WO2000045127A1 - Gyroscope vibrant - Google Patents
Gyroscope vibrant Download PDFInfo
- Publication number
- WO2000045127A1 WO2000045127A1 PCT/FR2000/000210 FR0000210W WO0045127A1 WO 2000045127 A1 WO2000045127 A1 WO 2000045127A1 FR 0000210 W FR0000210 W FR 0000210W WO 0045127 A1 WO0045127 A1 WO 0045127A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- vibrating
- masses
- cylinder
- gyroscope according
- wall
- Prior art date
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Classifications
-
- 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
- G01C19/567—Turn-sensitive devices using vibrating masses, e.g. vibratory angular rate sensors based on Coriolis forces using the phase shift of a vibration node or antinode
- G01C19/5691—Turn-sensitive devices using vibrating masses, e.g. vibratory angular rate sensors based on Coriolis forces using the phase shift of a vibration node or antinode of essentially three-dimensional vibrators, e.g. wine glass-type vibrators
Definitions
- the present invention relates to a vibrating gyroscope intended to measure angular rotations with precision.
- This gyroscope has the advantage, compared to techniques generally used, of being more efficient while remaining compact and simple to produce, therefore of low cost.
- Vibrating gyroscopes are based on the effect of Coriolis forces due to a rotation imposed on moving masses.
- the most frequently used method consists in vibrating a body of test of revolution, cylindrical, hemispherical or annular, perpendicular to its axis of symmetry and to observe the displacement of the modes of vibration when it is subjected to a rotation around said axis. .
- the main difficulty comes from the compromise which must be made between the resonant frequency which increases with the reduction in overall dimensions and the time constant which determines the performance. and which is all the better the lower the resonant frequency. It is, for example, practically impossible to produce a cylindrical test body with a thin wall, of a volume less than 2 cm, and whose resonance frequency is less than 6 kHz. However, it would be desirable to have small test bodies resonating only between 2 and 3 kHz to obtain very improved performance.
- the second difficulty stems from the production of the vibration excitation and measurement device, it being understood that the term excitation designates all the commands necessary for the proper functioning of these gyroscopes.
- the solutions proposed to date for creating, detecting and maintaining vibration are mainly of an electromagnetic, electrostatic or piezoelectric nature.
- Electrostatic solutions have interesting performances, especially when they are used under vacuum to reduce losses. Because they require very small air gaps, they are difficult to implement inside or outside of a cylindrical or hemispherical wall and are therefore generally expensive.
- the piezoelectric solutions use either a cylinder, made entirely of piezoelectric material, or small piezoelectric elements added, by bonding most often, on a metal cylinder. These solutions have the major drawback, in the use of a gyrometer for which they are in principle suitable, of not allowing adjustment of the excitation axis relative to the vibrating body which generally has a preferred direction for which the performances are optimum.
- the means of detecting and exciting the vibrations of certain embodiments are of different nature and as far as possible distant from each other.
- US Patent 4,793,195 describes, for example, a vibrating cylinder gyroscope provided with an electrostatic detection and magnetically excited at frequency half its vibration frequency to reduce these effects.
- French patent application 97/12129 describes a gyrometer with multiplied excitation and magnetic detection which solves well the difficulty of crosstalk between excitation and detection but whose performance is limited by the resonant frequency which remains high.
- the present invention provides an improvement which makes it possible, in a given space, to choose the resonant frequency and which, by its very principle, offers new possibilities for producing, in an economical and simple manner, means of electromagnetic excitation and detection or electrostatic.
- the test body of revolution with thin wall, comprises at its periphery regularly distributed masses, separated by intervals, and which increase the mass in motion when said test body is excited in vibration. Openings can be made in the thin wall of the cylinder, not covered by the masses, to adjust the stiffness of the holding of these masses and therefore the resonance frequency. This makes it possible to greatly reduce the resonance frequency of said test body and therefore to increase performance.
- the invention therefore relates to a vibrating gyroscope of the type comprising:
- the vibrating element of revolution comprises at least three and preferably eight masses forming vibrating masses and preferably constituted by thickenings of the vibrating element itself.
- FIG. 1 is a block diagram showing the operation of a vibrating gyroscope
- FIG. 2 is a side section view of the vibrating gyroscope according to the invention.
- FIG. 3 is a view in axial section, in direction A, of the vibrating gyroscope of FIG. 2,
- FIG. 4 is a side section view of the vibrating gyroscope of FIG. 2, in a variant with excitation and electrostatic detection,
- FIG. 5 is a presentation in two views of a variant of the test body of the vibrating gyroscope of FIG. 2,
- FIG. 6 is a side section view of the variant of the test body of FIG. 5,
- FIG. 7 is a presentation in two views of a preferred variant of the test body of the vibrating gyroscope of FIG. 2,
- FIG. 8 is a side sectional view of the variant of the test body of FIG. 7
- FIG. 9 is a side section view of a variant of the gyroscope of FIG. 2 using the test body of FIG. 7 and a set of plane electromagnetic excitation-detection,
- FIG. 10 is a view in axial section, in direction A, of the variant of the gyroscope of FIG. 9,
- FIG. 11 is a side sectional view of a variant of the gyroscope of FIG. 9 using a plane electrostatic excitation-detection assembly
- FIG. 12 is a block diagram of the electronic and electrical circuits of the vibrating gyroscope according to the invention in the multiplexing version of the detection and excitation functions, suitable for the gyroscopes with electrostatic excitation and detection of FIGS. 4 and 11.
- a vibrating gyroscope comprises a test body 1, having an axis of symmetry 6, cylindrical for example, FIG. 1 a, but which can be hemispherical or have any other form of revolution , and which is excited in vibration, Figure lb, in two initial directions 2 and 3, perpendicular to each other and to the axis 6 of the test body 1, so that it appears four nodes 4 and four bellies 5 of vibrations, the displacements of the parts located on the vibration bellies being in phase opposition for the two initial directions of excitation 2 and 3.
- K K. ⁇ which depends on the geometry and the angular speed of the test body.
- the theoretical relationship K between the angular velocity of the test body and that of vibration knots also depends on the vibration mode. It is for example possible to vibrate the test body with six nodes and six vibration bellies, but the corresponding configuration is less favorable for gyroscopic measurement.
- the vibration nodes 4 are therefore not linked to the test body 1, but move, with respect to the latter, with an angular speed also proportional to the angular speed of the test body itself.
- Figure 2 shows, in sectional view, a preferred embodiment of the vibrating gyroscope according to the invention.
- the test body is produced in the form of a substantially cylindrical vibrating element or vibrating cylinder 1, having an axis of symmetry 6, a wall 11, open at one of its ends 12 and closed at its other end 13 by a wall forming a bottom 14.
- the wall 11 of the vibrating cylinder 1 is thin and regular over a part of its length 15 close to the bottom 14.
- Said bottom has an outer part 16 substantially of the same thickness as that of the wall 11 of the cylinder and in the center a thicker part 17.
- the wall 11 of the vibrating cylinder carries, over part of its height 18, near its open end 12, at least three and preferably eight thickeners or masses 19, regularly distributed, and whose shape can be any.
- these extra thicknesses 19 have a height, parallel to the axis of symmetry 6 of the test body, substantially equal to half the total height of said test body.
- Their section, as shown in FIG. 3, perpendicular to the axis of symmetry 6, is bordered towards the outside by an arc of a circle 20 centered on said axis of symmetry 6.
- the bottom 14 is itself fixed in its center, by an inner leg 25, on the support 7.
- the support 7, of revolution comprises a first part 26 whose diameter is such that it can receive the outer casing 8 and a second part comprising two successive decreasing diameters 27 and 28, the second of which is intended to serve as a support for the stator magnetic 9, on which are placed coils 30 on the one hand, and the vibrating cylinder 1 on the other.
- stator 9 is placed centered in the open end 12 of the vibrating cylinder 1 while providing an air gap 29 of thickness as reduced as possible.
- the magnetic exciter is produced in the form of an eight-pointed star 31 and therefore comprises eight poles 32 on which the windings 30 are placed.
- the gyroscope according to the invention operates as follows, first making the assumption that the losses are zero and that the vibrations once established conserve their energy.
- the vibrations are created at the start on two pairs of masses 23, 33 and 34, 35 for example, placed on two perpendicular axes 3 and 2, the other four masses 36 to 39 do not vibrating. In the absence of rotation, the vibrational state does not change.
- the effect of the Coriolis forces causes an energy transfer from the masses which initially vibrated towards those which did not vibrate so that the total energy is conserved.
- A A.cos [2 (lK ) .1 ⁇ .dt].
- b A.sin [2 (l-K) ⁇ .dt].
- the four masses 36, 37, 38 and 39 are kept stationary by sending a corresponding counter-reaction tension which comes to oppose the effects of Coriolis forces.
- This feedback tensoin is then representative of the angular speed ⁇ .
- the amplitude of vibration of the masses 23, 33, 34 and 35 is kept constant.
- the electromagnetic detection excitation assembly 9 can be replaced by an electrostatic detection excitation assembly 40.
- the stator 9 of Figure 2 is replaced by a ring 41 of insulating material on the periphery of which are deposited at least two electrodes 42 and preferably eight or more.
- the outside diameter of this ring is such that the electrodes are located opposite the inside face of the cylinder 1 with an air gap 29 as small as possible.
- a first variant of the invention consists in producing in the thin wall 11 of the vibrating cylinder openings 43 preferably regularly distributed and preferably centered substantially between the masses 19.
- FIG. 5a shows, in view on the side, a vibrating cylinder on which eight long and relatively fine openings 43 are pierced, the largest dimension of which is substantially parallel to the axis 6. These openings preferably descend to the thin part 16 of the bottom 14 of the vibrating cylinder.
- the height and the position of the additional masses are such that they exceed the height of the cylinder itself by forming slots on the side of the open end 12 of said cylinder 1.
- Figure 6 which is a sectional view of the vibrating cylinder described above, shows, by exaggerating it in relation to reality, the movement of two of the masses 19 under the effect of vibrations. Due to the forms retained and the position of the openings, it appears that the masses 19, by vibrating, in fact have a rotation movement substantially centered at a point 44 corresponding to the junction between the end 13 of the cylinder 1 and the wall thin plane 16.
- the figure 7 shows in side view Figure 7a and in top view, Figure 7b, a test body made in this way.
- the openings 43 are extended by grooves 46, preferably radial, on the bottom 14. These grooves 46 are preferably narrowed towards the center and the masses 19 are thus connected to the center by a part of cylindrical wall 47 and by a flat sector. 48 perpendicular to said cylindrical wall part 47, flat sector which has a narrowing 49 near the center.
- the openings 43 are extended on the wall 11, between the masses 19, in the direction of the end 12 of the vibrating cylinder 1 so that the remaining part of said wall 11 between said masses 19 is substantially reduced and constitutes a bridge elastic 79 between these masses.
- FIG. 8 also shows the displacement of the masses 19 in the configuration of FIG. 7. It appears that the translational movement 50, parallel to the axis 6, of the wedge 45 is much greater and that it can also be used to carry out the excitation and vibration detection with an excitation-detection system having a plane interface with the vibrating element, interface formed by the air gaps 29, as shown in FIG. 9.
- the shape of the elastic bridges 79 is determined so as to harmonize the different stiffnesses and to avoid creating parasitic resonant frequencies too close to the nominal frequency of the test specimen.
- FIG. 9 therefore shows, in section view, a first example of a gyroscope using this translational movement parallel to the axis 6 with an electromagnetic excitation-detection system having with the vibrating element an interface 83, of revolution, centered on axis 6 and preferably planar.
- the masses 19, having a large section perpendicular to the axis 6, can be produced with one end or face 51, located on the side of the open part 12 of the vibrating cylinder, flat and therefore usable with a simple electromagnet, the faces 51 of each of the masses 19 being substantially coplanar.
- the detection excitation assembly then comprises at least two, but preferably eight electromagnets 52 fixed on the support 7 and whose magnetic cores 53 each have a planar end 54. Said planar ends 54 are coplanar with each other and each placed in view of a flat end 51 of one of the masses 19 with an air gap 29 as small as possible, the air gaps 29 forming the interface 83.
- interface 83 could be slightly conical or even spherical, or more generally have a shape that is not completely flat, without departing from the scope of the invention.
- each of the electromagnets can comprise, as shown in FIG. 10, two short cores 53, with axes substantially parallel to the axis 6, each core preferably being placed at equal distance from said axis 6 , said cores being interconnected, preferably two by two, by a magnetic frame 55 fixed on the support 7, facing the flat face 51 of the masses 19.
- a coil 56 is placed around each of these cores 53.
- a plate 57 of low-loss magnetic material preferably having the same surface as the section of the masses 19, is fixed to each flat face 51 of the said masses and closes, through the air gap 29, a magnetic circuit consisting of a pair of cores 53 and their armature 55. The external face of the plate of magnetic material then constitutes the flat face 51.
- the gyroscope can advantageously use the multiplexing technique described in French patent application No. 97/12129. It can be used either as a gyroscope or a gyrometer.
- the vibrating cylinder of FIG. 7 also lends itself well to the use of an electrostatic detection excitation system with a flat interface, as shown in FIG. 11 which presents a gyroscope equipped with such a system.
- This system comprises an insulating ring 58 fixed on the support 7, facing the flat faces 51 of the masses 19.
- the vibrating cylinder is positioned on the support so that the air gap 29 between the electrodes and the faces 51, constituting the interface 83, is as small as possible.
- This latter variant preferably uses multiplexed electronics, the principle of which is presented in the diagram in FIG. 12 and which avoids any problem of crosstalk between the excitation signals and the detection signals.
- the electrodes 59 are used in turn to excite, then to detect the vibrations of each of the masses, knowing that it is also possible to specialize part of the electrodes for detection and use the others for excitation.
- the electrodes are connected in pairs, the electrodes of the same pair being placed symmetrically with respect to the axis 6.
- Each of the electrode pairs is connected to an inverter 79, 80, 81 and controlled by a sequencer 60.
- the inverters When the inverters are in position B, the system operates in detection mode. When they are in position C, it operates in excitation mode.
- the signals coming from the pairs of electrodes respectively 61, 65 and 63.67 on the one hand, 62, 61 and 64, 68 on the other hand, are sent, via two differential amplifiers, respectively 69 and 70, to a calculation circuit 71 which develops, on four outputs respectively, 73, 74 and 75, 76, four excitation voltages, in phase opposition two by two, and which are sent to the pairs of electrodes by via the inverters when these switch to the excitation C position.
- the calculation circuit 71 elaborates the excitation frequency so that it corresponds to the resonance frequency of the masses of the vibrating cylinder.
- the circuit 71 elaborates output information 72 which represents the rotation j ⁇ .dt of the gyroscope.
- the sequencer 60 is synchronized by the excitation frequency using a signal from the calculation circuit 71.
- the calculation circuit also makes the necessary corrections to errors caused by resonance deviations residual existing between the two modes of vibration located at 45 ° from each other.
- the calculation circuit controls the vibration of the masses located opposite the electrodes, 62.66 and 64.68, to be zero, both in phase and in quadrature and thus compensates for the differences in resonance.
- the operating frequency of the sequencer 60 is a sub-multiple of the natural frequency of the vibrating cylinder 1.
- the duty cycle of the switching between the excitation time and the detection time can be 1/1. It can also advantageously be 1/2, 1/3, 1/4 or even lower, this depending on the overvoltage of said vibrating cylinder.
- the switches from the excitation function to the detection function are preferably carried out at the time of the zero crossing of the voltage on the electrodes 61 to 68.
- the switches from the detection function to the excitation function are preferably carried out at the time of the zero crossing of the voltage control sinusoid in said electrodes.
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- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Gyroscopes (AREA)
Abstract
Description
Claims
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
AU23001/00A AU2300100A (en) | 1999-02-01 | 2000-01-31 | Vibrating gyroscope |
EP00901677A EP1151245A1 (fr) | 1999-02-01 | 2000-01-31 | Gyroscope vibrant |
BR0007873-5A BR0007873A (pt) | 1999-02-01 | 2000-01-31 | Giroscópio vibratório |
CA002361136A CA2361136A1 (fr) | 1999-02-01 | 2000-01-31 | Gyroscope vibrant |
US09/890,422 US6640630B1 (en) | 1999-02-01 | 2000-01-31 | Vibrating gyroscope |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR99/01074 | 1999-02-01 | ||
FR9901074A FR2789170B1 (fr) | 1999-02-01 | 1999-02-01 | Gyroscope vibrant |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2000045127A1 true WO2000045127A1 (fr) | 2000-08-03 |
Family
ID=9541423
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/FR2000/000210 WO2000045127A1 (fr) | 1999-02-01 | 2000-01-31 | Gyroscope vibrant |
Country Status (7)
Country | Link |
---|---|
US (1) | US6640630B1 (fr) |
EP (1) | EP1151245A1 (fr) |
AU (1) | AU2300100A (fr) |
BR (1) | BR0007873A (fr) |
CA (1) | CA2361136A1 (fr) |
FR (1) | FR2789170B1 (fr) |
WO (1) | WO2000045127A1 (fr) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP1541967A1 (fr) * | 2003-12-11 | 2005-06-15 | Sagem S.A. | Capteur de rotation inertiel à traitement isotrope |
Families Citing this family (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US8011245B2 (en) * | 2005-05-31 | 2011-09-06 | Innalabs Technologies, Inc. | Sensing element of coriolis force gyroscope |
UA79166C2 (en) * | 2005-05-31 | 2007-05-25 | Yurii Oleksiiovych Yatsenko | Detecting element of a vibratory gyroscope sensitive to coriolis acceleration |
US20100154542A1 (en) * | 2005-05-31 | 2010-06-24 | Innalabs Technologies, Inc. | Sensing element of coriolis force gyroscope |
US20070163346A1 (en) * | 2006-01-18 | 2007-07-19 | Honeywell International Inc. | Frequency shifting of rotational harmonics in mems devices |
JP4940035B2 (ja) * | 2007-07-06 | 2012-05-30 | セイコーインスツル株式会社 | 角速度センサ及び角速度センサの製造方法 |
US7992438B2 (en) * | 2007-11-28 | 2011-08-09 | Chung Shan Institute Of Science And Technology, Armaments Bureau, M.N.D. | Multiaxial gyroscope |
RU2445575C2 (ru) * | 2008-06-24 | 2012-03-20 | Симоненко Дмитрий Владимирович | Чувствительный элемент вибрационного кориолисова гироскопа |
FR2937413B1 (fr) | 2008-10-22 | 2010-11-26 | Sagem Defense Securite | Procede de commande d'un capteur a resonateur vibrant a demarrage rapide |
CN101846517B (zh) * | 2010-06-18 | 2011-11-30 | 中国人民解放军国防科学技术大学 | 杯形波动陀螺的杯形谐振子的机械平衡方法 |
US8806939B2 (en) * | 2010-12-13 | 2014-08-19 | Custom Sensors & Technologies, Inc. | Distributed mass hemispherical resonator gyroscope |
FR2969750B1 (fr) * | 2010-12-22 | 2013-02-08 | Sagem Defense Securite | Gyroscope vibrant et procede de fabrication |
US8991249B2 (en) * | 2011-05-23 | 2015-03-31 | Sagem Defense Securite | Vibrating gyroscope and treatment process |
US9188442B2 (en) | 2012-03-13 | 2015-11-17 | Bei Sensors & Systems Company, Inc. | Gyroscope and devices with structural components comprising HfO2-TiO2 material |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP0141621A2 (fr) * | 1983-10-31 | 1985-05-15 | General Motors Corporation | Capteur de rotation à vibrations |
US4793195A (en) * | 1986-10-20 | 1988-12-27 | Northrop Corporation | Vibrating cylinder gyroscope and method |
FR2739189A1 (fr) * | 1995-09-25 | 1997-03-28 | Salaberry Bernard Lucien Charl | Gyrometre vibrant |
Family Cites Families (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4951508A (en) * | 1983-10-31 | 1990-08-28 | General Motors Corporation | Vibratory rotation sensor |
ES2056580T3 (es) * | 1990-05-18 | 1994-10-01 | British Aerospace | Sensores inerciales. |
FR2769086B1 (fr) * | 1997-09-30 | 1999-12-03 | Salaberry Bernard Lucien Charl | Gyrometre vibrant a excitation et detection electromagnetique |
-
1999
- 1999-02-01 FR FR9901074A patent/FR2789170B1/fr not_active Expired - Fee Related
-
2000
- 2000-01-31 BR BR0007873-5A patent/BR0007873A/pt not_active Application Discontinuation
- 2000-01-31 AU AU23001/00A patent/AU2300100A/en not_active Abandoned
- 2000-01-31 CA CA002361136A patent/CA2361136A1/fr not_active Abandoned
- 2000-01-31 EP EP00901677A patent/EP1151245A1/fr not_active Withdrawn
- 2000-01-31 US US09/890,422 patent/US6640630B1/en not_active Expired - Fee Related
- 2000-01-31 WO PCT/FR2000/000210 patent/WO2000045127A1/fr not_active Application Discontinuation
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP0141621A2 (fr) * | 1983-10-31 | 1985-05-15 | General Motors Corporation | Capteur de rotation à vibrations |
US4793195A (en) * | 1986-10-20 | 1988-12-27 | Northrop Corporation | Vibrating cylinder gyroscope and method |
FR2739189A1 (fr) * | 1995-09-25 | 1997-03-28 | Salaberry Bernard Lucien Charl | Gyrometre vibrant |
Non-Patent Citations (1)
Title |
---|
See also references of EP1151245A1 * |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP1541967A1 (fr) * | 2003-12-11 | 2005-06-15 | Sagem S.A. | Capteur de rotation inertiel à traitement isotrope |
FR2863709A1 (fr) * | 2003-12-11 | 2005-06-17 | Sagem | Capteur de rotation inertiel a traitement isotrope |
US7093488B2 (en) | 2003-12-11 | 2006-08-22 | Sagem Sa | Vibrating resonator inertial rotation sensor |
Also Published As
Publication number | Publication date |
---|---|
BR0007873A (pt) | 2001-10-16 |
US6640630B1 (en) | 2003-11-04 |
AU2300100A (en) | 2000-08-18 |
CA2361136A1 (fr) | 2000-08-03 |
FR2789170B1 (fr) | 2001-02-23 |
EP1151245A1 (fr) | 2001-11-07 |
FR2789170A1 (fr) | 2000-08-04 |
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