors Download PDF

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Publication number
US20030159510A1
US20030159510A1 US09/915,026 US91502601A US2003159510A1 US 20030159510 A1 US20030159510 A1 US 20030159510A1 US 91502601 A US91502601 A US 91502601A US 2003159510 A1 US2003159510 A1 US 2003159510A1
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proof mass
mass
control voltage
dither
minus
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US09/915,026
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US6619121B1 (en
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Robert Stewart
Stanley Wyse
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Northrop Grumman Guidance and Electronics Co Inc
Northrop Grumman Systems Corp
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Priority to US09/915,026 priority Critical patent/US6619121B1/en
Application filed by Individual filed Critical Individual
Assigned to NORTHROP GRUMANN CORPORATION reassignment NORTHROP GRUMANN CORPORATION ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: LITTON SYSTEMS, INC.
Priority to TW091110196A priority patent/TW534991B/en
Priority to EP02759137A priority patent/EP1412698A1/en
Priority to PCT/US2002/022073 priority patent/WO2003010492A1/en
Publication of US20030159510A1 publication Critical patent/US20030159510A1/en
Publication of US6619121B1 publication Critical patent/US6619121B1/en
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Assigned to LITTON SYSTEMS, INC. reassignment LITTON SYSTEMS, INC. ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: NORTHROP GRUMMAN CORPORATION
Assigned to NORTHROP GRUMMAN SYSTEMS CORPORATION reassignment NORTHROP GRUMMAN SYSTEMS CORPORATION ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: NORTHROP GRUMMAN CORPORATION
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
    • G01C19/56—Turn-sensitive devices using vibrating masses, e.g. vibratory angular rate sensors based on Coriolis forces
    • G01C19/5705—Turn-sensitive devices using vibrating masses, e.g. vibratory angular rate sensors based on Coriolis forces using masses driven in reciprocating rotary motion about an axis
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
    • G01C19/56—Turn-sensitive devices using vibrating masses, e.g. vibratory angular rate sensors based on Coriolis forces
    • G01C19/5719—Turn-sensitive devices using vibrating masses, e.g. vibratory angular rate sensors based on Coriolis forces using planar vibrating masses driven in a translation vibration along an axis
    • G01C19/5733—Structural details or topology
    • G01C19/5755—Structural details or topology the devices having a single sensing mass
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P15/00—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration
    • G01P15/14—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration by making use of gyroscopes

Definitions

  • the present invention relates to an inertial instrument and more specifically pertains to vibrating accelerometers used as multi-sensors for measuring linear acceleration and rate of rotation of a moving body.
  • Gyroscopes are well known for use as angular velocity and acceleration sensors for sensing angular velocity and acceleration which information is necessary for determining location, direction, position and velocity of a moving vehicle.
  • the present invention utilizes two masses in tandem, a dither mass and a proof mass, or pendulum. Each mass has only a single degree of freedom. It is desired to have the dither mass move along an axis that is parallel to the plane of the housing. The driving forces on the dither mass causing its vibration do not act directly on the pendulum. These forces, however cause the dither mass to move out of the plane of the housing due to dither beam misalignments. This out-of-plane motion generates error signals which are in quadrature with the signals generated by rate inputs. Therefore, a high degree of phase discrimination is required to separate the rate signal from the quadrature signal.
  • This invention uses a new quadrature nulling technique which eliminates the requirement for accurate phase and relaxes control of the dither beam alignment tolerances which generate out of plane motion.
  • the present invention applies vibration driving signals to the dither mass to vibrate the dither mass and the proof mass at a combined resonant frequency, and applies a restoring force to the proof mass which is in phase with its dithered displacement.
  • vibration driving signals are applied to the dither mass to vibrate the dither mass and proof mass which are in an X-Y plane at a combined resonant frequency about the Z axis of the X-Y plane.
  • a restoring torque is applied to the proof mass which is in phase with its dithered displacement.
  • FIG. 1 is a top plane view of the driven and sensing element of an accelerometer according to the present invention
  • FIG. 2 is a cross-section of the quadrature nulling projection on the end of the pendulum of FIG. 4;
  • FIG. 3 is a diagrammatic illustration of the functional relationship of portions of the accelerometer of FIG. 1 and FIG. 4;
  • FIG. 4 is a diagrammatic illustration of the pendulum and dither mass or vibrating structure of the present invention.
  • FIG. 5 is a top plan view of an alternate configuration for the proof mass and dither mass of the present invention.
  • FIG. 6 is a partial broken-away perspective of the configuration of FIG. 5 showing the relationship between the disc-shaped proof mass and the ring-shaped dither mass.
  • FIG. 7 is a partial perspective showing the relationship between the proof mass of FIG. 5 with its top cover and the quadrature nulling electrodes;
  • FIG. 8 is a top plan view of the disc-shaped proof mass with multiple teeth formed by etching grooves around its circumference;
  • FIG. 9 is a left side plan view showing the edge of the disc-shaped proof mass between its top and bottom covers, each cover containing quadrature nulling electrodes;
  • FIG. 10 is a right side plan view showing the edge of the disc-shaped proof mass between its top and bottom covers, each cover containing quadrature nulling electrodes.
  • the accelerometer gyro disclosed in an application for Micromachined Silicon Gyro Using Tuned-Accelerometer having U.S. patent application Ser. No. 09/778,434 filed on Feb. 7, 2001 and assigned to the same assignee as the present application illustrates a micromachined accelerometer-gyro having a pendulous mass or proof mass suspended within a dither mass that provides improved performance as the result of a considerable decrease in manufacturing flaws that affects performance of the accelerometer gyro.
  • the present invention goes beyond structural improvement of the proof mass and dither base assembly and the manufacture thereof by providing a means for nulling the error created from manufacturing tolerances and electronic phase uncertainty.
  • FIG. 4 a conceptual schematic of the structure of the pendulum or proof mass 87 in association with the dither mass 93 is shown.
  • the proof mass 87 is attached to the dither mass 93 by pendulum flexure points 89 .
  • the dither mass 93 moves back and forth in the direction 109 .
  • the dither mass motion 109 is not exactly along the X axis 103 of the pendulum 87 .
  • the actual dither mass motion 109 is off-axis by a dither misalignment angle 111 , causing slight oscillation in the Y direction 105 .
  • Quadrature error is very similar in that both are sinusoidal signals centered at the frequency of oscillation. However, quadrature error can be distinguished from Coriolis acceleration by the phase relative to the driven oscillation.
  • bias voltage applied to these fingers results in a net force applied to the proof mass that is directly proportional to the position of the proof mass thereby forcing the proof mass to vibrate along the desired dither axis, in other words, parallel to the X axis which is the housing axis for the proof mass.
  • FIG. 4 illustrates in schematic form the structure of the dither mass or vibrating structure and the proof mass or pendulum structure of the present invention.
  • the dither mass 93 which is the vibrating structure for the pendulum 87 oscillates off-axis by an angle 111 along direction 109 .
  • This off-axis vibration of the dither mass 93 is inherent in the construction of the rate sensor of the present invention. This is the best that can be done in the manufacturing process.
  • the dither mass and pendulum will naturally dither in the direction which is primarily along the X axis 103 but will also dither along Y axis 105 because of a misalignment angle 111 caused by mechanical imperfections of the dither driving beams during the etching phase of the fabrication.
  • the pendulum 87 is attached to the dither base 93 by the pendulum flexures 89 .
  • the pendulum 87 senses Coriolis acceleration causing the pendulum to rotate about the flexure 89 .
  • the present invention in contrast to the approach in the above noted article, rather than forcing the dither base 93 and pendulum 87 to vibrate along the desired dither or X axis 103 , which is parallel to the housing axis, allows the dither base 93 to vibrate along the misaligned direction 109 .
  • the quadrature control electrodes 107 of the present invention do not force the dither base 93 to vibrate along the X axis 103 .
  • the quadrature control electrodes 107 only exert forces on the pendulum mass 87 to cause pendulum motion about the flexure axis 89 so that the pendulum continuously centers within the housing 81 as sensed by the pickoff. In this manner, neither the dither base 93 nor the pendulum mass 87 are coerced to move along a certain axis, like X axis 103 .
  • the angular rate sensor is constructed to have a pendulum or sensing element 87 which is attached by flexures 89 to the dither mass or vibrating structure 93 which has dither drive and pickoff electrodes elements 83 mounted thereon.
  • the dither mass 93 is mounted for motion within the plane of the paper of FIG. 1 within a frame 81 .
  • the dither mass 93 has a plurality of flexure suspensions 85 therein to permit the dither motion along the X axis 103 .
  • the mechanical misalignment illustrated graphically in FIG. 4, along with phase error of the dither reference signal are the major source of bias instability, non-repeatability and temperature sensitivity of tuned Coriolis angular rate sensors.
  • the present invention provides a method to servo the quadrature error signal to null. Since the servo signal is d.c., there is no resulting phase sensitivity. The result is improved bias stability, repeatability and reduced temperature sensitivity, in addition to relaxing the tolerance requirements on etching the dither beams and the tolerance requirements on the system digital electronics phase stability.
  • the present invention is contrary to the traditional manner of controlling bias error. The traditional approach was to attempt exceptionally close tolerances on the etching of the dither beams and attempt to achieve exceptionally close system tolerances on the digital electronics phase stability circuitry.
  • the concept of the invention is to introduce a torque to the sensing element or pendulum 87 by the application of d.c. signals which results in an a.c. restoring force that is in phase with the dither displacement.
  • a torque or forcer can be used to servo the quadrature error signal to null because the quadrature signal is in phase with acceleration which in turn is in phase with the dither displacement.
  • FIG. 2 is a diagram of a quadrature nulling forcer as envisioned by the present invention.
  • FIG. 2 is a cross-section of the present invention taken through the region containing the top electrodes 95 , 97 , and bottom electrodes 99 , 101 and the scalloped edge 91 of the sensing element 87 .
  • the top electrodes 95 , 97 and bottom electrodes 91 , 101 are divided into segments having alternate polarities. Each electrode segment 95 , 97 on the top, and 91 , 101 on the bottom, are aligned with respect to the scalloped edge 91 of the sensing element so that both polarities of the alternate segments have equal areas overlapping each projection along the scalloped edge 91 of the sensing element 87 when the dither motion is not excited.
  • the quadrature nulling forcer exerts a force as depicted in the graph of FIG. 3.
  • a bias voltage +V is applied to the sensing element and plus or minus d.c. control voltages v are applied to the top electrodes 95 and 97 and the bottom electrodes 99 and 101 .
  • the sensing element 87 translates to the right from the position shown in FIG. 2, it will experience an upward force proportional to its displacement, and the control voltage v on the top and bottom electrodes.
  • the sensing element and its scalloped edge projections 91 translate to the left from the position shown in FIG. 2, it will experience a downward force.
  • the peak force will be experienced at the peak displacement and will be in phase with the peak quadrature force.
  • a closed loop servo system (not shown), of a type well known in the art is utilized to adjust the control voltages v on the upper electrodes and lower electrodes to null the quadrature portion of the sensing element pickoff. Because this control voltage is d.c., there is no phase instability. Referring to FIG. 4, this means that the quadrature control 107 , which is adjusted to null the quadrature portion of the sensing element cause the pendulum to move about its flexure axis 89 to be continuously centered within the housing 81 . In this manner, neither the dither mass 93 nor the pendulum sensing mass 87 are coerced to move parallel to the housing axis 103 while still nulling quadrature error.
  • FIGS. 5 - 10 An alternate preferred embodiment of the present invention is shown in FIGS. 5 - 10 .
  • These figures illustrate a rotationally dithered proof mass which is disc-shaped.
  • This disc-shaped proof mass is mounted within a ring-like dither mass which is suspended within a frame for rotational dither motion.
  • the dither mass dithers about its Z axis which is perpendicular to the X-Y plane within which the ring shaped dither mass is located.
  • a proof mass is mounted within the ring-shaped dither mass in the X-Y plane and rotates about an output axis Y for an input rate about the X axis. In other words, the proof mass oscillates about the Y torsion bar axis for an input rate on the X axis.
  • FIGS. 5 and 6 which shows the general relationship between the disc-like proof mass 129 mounted within the ring-like dither mass 123 by a pair of torsion bar suspensions 127 , which lie along the Y axis of the proof mass 129 and dither mass 123 .
  • the dither mass 123 is suspended by a plurality of dither drive beams 125 which, in this preferred embodiment, are four in number, to a frame 121 .
  • the ring-like dither mass 123 is driven rotationally about a Z axis which is perpendicular to the X-Y plane, which is the plane of the paper, in a positive and negative direction 124 causing the proof mass 129 to also be rotationally dithered.
  • the proof mass contains a plurality of teeth 131 around its circumference, creating a scalloped edge, the purpose of which will be explained hereinafter.
  • a plurality of electrodes 135 located in the cover for the dither mass 123 forces the dither mass to rotationally dither about the Z axis.
  • FIG. 6 is a three-dimensional partially broken away perspective showing the relationship of the proof mass 129 suspended within the ring-like dither mass 123 .
  • the dither mass 123 is suspended by a plurality of dither drive beams 125 which is the only attachment to a frame 121 .
  • the proof mass 129 is attached to the internal circumference of the ring-like dither mass 123 by a pair of torsion bars 127 , which lie along a Y axis 143 of the X-Y plane 147 , 143 within which the proof mass 129 and dither mass 123 lie.
  • the bottom cover 135 which contains electrodes 138 therein for driving the dither mass in a back and forth dither motion 124 about the Z axis 145 .
  • This rotational dither motion about the Z axis 145 also dithers the proof mass in the directions 149 , 151 .
  • a plurality of quadrature nulling electrodes 137 which interact with the bottom teeth-like grooves 133 located about the circumference of the disc-like proof mass 129 .
  • Teeth 131 are also located on the top surface of proof mass 129 around its circumference.
  • the quadrature nulling electrodes 137 located in a semicircle in the cover are located with respect to the bottom teeth-like grooves 133 on the proof mass 129 .
  • the electrodes 137 are preferably deposited titanium and gold electrodes on glass, like pyrex glass, for example.
  • the top and bottom covers for the accelerometer-gyro are preferably made of pyrex glass.
  • a positive d.c. voltage is supplied to half of the electrodes along the perimeter of the proof mass disc on line 139 .
  • a negative d.c. voltage is supplied to the remaining electrodes on line 141 .
  • the Z dither axis 145 may not be exactly perpendicular to the Y torsion axis 143 , causing unwanted oscillation to act about the Y torsion axis 143 as a result of this misalignment.
  • the dither mass 123 is being driven in a rotational dither direction 124 about Z axis 145 , causing the proof mass 129 to be likewise dithered in the direction 149 on its right side, and the direction 151 on its left side.
  • the top cover 136 for the accelerometer-gyro is illustrated as being fabricated from silicon with protruding teeth thereon that interact with the teeth 131 along the circumference of the disc-like proof mass 129 .
  • the displacement of the teeth in the right side top cover 136 B, with respect to the teeth 131 and the displacement of the teeth in the left side top cover 136 A, with respect to the teeth 131 in the proof mass 129 are illustrated for the case of a peak positive dither amplitude.
  • the forces 157 parallel to the Z axis on the left side top cover of the proof mass 129 are strong because the teeth are aligned, while the forces 158 on the right side top cover of the proof mass 129 are weak because the teeth are staggered.
  • This differential creates a torque 153 about Y torsion bar axis 143 . Since the Y torsion bar axis 143 is the output axis for the accelerometer-gyro, this torque cancels the effect due to the unwanted oscillation from the misalignment of the Z dither axis 195 .
  • FIGS. 8, 9, and 10 illustrate the relationship between the proof mass 129 and its teeth 131 around its perimeter with the electrodes 136 located on the top cover 136 A and 136 B and the electrodes 137 located on the bottom cover 135 A and 135 B.
  • FIGS. 8, 9, and 10 illustrate the relationship between the proof mass 129 and the top and bottom covers and their respective electrodes when the dither motion 124 is at zero amplitude as a starting point.
  • the dither mass 123 is at null about the Z axis 145 .

Abstract

Quadrature error occurs in Corolis based vibrating rate sensors because of manufacturing flaws that permit the sensing element to oscillate either linearly along or angularly about an axis that is not orthogonal to the output axis. This creates an oscillation along or about the output axis that is a component of the sensing element's vibration acceleration. This output axis oscillation is in phase with the driven acceleration of the sensing element and is called quadrature error since it is ninety degrees out of phase with the angular rate induced Coriolis acceleration. Rather than applying forces that reorient the axis of the driven vibration to be orthogonal to the output axis to eliminate the output axis oscillation, the present invention applies sinusoidal forces to the sensing element by means of a quadrature servo to cancel the output oscillation. In order to avoid the phase uncertainty associated with electronic modulation, the quadrature servo feeds back a DC signal that is modulated mechanically by means of an interdigitated variable area electrostatic forcer.

Description

    BACKGROUND OF THE INVENTION
  • 1. Field of the Invention [0001]
  • The present invention relates to an inertial instrument and more specifically pertains to vibrating accelerometers used as multi-sensors for measuring linear acceleration and rate of rotation of a moving body. [0002]
  • 2. Description of Prior Art [0003]
  • Gyroscopes are well known for use as angular velocity and acceleration sensors for sensing angular velocity and acceleration which information is necessary for determining location, direction, position and velocity of a moving vehicle. [0004]
    • SUMMARY OF THE INVENTION
  • The present invention utilizes two masses in tandem, a dither mass and a proof mass, or pendulum. Each mass has only a single degree of freedom. It is desired to have the dither mass move along an axis that is parallel to the plane of the housing. The driving forces on the dither mass causing its vibration do not act directly on the pendulum. These forces, however cause the dither mass to move out of the plane of the housing due to dither beam misalignments. This out-of-plane motion generates error signals which are in quadrature with the signals generated by rate inputs. Therefore, a high degree of phase discrimination is required to separate the rate signal from the quadrature signal. This invention uses a new quadrature nulling technique which eliminates the requirement for accurate phase and relaxes control of the dither beam alignment tolerances which generate out of plane motion. The present invention applies vibration driving signals to the dither mass to vibrate the dither mass and the proof mass at a combined resonant frequency, and applies a restoring force to the proof mass which is in phase with its dithered displacement. In an alternate embodiment, vibration driving signals are applied to the dither mass to vibrate the dither mass and proof mass which are in an X-Y plane at a combined resonant frequency about the Z axis of the X-Y plane. A restoring torque is applied to the proof mass which is in phase with its dithered displacement.[0005]
    • BRIEF DESCRIPTION OF THE DRAWINGS
  • The exact nature of this invention as well as its objects and advantages will become readily apparent from consideration of the following specification in relation to the accompanying drawings in which like reference numerals designate like parts throughout the figures thereof and wherein: [0006]
  • FIG. 1 is a top plane view of the driven and sensing element of an accelerometer according to the present invention; [0007]
  • FIG. 2 is a cross-section of the quadrature nulling projection on the end of the pendulum of FIG. 4; [0008]
  • FIG. 3 is a diagrammatic illustration of the functional relationship of portions of the accelerometer of FIG. 1 and FIG. 4; [0009]
  • FIG. 4 is a diagrammatic illustration of the pendulum and dither mass or vibrating structure of the present invention; [0010]
  • FIG. 5 is a top plan view of an alternate configuration for the proof mass and dither mass of the present invention; [0011]
  • FIG. 6 is a partial broken-away perspective of the configuration of FIG. 5 showing the relationship between the disc-shaped proof mass and the ring-shaped dither mass. [0012]
  • FIG. 7 is a partial perspective showing the relationship between the proof mass of FIG. 5 with its top cover and the quadrature nulling electrodes; [0013]
  • FIG. 8 is a top plan view of the disc-shaped proof mass with multiple teeth formed by etching grooves around its circumference; [0014]
  • FIG. 9 is a left side plan view showing the edge of the disc-shaped proof mass between its top and bottom covers, each cover containing quadrature nulling electrodes; and [0015]
  • FIG. 10 is a right side plan view showing the edge of the disc-shaped proof mass between its top and bottom covers, each cover containing quadrature nulling electrodes.[0016]
    • DESCRIPTION OF THE PREFERRED EMBODIMENT
  • The accelerometer gyro disclosed in an application for Micromachined Silicon Gyro Using Tuned-Accelerometer having U.S. patent application Ser. No. 09/778,434 filed on Feb. 7, 2001 and assigned to the same assignee as the present application illustrates a micromachined accelerometer-gyro having a pendulous mass or proof mass suspended within a dither mass that provides improved performance as the result of a considerable decrease in manufacturing flaws that affects performance of the accelerometer gyro. [0017]
  • The present invention goes beyond structural improvement of the proof mass and dither base assembly and the manufacture thereof by providing a means for nulling the error created from manufacturing tolerances and electronic phase uncertainty. Referring to FIG. 4, a conceptual schematic of the structure of the pendulum or [0018] proof mass 87 in association with the dither mass 93 is shown. The proof mass 87 is attached to the dither mass 93 by pendulum flexure points 89. As illustrated, the dither mass 93 moves back and forth in the direction 109. Because of the manufacturing flaws, the dither mass motion 109 is not exactly along the X axis 103 of the pendulum 87. The actual dither mass motion 109 is off-axis by a dither misalignment angle 111, causing slight oscillation in the Y direction 105.
  • If this displacement along the Y axis is differentiated twice, this acceleration is known as quadrature error. Quadrature error and Coriolis acceleration are very similar in that both are sinusoidal signals centered at the frequency of oscillation. However, quadrature error can be distinguished from Coriolis acceleration by the phase relative to the driven oscillation. [0019]
  • A prior art approach to solving the problem presented by quadrature error is discussed in an article entitled [0020] Surface Micromachined Z-Axis Vibrating Rate Gyroscope authored by William A. Clark, Roger T. Howe, and Roberto Horwitz and published as a paper in Solid State Sensor And Actuator Workshop held in Hilton Head, S.C., Jun. 2-6, 1996. The approach suggested in the paper to null quadrature error is to apply a balancing force that is exactly proportional to position of the proof mass. The paper suggests that this can be achieved by using interdigitated position sensing fingers that sense position of the proof mass. As this proof mass oscillates, the position sensing fingers, which are position sense capacitors, change proportionately. A slight modification in the d.c. bias voltage applied to these fingers results in a net force applied to the proof mass that is directly proportional to the position of the proof mass thereby forcing the proof mass to vibrate along the desired dither axis, in other words, parallel to the X axis which is the housing axis for the proof mass.
  • FIG. 4 illustrates in schematic form the structure of the dither mass or vibrating structure and the proof mass or pendulum structure of the present invention. In normal operation, the [0021] dither mass 93 which is the vibrating structure for the pendulum 87 oscillates off-axis by an angle 111 along direction 109. This off-axis vibration of the dither mass 93 is inherent in the construction of the rate sensor of the present invention. This is the best that can be done in the manufacturing process. This means that the dither mass and pendulum will naturally dither in the direction which is primarily along the X axis 103 but will also dither along Y axis 105 because of a misalignment angle 111 caused by mechanical imperfections of the dither driving beams during the etching phase of the fabrication.
  • As will be noted, the [0022] pendulum 87 is attached to the dither base 93 by the pendulum flexures 89. In operation, the pendulum 87 senses Coriolis acceleration causing the pendulum to rotate about the flexure 89. The present invention, in contrast to the approach in the above noted article, rather than forcing the dither base 93 and pendulum 87 to vibrate along the desired dither or X axis 103, which is parallel to the housing axis, allows the dither base 93 to vibrate along the misaligned direction 109. The quadrature control electrodes 107 of the present invention do not force the dither base 93 to vibrate along the X axis 103. The quadrature control electrodes 107 only exert forces on the pendulum mass 87 to cause pendulum motion about the flexure axis 89 so that the pendulum continuously centers within the housing 81 as sensed by the pickoff. In this manner, neither the dither base 93 nor the pendulum mass 87 are coerced to move along a certain axis, like X axis 103.
  • As shown in FIG. 1, the angular rate sensor according to the present invention is constructed to have a pendulum or [0023] sensing element 87 which is attached by flexures 89 to the dither mass or vibrating structure 93 which has dither drive and pickoff electrodes elements 83 mounted thereon. The dither mass 93 is mounted for motion within the plane of the paper of FIG. 1 within a frame 81. The dither mass 93 has a plurality of flexure suspensions 85 therein to permit the dither motion along the X axis 103.
  • The mechanical misalignment illustrated graphically in FIG. 4, along with phase error of the dither reference signal are the major source of bias instability, non-repeatability and temperature sensitivity of tuned Coriolis angular rate sensors. The present invention provides a method to servo the quadrature error signal to null. Since the servo signal is d.c., there is no resulting phase sensitivity. The result is improved bias stability, repeatability and reduced temperature sensitivity, in addition to relaxing the tolerance requirements on etching the dither beams and the tolerance requirements on the system digital electronics phase stability. The present invention is contrary to the traditional manner of controlling bias error. The traditional approach was to attempt exceptionally close tolerances on the etching of the dither beams and attempt to achieve exceptionally close system tolerances on the digital electronics phase stability circuitry. [0024]
  • The concept of the invention is to introduce a torque to the sensing element or [0025] pendulum 87 by the application of d.c. signals which results in an a.c. restoring force that is in phase with the dither displacement. Such a torque or forcer can be used to servo the quadrature error signal to null because the quadrature signal is in phase with acceleration which in turn is in phase with the dither displacement.
  • FIG. 2 is a diagram of a quadrature nulling forcer as envisioned by the present invention. FIG. 2 is a cross-section of the present invention taken through the region containing the [0026] top electrodes 95, 97, and bottom electrodes 99, 101 and the scalloped edge 91 of the sensing element 87.
  • The [0027] top electrodes 95, 97 and bottom electrodes 91, 101 are divided into segments having alternate polarities. Each electrode segment 95, 97 on the top, and 91, 101 on the bottom, are aligned with respect to the scalloped edge 91 of the sensing element so that both polarities of the alternate segments have equal areas overlapping each projection along the scalloped edge 91 of the sensing element 87 when the dither motion is not excited.
  • In operation, the quadrature nulling forcer exerts a force as depicted in the graph of FIG. 3. Assuming that the quadrature acceleration is in phase with displacement of the sensing element (pendulum [0028] 87), a bias voltage +V is applied to the sensing element and plus or minus d.c. control voltages v are applied to the top electrodes 95 and 97 and the bottom electrodes 99 and 101. As the sensing element 87 translates to the right from the position shown in FIG. 2, it will experience an upward force proportional to its displacement, and the control voltage v on the top and bottom electrodes. Conversely, as the sensing element and its scalloped edge projections 91 translate to the left from the position shown in FIG. 2, it will experience a downward force. The peak force will be experienced at the peak displacement and will be in phase with the peak quadrature force.
  • In operation, a closed loop servo system (not shown), of a type well known in the art is utilized to adjust the control voltages v on the upper electrodes and lower electrodes to null the quadrature portion of the sensing element pickoff. Because this control voltage is d.c., there is no phase instability. Referring to FIG. 4, this means that the [0029] quadrature control 107, which is adjusted to null the quadrature portion of the sensing element cause the pendulum to move about its flexure axis 89 to be continuously centered within the housing 81. In this manner, neither the dither mass 93 nor the pendulum sensing mass 87 are coerced to move parallel to the housing axis 103 while still nulling quadrature error. This allows the dither mass 93 to move along its misaligned path 109 relative to the housing generating motion along the Y output axis 105 but still have the resulting quadrature error nulled. This approach to quadrature error nulling is generally applicable to rate sensors having a certain structure.
  • This quadrature error nulling method is possible because the two masses in operation in the present rate sensor structure are in tandem, with each mass having only a single degree of freedom. In other words, the [0030] dither mass 93 is attached to the pendulous mass 87 by the flexure 89. As a result, the dither forces act only on the dither mass and not on the pendulous mass 87.
  • An alternate preferred embodiment of the present invention is shown in FIGS. [0031] 5-10. These figures illustrate a rotationally dithered proof mass which is disc-shaped. This disc-shaped proof mass is mounted within a ring-like dither mass which is suspended within a frame for rotational dither motion. The dither mass dithers about its Z axis which is perpendicular to the X-Y plane within which the ring shaped dither mass is located. A proof mass is mounted within the ring-shaped dither mass in the X-Y plane and rotates about an output axis Y for an input rate about the X axis. In other words, the proof mass oscillates about the Y torsion bar axis for an input rate on the X axis.
  • Referring first to FIGS. 5 and 6, which shows the general relationship between the disc-[0032] like proof mass 129 mounted within the ring-like dither mass 123 by a pair of torsion bar suspensions 127, which lie along the Y axis of the proof mass 129 and dither mass 123. The dither mass 123 is suspended by a plurality of dither drive beams 125 which, in this preferred embodiment, are four in number, to a frame 121.
  • The ring-[0033] like dither mass 123 is driven rotationally about a Z axis which is perpendicular to the X-Y plane, which is the plane of the paper, in a positive and negative direction 124 causing the proof mass 129 to also be rotationally dithered. The proof mass contains a plurality of teeth 131 around its circumference, creating a scalloped edge, the purpose of which will be explained hereinafter. A plurality of electrodes 135 located in the cover for the dither mass 123 forces the dither mass to rotationally dither about the Z axis.
  • FIG. 6 is a three-dimensional partially broken away perspective showing the relationship of the [0034] proof mass 129 suspended within the ring-like dither mass 123. The dither mass 123 is suspended by a plurality of dither drive beams 125 which is the only attachment to a frame 121. The proof mass 129, in turn, is attached to the internal circumference of the ring-like dither mass 123 by a pair of torsion bars 127, which lie along a Y axis 143 of the X-Y plane 147, 143 within which the proof mass 129 and dither mass 123 lie.
  • Shown partially broken away is the [0035] bottom cover 135 which contains electrodes 138 therein for driving the dither mass in a back and forth dither motion 124 about the Z axis 145. This rotational dither motion about the Z axis 145 also dithers the proof mass in the directions 149, 151.
  • Also located in the [0036] bottom cover 135 are a plurality of quadrature nulling electrodes 137 which interact with the bottom teeth-like grooves 133 located about the circumference of the disc-like proof mass 129. Teeth 131 are also located on the top surface of proof mass 129 around its circumference.
  • The [0037] quadrature nulling electrodes 137 located in a semicircle in the cover are located with respect to the bottom teeth-like grooves 133 on the proof mass 129. The electrodes 137 are preferably deposited titanium and gold electrodes on glass, like pyrex glass, for example. The top and bottom covers for the accelerometer-gyro are preferably made of pyrex glass. A positive d.c. voltage is supplied to half of the electrodes along the perimeter of the proof mass disc on line 139. A negative d.c. voltage is supplied to the remaining electrodes on line 141. These d.c. voltages effectuate quadrature nulling in a manner which will be more fully explained hereinafter.
  • In operation, while the ring-[0038] like dither mass 123 is rotationally dithered about the Z axis causing the proof mass 129 to also be dithered about the Z axis, an input rate along the X axis 147 will cause the proof mass 129 to oscillate about the Y torsion axis 143 in an oscillatory motion 153 about the Y torsion axis 143.
  • Because of manufacturing tolerances, the [0039] Z dither axis 145 may not be exactly perpendicular to the Y torsion axis 143, causing unwanted oscillation to act about the Y torsion axis 143 as a result of this misalignment. As shown in FIG. 7, the dither mass 123 is being driven in a rotational dither direction 124 about Z axis 145, causing the proof mass 129 to be likewise dithered in the direction 149 on its right side, and the direction 151 on its left side. The top cover 136 for the accelerometer-gyro is illustrated as being fabricated from silicon with protruding teeth thereon that interact with the teeth 131 along the circumference of the disc-like proof mass 129. The displacement of the teeth in the right side top cover 136B, with respect to the teeth 131 and the displacement of the teeth in the left side top cover 136A, with respect to the teeth 131 in the proof mass 129 are illustrated for the case of a peak positive dither amplitude. In this situation, the forces 157 parallel to the Z axis on the left side top cover of the proof mass 129 are strong because the teeth are aligned, while the forces 158 on the right side top cover of the proof mass 129 are weak because the teeth are staggered. This differential creates a torque 153 about Y torsion bar axis 143. Since the Y torsion bar axis 143 is the output axis for the accelerometer-gyro, this torque cancels the effect due to the unwanted oscillation from the misalignment of the Z dither axis 195.
  • FIGS. 8, 9, and [0040] 10, illustrate the relationship between the proof mass 129 and its teeth 131 around its perimeter with the electrodes 136 located on the top cover 136A and 136B and the electrodes 137 located on the bottom cover 135A and 135B.
  • FIGS. 8, 9, and [0041] 10, illustrate the relationship between the proof mass 129 and the top and bottom covers and their respective electrodes when the dither motion 124 is at zero amplitude as a starting point. In other words, the dither mass 123 is at null about the Z axis 145.
  • As the dither mass moves from this null position in a positive direction causing the [0042] proof mass 129 to also move in a positive direction 149, the capacitance 179 between electrodes 136 and the teeth 131 of the proof mass 129 gets bigger because the teeth are becoming more aligned with the electrodes. At the same time, the capacitance 177 between electrodes 136 and the teeth 131 of the proof mass 129 on the left side become smaller. This causes the upward force FTR on the right side acting on the paddle to increase, while the upward force FTL on the left side becomes quite low. This difference in upward force between the left and right side of the proof mass 129 causes a torque to be developed about the torsion Y axis 143 which, in turn, causes the proof mass 129 to rotate about the torsion Y axis 143.
  • When the dither mass goes into a negative direction causing [0043] proof mass 129 to also go in a negative direction 151, the capacitance 179 on the right side gets smaller, while the capacitance 177 on the left side gets larger. This causes the upward force FTL on the left side to become large and the upward force FTR on the right side to become low, thereby reversing the torque on the Y axis 143 of the proof mass, which causes the proof mass 129 to move in the opposite direction about the Y torsion bar axis 143. In essence then, a sinusoidal torque acts on the proof mass 129 causing it to oscillate about the Y torsion bar axis 143 exactly in phase with the dither amplitude. That is, peak torque on the proof mass 129 occurs exactly when there is peak displacement for the dither motion 124 about Z axis 145.
  • These oscillating forces, F[0044] TR and FTL, acting on the proof mass 129 can be servoed by automatically controlling the voltages VQ on lines 167 and 169 on the bottom cover, and lines 171 and 173 on the top cover, to thereby cancel the torque about Y axis 143, which is due to misalignment of the Z dither axis 145.
  • The cancellation of the torque generated about the torsion [0045] bar Y axis 143, as a result of the Z dither axis 145 not being perpendicular to the Y axis 143, results in considerably improved performance.

Claims (42)

What is claimed is:
1. A method for nulling quadrature in an angular rate sensor, having a dithered proof mass, the steps of the method comprising:
applying vibration driving forces to vibrate the dithered proof mass; and
applying a restoring force to the vibrating proof mass which is in phase with its dithered displacement.
2. The method of claim 1 wherein the restoring force is applied by d.c. signals.
3. The method of claim 1 wherein the restoring force is applied by a.c. signals.
4. The method of claim 1 wherein the applying of a restoring force comprises:
applying a bias voltage to the proof mass;
applying a plus or minus d.c. control voltage to electrodes adjacent to the proof mass; and
adjusting the d.c. control voltage to null the quadrature.
5. The method of claim 3 wherein the d.c. control voltage is a plus and minus voltage applied to top and bottom electrodes adjacent to the proof mass at fixed locations.
6. The method of claim 1 wherein said proof mass has a scalloped edge at the end opposite its connection to the dither mass.
7. The method of claim 5 wherein the restoring force is applied by d.c. signals.
8. The method of claim 5 wherein the applying of a restoring force comprises:
applying a bias voltage to the proof mass;
applying a plus or minus d.c. control voltage to electrodes adjacent to the scalloped edge of the proof mass; and
adjusting the d.c. control voltage to null the quadrature.
9. The method of claim 7 wherein the d.c. control voltage is a plus and minus voltage, each applied to electrodes which overlap one half of a scallop on the scalloped edge of the proof mass.
10. The method of claim 8 wherein the plus and minus d.c. control voltage is applied to electrodes adjacent to each scallop on the proof mass.
11. The method of claim 9 wherein the plus and minus d.c. control voltages are applied to electrodes at both top and bottom sides of the proof mass adjacent to each scallop of the proof mass.
12. An apparatus for nulling the quadrature in an angular rate sensor having a dither mass and a proof mass, the apparatus comprising:
the proof mass having a first and second end, the first end being connected to the dither mass and the second end having a scalloped edge;
a source of bias voltage applied to the proof mass; and
a source of d.c. control voltage applied to electrodes adjacent to the scalloped edge of the proof mass for providing a restoring force to the proof mass which is in phase with its dither displacement.
13. The apparatus of claim 11 wherein the d.c. control voltage source comprises plus or minus d.c. voltages.
14. The apparatus of claim 11 wherein the d.c. control voltage source comprises plus and minus d.c. voltages, each applied to electrodes which overlap one half of a scallop on the scalloped edge of the proof mass.
15. The apparatus of claim 13 wherein the plus and minus d.c. control voltage is applied to electrodes adjacent to each scallop on the proof mass.
16. The method of claim 14 wherein the plus and minus d.c. control voltage is applied to electrodes at both top and bottom sides of the proof mass adjacent to each scallop of the proof mass.
17. An apparatus for nulling the quadrature in a coriolis angular rate sensor, comprising:
a dither mass flexurally mounted within a frame for vibrating;
a proof mass mounted to said dither base by a flexure for oscillating at a predetermined frequency;
a source of bias voltage applied to the proof mass; and
a source of d.c. control voltage applied to electrodes adjacent to the proof mass for providing a restoring force to the oscillating proof mass which is in phase with its displacement.
18. The apparatus of claim 16 wherein the source of d.c. control voltage comprises plus or minus d.c. voltages.
19. The apparatus of claim 16 wherein the proof mass has a scalloped edge at the end opposite to the end mounted to the dither base.
20. The apparatus of claim 18 wherein the control voltage source comprises plus and minus d.c. voltages, each applied to electrodes which overlap one half of a scallop on the scalloped edge of the proof mass.
21. The apparatus of claim 19 wherein the plus and minus d.c. control voltage is applied to electrodes adjacent to each scallop on the proof mass.
22. A method for nulling quadrature in an angular rate sensor having a dither mass within an X-Y plane and a proof mass mounted within the dither mass for rotational movement about a Z axis of the X-Y plane, the steps of the method comprising:
applying vibration driving signals to the dither mass to vibrate the dither mass and the proof mass at a combined resonant frequency about the Z axis; and
applying a restoring force to the proof mass which is in phase with its dithered displacement.
23. The method of claim 21 wherein the restoring force is applied by d.c. signals.
24. The method of claim 21 wherein the restoring force is applied by a.c. signals.
25. The method of claim 21 wherein the applying of a restoring force comprises:
applying a bias voltage to the proof mass;
applying a plus or minus control voltage to electrodes adjacent to the proof mass; and
adjusting the control voltage to null the quadrature.
26. The method of claim 23 wherein the control voltage is a plus and minus d.c. voltage applied to top and bottom electrodes adjacent to the proof mass at fixed locations.
27. The method of claim 21 wherein said proof mass has a scalloped edge around a portion of its perimeter.
28. The method of claim 25 wherein the restoring force is applied by d.c. signals.
29. The method of claim 25 wherein the applying of a restoring force comprises:
applying a bias voltage to the proof mass;
applying a plus or minus d.c. control voltage to electrodes adjacent to the scalloped edge of the proof mass; and
adjusting the d.c. control voltage to null the quadrature.
30. The method of claim 27 wherein the d.c. control voltage is a plus and minus voltage, each applied to electrodes which overlap one half of a scallop on the scalloped edge of the proof mass.
31. The method of claim 28 wherein the plus and minus d.c. control voltage is applied to electrodes adjacent to each scallop on the proof mass.
32. The method of claim 29 wherein the plus and minus d.c. control voltages are applied to electrodes at both top and bottom sides of the proof mass adjacent to each scallop of the proof mass.
33. An apparatus for nulling the quadrature in an angular rate sensor having a dither mass and a proof mass, the apparatus comprising:
a dither mass mounted for motion in an X-Y plane;
the proof mass mounted within the dither mass for rotational movement about a Z axis of the X-Y plane;
a source of bias voltage applied to the proof mass; and
a source of d.c. control voltage applied to electrodes adjacent to the edge of the proof mass for providing a restoring force to the proof mass which is in phase with its dither displacement.
34. The apparatus of claim 31 wherein the d.c. control voltage source comprises plus or minus d.c. voltages.
35. The apparatus of claim 31 wherein the proof mass has a scalloped edge around a portion of its perimeter.
36. The apparatus of claim 33 wherein the plus and minus d.c. control voltage is applied to electrodes adjacent to each scallop on the proof mass.
37. The method of claim 34 wherein the plus and minus d.c. control voltage is applied to electrodes which overlap one half of a scallop on the scalloped edge of the proof mass.
38. An apparatus for nulling the quadrature in a coriolis angular rate sensor, comprising:
a dither mass flexurally mounted within a frame for vibrating in an X-Y plane;
a proof mass mounted within said dither base for oscillating about a Z axis of the X-Y plane;
a source of bias voltage applied to the proof mass; and
a source of d.c. control voltage applied to electrodes adjacent to the proof mass for providing a restoring force to the oscillating proof mass which is in phase with its displacement.
39. The apparatus of claim 36 wherein the source of d.c. control voltage comprises plus or minus d.c. voltages.
40. The apparatus of claim 36 wherein the proof mass has a scalloped edge around a portion of its perimeter.
41. The apparatus of claim 38 wherein the control voltage source comprises plus and minus d.c. voltages, each applied to electrodes which overlap one half of a scallop on the scalloped edge of the proof mass.
42. The apparatus of claim 39 wherein the plus and minus d.c. control voltage is applied to electrodes adjacent to each scallop on the proof mass.
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EP02759137A EP1412698A1 (en) 2001-07-25 2002-06-04 Phase insensitive quadrature nulling method and apparatus for coriolis angular rate sensors
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