WO2011013429A1 - 圧電体膜を用いた振動ジャイロ - Google Patents
圧電体膜を用いた振動ジャイロ Download PDFInfo
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- WO2011013429A1 WO2011013429A1 PCT/JP2010/058096 JP2010058096W WO2011013429A1 WO 2011013429 A1 WO2011013429 A1 WO 2011013429A1 JP 2010058096 W JP2010058096 W JP 2010058096W WO 2011013429 A1 WO2011013429 A1 WO 2011013429A1
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- electrode
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- ring
- vibration
- shaped vibrating
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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
- G01C19/567—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
- G01C19/5677—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 two-dimensional vibrators, e.g. ring-shaped vibrators
- G01C19/5684—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 two-dimensional vibrators, e.g. ring-shaped vibrators the devices involving a micromechanical structure
Definitions
- the present invention relates to a vibrating gyroscope using a piezoelectric film, that is, a gyroscope or an angular velocity sensor utilizing vibration. More specifically, the present invention relates to a vibrating gyroscope capable of measuring changes in angular velocity of up to three axes.
- the size reduction of the gyro itself is also an important issue, as the size of various devices on which the gyro is mounted is becoming smaller and smaller.
- it is necessary to significantly increase the processing accuracy of each member constituting the gyro.
- it is a demand of the industry to further improve the performance as a gyro, in other words, the detection accuracy of angular velocity.
- the structure of the gyro shown in Patent Document 2 does not satisfy the demand for miniaturization and high performance in recent years.
- Patent Document 3 One of the technical ideas is proposed (Patent Document 3).
- the present invention solves the above-described technical problems, and achieves miniaturization and high performance of a vibrating gyroscope using a piezoelectric film capable of measuring an angular velocity with respect to one or more rotation axes, that is, a gyroscope or angular velocity sensor utilizing vibration.
- Contributes greatly to The inventors first adopted, as a basic structure, a ring-shaped vibrating gyroscope which is considered to have a relatively small influence on disturbance among the above-mentioned technical problems.
- the inventors of the present invention conducted intensive studies on a structure that solves each of the above-described technical problems by causing the piezoelectric film to bear excitation of primary vibration and detection of secondary vibration formed by Coriolis force.
- One vibration gyro comprises a ring-shaped vibrating body having a uniform plane, a leg portion for flexibly supporting the above-mentioned ring-shaped vibrating body, and the above-mentioned flat or the above-mentioned ring-shaped vibrating body And a plurality of electrodes formed of at least one of an upper metal film and a lower metal film which are placed above and sandwich the piezoelectric film in the thickness direction.
- the plurality of electrodes are: (1), (2) and (3) (1)
- N is a natural number of 2 or more, it excites the primary vibration of the above-mentioned ring-shaped vibrating body in the vibration mode of cos N ⁇ , and is arranged at angles separated by (360 / N) ° in the circumferential direction Drive electrodes, (2)
- one of the drive electrodes described above is a reference drive electrode and S is 0, 1,..., N, cos (generated when an angular velocity is given to the ring-shaped vibrating body described above)
- the secondary vibration of the vibration mode of N + 1) ⁇ is detected, and an angle separated from the above-mentioned reference drive electrode by [ ⁇ 360 / (N + 1) ⁇ ⁇ S] ° and from the above-mentioned reference drive electrode by ⁇ 360 / (N + 1) ⁇ ⁇ ⁇ S + (1/2) ⁇ ]
- a detection electrode disposed at least one of an angle apart, (3)
- the above-mentioned secondary vibration is suppressed based on the
- each of the drive electrodes in the above-described plane of the above-mentioned ring-shaped vibrating body, a region from the outer peripheral edge of the above-mentioned ring-shaped vibrating body to the vicinity of the above-mentioned outer peripheral edge Of the first electrode arrangement region including one or both of the region from the inner peripheral edge to the vicinity of the aforementioned inner peripheral edge, each of the aforementioned detection electrodes and each of the aforementioned suppression electrodes being While being arrange
- the piezoelectric element is formed as an electrode on the plane of the ring-shaped vibrating body and in the above-mentioned specific region. Therefore, excitation of the primary vibration and secondary vibration as a uniaxial angular velocity sensor Can be detected. That is, in this vibrating gyroscope, the piezoelectric element is not formed on the side surface of the ring-shaped vibrating body, and in the same plane (hereinafter referred to as the XY plane) on which the piezoelectric element on the ring-shaped vibrating body is disposed. The primary vibration is excited in the in-plane direction, and the movement of the ring oscillator is controlled.
- this vibration gyro detects an angular velocity of one axis (for example, X axis) using a vibration mode (hereinafter also referred to as an out-of-plane vibration mode) out of the plane where the piezoelectric element is disposed.
- a vibration mode hereinafter also referred to as an out-of-plane vibration mode
- the point that can be done is a great advantage.
- a plurality of examples of the vibration mode of cos N ⁇ are described, for example, in the aforementioned Patent Documents 4 to 6 or Japanese Patent Application No. 2007-209014 which is a patent application filed by the present applicant.
- “flexible” means “to the extent that the vibrating body can vibrate”.
- the expression “an angle away from the reference electrode” is used to describe the arrangement of the electrodes. The angle here is the value of the azimuth of each electrode when the azimuth of the reference electrode is 0 degree.
- the azimuth angle of each electrode is an arbitrary point taken on the circumference of the ring-shaped vibrating body or in the central part of the ring (for example, when the ring-shaped vibrating body is circular, it is, for example, the center of the circle) The center can be referred to as the "reference point") and the azimuth angle of a straight line from the electrode to the electrode.
- This straight line may be any straight line passing through each electrode, and typically passes through the graphic center, the center of gravity, or any vertex of each electrode and the reference point described above It can be straight.
- an electrode arranged at an angle of 30 ° from the reference drive electrode means that the center of the electrode and the center of the reference drive electrode form an angle of 30 ° with respect to the azimuth of the reference electrode.
- An electrode in an arrangement like this is also noted.
- the notation of the angle describes clockwise direction as the direction in which the angle increases, but even if the direction in which the angle increases is defined counterclockwise, as long as the defined angle conditions are satisfied. The notation of the angle is within the scope of the present invention.
- Another vibration gyro is a ring-shaped vibrating body having a uniform flat surface, a leg portion for flexibly supporting the above-mentioned ring-shaped vibrating body, and the above-mentioned flat surface of the above-mentioned ring-shaped vibrating body And a plurality of electrodes formed on at least one of the upper metal film and the lower metal film which are placed on or above and sandwich the piezoelectric film in the thickness direction.
- the plurality of electrodes are: (1), (2) and (3) (1)
- N is a natural number of 2 or more, it excites the primary vibration of the above-mentioned ring-shaped vibrating body in the vibration mode of cos N ⁇ , and is arranged at angles separated by (360 / N) ° in the circumferential direction Drive electrodes, (2)
- one of the drive electrodes described above is a reference drive electrode and S is 0, 1,..., N, cos (generated when an angular velocity is given to the ring-shaped vibrating body described above)
- the secondary vibration of the vibration mode of N + 1) ⁇ is detected, and an angle separated from the above-mentioned reference drive electrode by [ ⁇ 360 / (N + 1) ⁇ ⁇ ⁇ S + (1/4) ⁇ ° and the above-mentioned reference drive electrode
- a detection electrode disposed at an angle of at least one of [ ⁇ 360 / (N + 1) ⁇ ⁇ ⁇ S + (3/4) ⁇ ] degrees; (3)
- each of the drive electrodes described above in the above-mentioned plane of the above-mentioned ring-shaped vibrating body, a region from the outer peripheral edge of the above-mentioned ring-shaped vibrating body to the vicinity of the above-mentioned outer peripheral edge
- Each of the detection electrodes described above and each of the suppression electrodes described above are disposed on the first electrode arrangement region including one or both of the region extending from the inner peripheral edge of the body to the vicinity of the aforementioned inner peripheral edge. While being arrange
- the piezoelectric element is formed as an electrode in the above-mentioned specific region on the plane of the ring-shaped vibrating body, so that as an uniaxial angular velocity sensor, excitation of primary vibration and secondary vibration Detection is possible.
- the primary vibration is formed in the same plane as the plane (for example, XY plane) on which the piezoelectric element on the ring-shaped vibrating body is disposed without forming the piezoelectric element on the side surface of the ring-shaped vibrating body Since it has a structure that excites and controls the movement of the ring-shaped vibrating body, it becomes possible to process the electrode and the ring-shaped vibrating body with high accuracy using a dry process technology. Further, this vibrating gyroscope can be said to be a great advantage in that the angular velocity of one axis (for example, Y axis) can be detected using the out-of-plane vibration mode.
- the plane for example, XY plane
- Another vibration gyro is a ring-shaped vibrator having a uniform plane; Of the upper metal film and the lower metal film which are placed on or above the above-mentioned plane of the ring-shaped vibrating body and the above-mentioned flat portion of the ring-shaped vibrating body. And a plurality of electrodes formed by at least one of the above.
- the plurality of electrodes are: (1), (2) and (3) (1)
- N is a natural number of 3 or more
- the first vibration of the above-mentioned ring-shaped vibrating body is excited in the vibration mode of cos N ⁇ , and arranged at angles separated by (360 / N) ° in the circumferential direction Drive electrodes
- S is set to 0, 1,..., N-2
- the secondary vibration of the vibration mode of cos (N-1) ⁇ is detected, and an angle away from the above-mentioned reference drive electrode by [ ⁇ 360 / (N-1) ⁇ ⁇ S] ° and from the above-mentioned reference drive electrode
- a detection electrode disposed at an angle of at least one of ⁇ 360 / (N-1) ⁇ ⁇ ⁇ S + (1/2) ⁇ ° apart; (3)
- the aforementioned secondary vibration is suppressed based on the signal from the a
- each of the drive electrodes described above extends from the outer peripheral edge of the ring-shaped vibrating body to the vicinity of the outer peripheral edge in the above-described plane of the ring-shaped vibrating body A first electrode arrangement region including one or both of the region and the region from the inner peripheral edge of the ring-shaped vibrating body to the vicinity of the inner peripheral edge described above, and each of the detection electrodes described above
- each of the above-mentioned suppression electrode is arrange
- the piezoelectric element is formed as an electrode in the above-mentioned specific region on the plane of the ring-shaped vibrating body, so that as an uniaxial angular velocity sensor, excitation of primary vibration and secondary vibration Detection is possible.
- the primary vibration is formed in the same plane as the plane (for example, XY plane) on which the piezoelectric element on the ring-shaped vibrating body is disposed without forming the piezoelectric element on the side surface of the ring-shaped vibrating body Since it has a structure that excites and controls the movement of the ring-shaped vibrating body, it becomes possible to process the electrode and the ring-shaped vibrating body with high accuracy using a dry process technology. Moreover, this vibrating gyroscope can be said to be a great advantage in that the angular velocity of one axis (for example, X axis) can be detected using an out-of-plane vibration mode.
- the plane for example, XY plane
- Another vibration gyro is a ring-shaped vibrator having a uniform plane; Of the upper metal film and the lower metal film which are placed on or above the above-mentioned plane of the ring-shaped vibrating body and the above-mentioned flat portion of the ring-shaped vibrating body. And a plurality of electrodes formed by at least one of the above.
- the plurality of electrodes are: (1), (2) and (3) (1)
- N is a natural number of 3 or more
- the first vibration of the above-mentioned ring-shaped vibrating body is excited in the vibration mode of cos N ⁇ , and arranged at angles separated by (360 / N) ° in the circumferential direction Drive electrodes, (2)
- S is 0, 1, ..., N-2
- the cos occurs when an angular velocity is applied to the ring-shaped vibrating body described above.
- the secondary vibration of the vibration mode of (N-1) ⁇ is detected, and the angle separated by [ ⁇ 360 / (N-1) ⁇ ⁇ ⁇ S + (1/4) ⁇ ° from the above-mentioned reference drive electrode,
- the above-mentioned secondary vibration is suppressed based on the signal from the above-mentioned detection electrode, and it is separated from the above-mentioned reference drive electrode by [ ⁇ 360 / (N-1) ⁇ ⁇ ⁇ S + (1/4) ⁇ ] °
- a suppression electrode disposed at least one of the above-mentioned reference drive electrodes and an angle separated by [ ⁇ 360 / (N-1) ⁇ ⁇ ⁇ S + (3/4) ⁇ ° from the reference drive electrode described above] have.
- each of the detection electrodes described above and each of the suppression electrodes described above are disposed on the first electrode arrangement region including one or both of the region extending from the inner peripheral edge of the body to the vicinity of the aforementioned inner peripheral edge. While being arrange
- the piezoelectric element is formed as an electrode in the above-mentioned specific region on the plane of the ring-shaped vibrating body, so that as an uniaxial angular velocity sensor, excitation of primary vibration and secondary vibration Detection is possible.
- the primary vibration is formed in the same plane as the plane (for example, XY plane) on which the piezoelectric element on the ring-shaped vibrating body is disposed without forming the piezoelectric element on the side surface of the ring-shaped vibrating body Since it has a structure that excites and controls the movement of the ring-shaped vibrating body, it becomes possible to process the electrode and the ring-shaped vibrating body with high accuracy using a dry process technology. Further, this vibrating gyroscope can be said to be a great advantage in that the angular velocity of one axis (for example, Y axis) can be detected using the out-of-plane vibration mode.
- the plane for example, XY plane
- Another vibration gyro is a ring-shaped vibrating body having a uniform flat surface, a leg portion for flexibly supporting the above-mentioned ring-shaped vibrating body, and the above-mentioned flat surface of the above-mentioned ring-shaped vibrating body
- a plurality of electrodes are provided which are disposed above and which are formed of at least one of an upper metal film and a lower metal film sandwiching the piezoelectric film in the thickness direction.
- the plurality of electrodes are: (1) to (5) (1)
- N is a natural number of 2 or more, it excites the primary vibration of the above-mentioned ring-shaped vibrating body in the vibration mode of cos N ⁇ , and is arranged at angles separated by (360 / N) ° in the circumferential direction Drive electrodes
- one of the drive electrodes described above is a reference drive electrode and S is 0, 1,..., N, cos (generated when an angular velocity is given to the ring-shaped vibrating body described above)
- the first secondary vibration of the vibration mode of N + 1) ⁇ is detected, and the angle away from the above-mentioned reference drive electrode by [ ⁇ 360 / (N + 1) ⁇ ⁇ S] ° and the above-mentioned reference drive electrode by ⁇ 360 / (N + 1) ⁇ ⁇ ⁇ S + (1/2) ⁇ ] first detection electrode disposed at least at an angle apart
- the second secondary vibration of the vibration axis at an angle separated by ⁇ 90 / (N + 1) ⁇
- a region from the outer peripheral edge of the above-mentioned ring-shaped vibrating body to the vicinity of the above-mentioned outer peripheral edge It is disposed on a first electrode arrangement region including one or both of the region from the inner peripheral edge of the body to the vicinity of the aforementioned inner peripheral edge, and each of the aforementioned first detection electrodes, the aforementioned second detection
- Each of the electrodes, each of the first suppression electrodes described above, and each of the second suppression electrodes described above are disposed on the second electrode arrangement region and are not electrically connected to any of the drive electrodes described above It is done.
- the piezoelectric element is formed as an electrode on the plane of the ring-shaped vibrating body and in the above specific region, the excitation of the primary vibration and the secondary vibration as a biaxial angular velocity sensor Can be detected.
- the primary vibration is formed in the same plane as the plane (for example, XY plane) on which the piezoelectric element on the ring-shaped vibrating body is disposed without forming the piezoelectric element on the side surface of the ring-shaped vibrating body Since it has a structure that excites and controls the movement of the ring-shaped vibrating body, it becomes possible to process the electrode and the ring-shaped vibrating body with high accuracy using a dry process technology. Further, this vibrating gyroscope can be said to be a great advantage in that the angular velocity of two axes (for example, the X axis and the Y axis) can be detected using an out-of-plane vibration mode.
- the detection electrode is disposed at an angle of at least one of the angle away from the reference drive electrode and the angle away from the aforementioned reference drive electrode by ⁇ 360 / (N + 1) ⁇ ⁇ ⁇ S + (1/2) ⁇
- the first detection electrode is the above-mentioned suppression electrode, that is, the suppression electrode disposed at any one of the above angles is the first suppression electrode, and the above-mentioned secondary vibration is the first secondary vibration, the above-mentioned
- the plurality of electrodes further have the
- the above-mentioned detection electrode that is, one of the above-mentioned drive electrodes is used as a reference drive electrode, and S is set to 0, 1,.
- secondary vibration of the vibration mode of cos (N + 1) ⁇ generated when an angular velocity is given to the above-mentioned ring-shaped vibrating body is detected, and from the above-mentioned reference drive electrode, ⁇ 360 / (N + 1) ⁇ ⁇
- the detection electrode disposed at an angle of 2 is the second detection electrode, and the above-described suppression electrode, that is, the suppression electrode disposed at any of the above angles is a second suppression electrode, and the above-mentioned secondary vibration is a second secondary In the case of vibration, the plurality
- Another vibration gyro is a ring-shaped vibrating body having a uniform flat surface, a leg portion for flexibly supporting the above-mentioned ring-shaped vibrating body, and the above-mentioned flat surface of the above-mentioned ring-shaped vibrating body And a plurality of electrodes formed on at least one of the upper metal film and the lower metal film which are placed on or above and sandwich the piezoelectric film in the thickness direction.
- the first secondary vibration of the vibration mode of cos (N-1) ⁇ is detected, and the angle away from the aforementioned reference drive electrode by [ ⁇ 360 / (N-1) ⁇ ⁇ S] °, and the aforementioned reference drive
- a first detection electrode disposed at least one of an angle separated by [ ⁇ 360 / (N-1)] ⁇ ⁇ S + (1/2) ⁇ ° from the electrode; (3)
- each of the drive electrodes described above in the above-mentioned plane of the above-mentioned ring-shaped vibrating body, a region from the outer peripheral edge of the above-mentioned ring-shaped vibrating body to the vicinity of the above-mentioned outer peripheral edge It is disposed on the first electrode placement area including one or both of the area from the inner peripheral edge of the vibrator to the vicinity of the aforementioned inner peripheral edge,
- Each of the first detection electrodes described above, each of the second detection electrodes described above, each of the first suppression electrodes described above, and each of the second suppression electrodes described above are disposed on the second electrode arrangement region, It is made not to be electrically connected to the above-mentioned first electrode arrangement region.
- the piezoelectric element is formed as an electrode on the plane of the ring-shaped vibrating body and in the above specific region, the excitation of the primary vibration and the secondary vibration as a biaxial angular velocity sensor Can be detected.
- the primary vibration is formed in the same plane as the plane (for example, XY plane) on which the piezoelectric element on the ring-shaped vibrating body is disposed without forming the piezoelectric element on the side surface of the ring-shaped vibrating body Since it has a structure that excites and controls the movement of the ring-shaped vibrating body, it becomes possible to process the electrode and the ring-shaped vibrating body with high accuracy using a dry process technology. Further, this vibrating gyroscope can be said to be a great advantage in that the angular velocity of two axes (for example, the X axis and the Y axis) can be detected using an out-of-plane vibration mode.
- Another vibration gyro is a ring-shaped vibrator having a uniform plane; Of the upper metal film and the lower metal film which are placed on or above the above-mentioned plane of the ring-shaped vibrating body and the above-mentioned flat portion of the ring-shaped vibrating body. And a plurality of electrodes formed by at least one of the above.
- the plurality of electrodes are: (1) (1) When N is a natural number of 2 or more, it excites the primary vibration of the above-mentioned ring-shaped vibrating body in the vibration mode of cos N ⁇ , and is arranged at angles separated by (360 / N) ° in the circumferential direction
- the plurality of electrodes described above have at least one or both of the following (2) and (3): (2) When one of the drive electrodes described above is a reference drive electrode and S is 0, 1,..., N, cos (generated when an angular velocity is given to the ring-shaped vibrating body described above)
- the first secondary vibration of the vibration mode of N + 1) ⁇ is detected, and the angle away from the above-mentioned reference drive electrode by [ ⁇ 360 / (N + 1) ⁇ ⁇ S] ° and the above-mentioned reference drive electrode by ⁇ 360 / (N + 1) ⁇ ⁇ ⁇ S + (1/2) ⁇ ] first detection electrode disposed at at least one of an angle apart, (3) cos (N + 1) generated when
- a region from the outer peripheral edge of the above-mentioned ring-shaped vibrating body to the vicinity of the above-mentioned outer peripheral edge Is disposed on the first electrode placement area including one or both of the area from the inner peripheral edge of the body to the vicinity of the aforementioned inner peripheral edge,
- Each of the first detection electrodes described above and each of the second detection electrodes described above are disposed on the second electrode arrangement region, and are not electrically connected to any of the drive electrodes described above
- Each of the third detection electrodes described above and each of the suppression electrodes described above are disposed in the first electrode arrangement region and are not electrically connected to any of the drive electrodes described above.
- Another vibration gyro is a ring-shaped vibrator having a uniform plane; Of the upper metal film and the lower metal film which are placed on or above the above-mentioned plane of the ring-shaped vibrating body and the above-mentioned flat portion of the ring-shaped vibrating body. And a plurality of electrodes formed by at least one of the above.
- the plurality of electrodes are: (1) (1) When N is a natural number of 3 or more, the first vibration of the above-mentioned ring-shaped vibrating body is excited in the vibration mode of cos N ⁇ , and arranged at angles separated by (360 / N) ° in the circumferential direction
- the plurality of electrodes described above have at least one or both of the following (2) and (3): (2) When one of the drive electrodes described above is used as a reference drive electrode and S is set to 0, 1,..., N-2, it occurs when an angular velocity is applied to the ring-shaped vibrating body described above
- the first secondary vibration of the vibration mode of cos (N-1) ⁇ is detected, and the angle away from the aforementioned reference drive electrode by [ ⁇ 360 / (N-1) ⁇ ⁇ S] °, and the aforementioned reference drive
- a first detection electrode disposed at at least one of an angle separated by [ ⁇ 360 / (N ⁇ 1) ⁇ ⁇ ⁇ S + (1/2) ⁇ ° from the electrode; (3) cos ()
- a region from the outer peripheral edge of the above-mentioned ring-shaped vibrating body to the vicinity of the above-mentioned outer peripheral edge Is disposed on the first electrode placement area including one or both of the area from the inner peripheral edge of the body to the vicinity of the aforementioned inner peripheral edge,
- Each of the first detection electrodes described above and each of the second detection electrodes described above are disposed on the second electrode arrangement region, and are not electrically connected to any of the drive electrodes described above
- Each of the third detection electrodes described above and each of the suppression electrodes described above are disposed in the first electrode arrangement region and are not electrically connected to any of the drive electrodes described above.
- the piezoelectric element is formed as an electrode on the plane provided in the ring-shaped vibrating body and in the above-described unique region, excitation of the primary vibration and secondary vibration as a triaxial angular velocity sensor Vibration can be detected.
- the primary vibration is formed in the same plane as the plane (for example, XY plane) on which the piezoelectric element on the ring-shaped vibrating body is disposed without forming the piezoelectric element on the side surface of the ring-shaped vibrating body Is designed to detect and suppress secondary vibration of the ring-shaped vibrator on that surface, and to detect the movement of the ring-shaped vibrator in the direction away from that surface. It becomes possible to process an electrode and a ring-like vibrating body with high precision using it.
- this vibration gyro can detect angular velocities of two axes (for example, X axis and Y axis) using an out-of-plane vibration mode, and further, generates secondary vibration by angular velocity around Z axis. It can be said that it is a great advantage that detection can be made by feedback suppression, and both high S / N ratio and responsiveness can be achieved.
- the monitor electrode having the configuration of the following (8) is added to the plurality of electrodes in the one-axis, two-axis or three-axis vibration gyro described above, in particular, the ring-shaped vibrating body is miniaturized.
- L 0, 1,..., 2N-1
- the piezoelectric element is formed as an electrode in the above-mentioned specific region on the plane provided by the ring-shaped vibrator, so that the primary sensor is used as an angular velocity sensor of one to three axes. It is possible to excite vibration, detect secondary vibration, and suppress secondary vibration in at least one axis.
- the primary vibration is formed in the same plane as the plane (for example, XY plane) on which the piezoelectric element on the ring-shaped vibrating body is disposed without forming the piezoelectric element on the side surface of the ring-shaped vibrating body Since it has a structure that excites and controls the movement of the ring-shaped vibrating body, it becomes possible to process the electrode and the ring-shaped vibrating body with high accuracy using a dry process technology.
- this vibration gyro can detect angular velocities in one to three axes using secondary vibration detection means including an out-of-plane vibration mode.
- FIG. 1 is a front view of a structure that plays a central role in a ring-shaped vibrating gyroscope in an embodiment of the present invention.
- FIG. 2 is a cross-sectional view taken along line AA of FIG. It is sectional drawing which shows the process of the manufacturing process of a part of ring-shaped vibrating gyroscope in one embodiment of this invention. It is sectional drawing which shows the process of the manufacturing process of a part of ring-shaped vibrating gyroscope in one embodiment of this invention. It is sectional drawing which shows the process of the manufacturing process of a part of ring-shaped vibrating gyroscope in one embodiment of this invention.
- FIG. 1 is a front view of a structure that plays a central role in a ring-shaped vibrating gyroscope in an embodiment of the present invention.
- FIG. 1 is a front view of a structure that plays a central role in a ring-shaped vibrating gyroscope in an embodiment of the present invention.
- FIG. 1 is a front view of a structure that plays a central role in a ring-shaped vibrating gyroscope in an embodiment of the present invention. It is a front view of the structure which plays a central role of the ring-shaped vibrating gyroscope in other embodiment of this invention. It is a front view of the structure which plays a central role of the ring-shaped vibrating gyroscope in other embodiment of this invention.
- FIG. 6 is a cross-sectional view corresponding to FIG. 2 of a structure that plays a central role in a ring-shaped vibrating gyroscope in another embodiment of the present invention.
- FIG. 9 is a cross-sectional view taken along the line BB in FIG. 8; It is a front view of the structure which plays a central role of the ring-shaped vibrating gyroscope in other embodiment of this invention. It is a front view of the structure which plays a central role of the ring-shaped vibrating gyroscope in other embodiment of this invention. It is a front view of the structure which plays a central role of the ring-shaped vibrating gyroscope in other embodiment of this invention. It is a front view of the structure which plays a central role of the ring-shaped vibrating gyroscope in other embodiment of this invention.
- FIG. 1 is a front view of a structure that plays a central role in a ring-shaped vibrating gyroscope 100 that measures angular velocities in three axes in the present embodiment.
- FIG. 2 is a cross-sectional view taken along the line AA of FIG.
- the X-axis and the Y-axis are described in FIG. 1 for convenience of explanation.
- the ring-shaped vibrating gyroscope 100 of this embodiment is roughly classified into three configurations.
- a silicon oxide film 20 is provided on the upper surface (hereinafter referred to as the upper surface) of the ring-shaped vibrating member 11 formed of the silicon substrate 10, and the piezoelectric film 40 is a lower metal layer thereon.
- a plurality of electrodes 13a to 13h formed by being sandwiched between the film 30 and the upper metal film 50 is provided.
- the outer end or the inner end of the upper metal film 50 constituting the plurality of electrodes 13a to 13h is approximately from the outer peripheral edge or the inner peripheral edge of the ring-shaped vibrating body 11 having a ring-shaped flat about 40 ⁇ m wide. It is formed 1 ⁇ m inside and its width is about 18 ⁇ m. Also, among the upper metal films 50, some of the electrodes are outside the line connecting the centers between both ends of the width of the ring-shaped plane which is the upper surface of the ring-shaped vibrating body 11 (hereinafter referred to simply as the center line). The other electrodes are formed inside the center line.
- the primary vibration of the ring-shaped vibrating gyroscope 100 is excited in the in-plane vibration mode of cos 2 ⁇ shown in FIG. 20A.
- the vibration mode of the secondary vibration of this embodiment is the vibration mode of the out-of-plane of cos3 ⁇ shown on X axis shown in FIG. 20D and the vibration mode of the out-of-plane of cos3 ⁇ shown on FIG.
- the breakdown of the plurality of electrodes 13a to 13h described above is as follows. First, two drive electrodes 13a and 13a disposed at an angle of 180 ° in the circumferential direction are disposed.
- one of the two drive electrodes 13a and 13a described above (for example, the drive electrode 13a in the 12 o'clock direction of the watch in FIG. 1) is used as a reference electrode, the circumference from the drive electrode 13a
- Two monitor electrodes 13 h and 13 h are disposed at angles 90 ° and 270 ° apart from each other.
- the XY axis is determined along the plane on which the piezoelectric element on the ring-shaped vibrating body is disposed, that is, included in the paper surface in FIG.
- the first detection electrode 13b is disposed at an angle of 0 °, 120 °, and 240 ° in the circumferential direction from the reference electrode, which detects the secondary vibration generated when given.
- the first suppression electrode 13 j to which a signal for suppressing secondary vibration generated by the angular velocity around the X axis of the ring-shaped vibration gyroscope 100 is applied is a reference As viewed from the electrodes, they are disposed at angles of 60 °, 180 °, and 300 ° in the circumferential direction.
- the second detection electrodes 13d and 13e are circumferentially 30 ° from the reference electrode in order to detect secondary vibration generated when an angular velocity around the Y axis is given. , 90 °, 150 °, 210 °, 270 ° and 330 ° apart.
- the Z-axis of the ring-shaped vibrating gyroscope 100 that is, the axis perpendicular to the plane on which the ring-shaped vibrating gyroscope 100 shown in FIG.
- Third detection electrodes 13 f and 13 g are arranged to detect secondary vibration generated when an angular velocity around “Z axis” is given.
- the third detection electrodes 13f and 13g of the present embodiment are disposed at an angle of 45 °, 135 °, 225 °, and 315 ° in the circumferential direction from the reference electrode.
- the thickness of the lower metal film 30 and the upper metal film 50 is 100 nm, and the thickness of the piezoelectric film 40 is 3 ⁇ m. Also, the thickness of the silicon substrate 10 is 100 ⁇ m.
- the region in which each electrode is disposed is classified into two.
- One of the drive electrodes is disposed in a region from the outer periphery of the upper surface of the ring-shaped vibrating body 11 to the vicinity of the outer periphery and / or a region from the inner periphery to the vicinity of the inner periphery It is an area of 13a and an area of the third detection electrodes 13f, 13g. This is taken as a first electrode arrangement region.
- the other is the upper surface of the ring-shaped vibrating body 11, and is disposed so as not to be in electrical contact with the first electrode arrangement region.
- the first detection electrode 13b, the first suppression electrode 13j, and the second detection electrode 13 d and 13 e and third detection electrodes 13 f and 13 g This is taken as a second electrode arrangement region. More specifically, the first detection electrode 13b, the first suppression electrode 13j, the second detection electrodes 13d and 13e, and the third detection electrodes 13f and 13g are electrically connected to both of the two drive electrodes 13a and 13a described above. It is arranged not to connect to.
- the second configuration is the leg portions 15 to 15 connected to a part of the ring-shaped vibrating body 11.
- the leg portions 15 to 15 are also formed of the silicon substrate 10. Further, on the leg portions 15,..., 15, the above-mentioned silicon oxide film 20, lower metal film 30, and piezoelectric film 40 which are continuous with those on the ring-shaped vibrating body 11 are leg portions 15,.
- ⁇ ⁇ Are formed on the entire top surface of 15 Further, on the upper surface of the piezoelectric film 40, an upper metal film 50 which is a lead-out electrode 14,...
- a plurality of lead electrodes 14 are formed on four leg portions 15 to 15 among the 16 leg portions 15 to 15. These were created in order to secure a path for drawing out to each of the electrode pads 18 on the columns 19 from the electrodes arranged in the region from the outer peripheral edge of the ring-shaped vibrating body 11 to the vicinity of the outer peripheral edge.
- the lead-out electrodes 14 and 14 are formed from both ends of the second detection electrodes 13d and 13e. Even when the lead-out electrodes 14 and 14 are formed from only one side of each of the second electrode detections 13d and 13e, the function as the vibrating gyroscope is not lost.
- the third configuration is a support 19 formed of a silicon substrate 10 connected to the above-described legs 15.
- the support 19 is connected to the package portion of the ring-shaped vibrating gyroscope 100 (not shown) and plays a role as a fixed end.
- the support 19 is provided with electrode pads 18,.
- the above-mentioned silicon oxide film 20 continuous with those on the leg portions 15,.
- the metal film 30 and the piezoelectric film 40 are formed.
- the lower metal film 30 formed on the silicon oxide film 20 plays a role of the fixed potential electrode 16.
- the above-described lead electrodes 14,..., 14 and the electrode pad 18, which are continuous with those on the leg portions 15,. ..., 18 are formed.
- FIGS. 3A to 3F are cross-sectional views corresponding to a partial range in FIG.
- a silicon oxide film 20, a lower metal film 30, a piezoelectric film 40, and an upper metal film 50 are stacked on a silicon substrate 10.
- Each film described above is formed by a known film forming means.
- the silicon oxide film 20 is a thermal oxide film by a known means.
- the lower metal film 30, the piezoelectric film 40, and the upper metal film 50 are all formed by a known sputtering method.
- membranes is not limited to the above-mentioned example, It can form also by another well-known means.
- each electrode shown in FIG. 3B is formed by performing dry etching based on the pattern formed by the photolithography technique.
- dry etching of the upper metal film 50 is performed under known reactive ion etching (RIE) conditions using argon (Ar) or a mixed gas of argon (Ar) and oxygen (O 2).
- RIE reactive ion etching
- the piezoelectric film 40 is dry etched based on the resist film patterned by the photolithography technique.
- the dry etching of the piezoelectric film 40 according to the present embodiment can be performed by using a known reactive ion etching using a mixed gas of argon (Ar) and C 2 F 6 gas or a mixed gas of argon (Ar), C 2 F 6 gas, and CHF 3 gas (RIE is performed under the conditions.
- a part of the lower metal film 30 is etched.
- dry etching is performed again using the resist film patterned by photolithography so that the fixed potential electrode 16 using the lower metal film 30 is formed.
- the fixed potential electrode 16 is used as a ground electrode.
- the dry etching of the lower layer metal film 30 of the present embodiment is performed under known reactive ion etching (RIE) conditions using argon (Ar) or a mixed gas of argon (Ar) and oxygen (O 2).
- RIE reactive ion etching
- the thickness of this resist film is about 4 ⁇ m. Is formed.
- the selection ratio of the etching rate to the etchant used for the silicon substrate 10 works advantageously, so the upper metal film is formed by the above-mentioned etching. The performances of the piezoelectric film 40 and the lower metal film 30 are not substantially affected.
- the ring-shaped vibrating body 11 is formed from the silicon substrate, a known silicon trench etching technique having a sufficiently high selectivity to the resist film can be applied. Even if the resist film disappears, the upper metal film or the piezoelectric film under the film has a sufficient selectivity to serve as a mask in etching of silicon.
- the silicon oxide film 20 and the silicon substrate 10 are dry etched using the resist film for etching the lower metal film 30.
- the dry etching of the silicon oxide film 20 according to the present embodiment was performed under known reactive ion etching (RIE) conditions using argon (Ar) or a mixed gas of argon (Ar) and oxygen (O 2). Further, as a condition of the dry etching of the silicon substrate 10 of the present embodiment, a known silicon trench etching technique is applied. Here, the silicon substrate 10 is etched through.
- RIE reactive ion etching
- a protective substrate for preventing the stage on which the silicon substrate 10 is mounted is exposed to plasma during penetration is adhered to the lower layer of the silicon substrate 10 by grease or the like excellent in heat conductivity.
- the dry etching technique described in Japanese Patent Application Laid-Open No. 2002-158214 is It is a preferred embodiment to be employed.
- the central structure of the ring-shaped vibrating gyroscope 100 is formed by etching the silicon substrate 10 and the respective films stacked on the silicon substrate 10, the step of containing in a package by known means; By passing through the wiring process, the ring-shaped vibrating gyroscope 100 is formed. Therefore, according to the vibrating gyroscope 100, the primary vibration of the in-plane is generated only by the piezoelectric element formed on the plane of the ring-shaped vibrating member 11 without forming the piezoelectric element on the side surface of the ring-shaped vibrating member 11. Excitation and detection of up to three axes of out-of-plane and in-plane secondary vibrations are possible. As a result, it becomes possible to manufacture the vibrating gyroscope 100 using the above-mentioned dry process technology that can be mass-produced with high accuracy and low cost.
- each electrode provided in the ring-shaped vibrating gyroscope 100 will be described.
- the primary vibration of the in-plane cos 2 ⁇ vibration mode is excited. Since the fixed potential electrode 16 is grounded, the lower layer electrode film 30 formed continuously with the fixed potential electrode 16 is uniformly at 0V.
- an alternating voltage of 1VP-0 is applied to the two drive electrodes 13a, 13a.
- the piezoelectric film 40 expands and contracts to excite primary vibration.
- the upper metal film 50 is formed outside the center line of the upper surface of the ring-shaped vibrating body 11 in a front view. Therefore, even if the piezoelectric element is not formed on the side surface of the ring-shaped vibrating body 11, it is possible to convert the expansion and contraction movement of the piezoelectric film 40 into the primary vibration of the ring-shaped vibrating body 11.
- the actual alternating current power supply 12 is applied to the drive electrode 13a via the electrode pad 18 connected to the conductive wire, it is omitted in the present embodiment and other embodiments for the convenience of description.
- monitor electrodes 13 h and 13 h shown in FIG. 1 detect the amplitude and resonance frequency of the above-mentioned primary vibration, and transmit a signal to a known feedback control circuit (not shown).
- the feedback control circuit of the present embodiment controls the frequency of the AC voltage applied to the drive electrodes 13a and 13a to match the natural frequency of the ring-shaped vibrating body 11 using the signals of the monitor electrodes 13h and 13h.
- the amplitude of the ring-shaped vibrating body 11 is controlled to be a constant value. As a result, in the ring-shaped vibrating body 11, a constant vibration is sustained.
- the secondary vibration is detected by the two detection electrodes (third detection electrodes) 13 f and 13 f and the other two detection electrodes (third detection electrodes) 13 g and 13 g.
- each of the detection electrodes 13f and 13g is disposed corresponding to the vibration axis of the secondary vibration of the in-plane.
- the detection electrodes 13 f and 13 g described above are formed inside the center line of the top surface of the ring-shaped vibrating body 11. Therefore, the positive and negative of the electrical signal of each detection electrode 13f, 13g generated by the secondary vibration of the in-plane which is excited by receiving the angular velocity is reversed. This is because, as shown in FIG.
- the angle of the third detection electrode 13f disposed inside the center line The piezoelectric film 40 of the second embodiment shrinks in the direction of the arrow shown in A1, while the piezoelectric film 40 of the angle of the third detection electrode 13g disposed inside the center line extends in the direction of the arrow shown in A2. Their electrical signals are reversed.
- the piezoelectric film 40 at the angle of the third detection electrode 13f extends in the direction of the arrow shown in B1.
- the piezoelectric films 40 at the angle of the third detection electrode 13g shrink in the direction of the arrow shown in B2, so that their electrical signals are reversed in this case as well.
- the difference between the electric signals of the third detection electrodes 13 f and 13 g is calculated in an arithmetic circuit which is a known difference circuit.
- the detection signal has about twice the detection capability as compared to either of the detection electrodes.
- This secondary vibration is detected by the three detection electrodes (first detection electrodes) 13b, 13b and 13b.
- the detection electrodes 13 b are disposed corresponding to the vibration axes of secondary vibrations in the out-of-plane cos 3 ⁇ mode.
- each detection electrode 13b described above is formed outside or inside the center line on the upper surface of the ring-shaped vibrating body 11, but the embodiment of the present invention is not limited to this. Absent.
- the detection electrode 13b in the 12 o'clock direction is replaced with the drive electrode 13a in the 12 o'clock direction, and three first Of the suppression electrodes 13j, 13j, and 13j, an arrangement may be used in which the first suppression electrode 13j in the 6 o'clock direction is replaced with the drive electrode 13a in the 6 o'clock direction. Even in this case, in the secondary vibration (FIG.
- the signals output by the three detection electrodes 13b, 13b, and 13b are signals of the same phase.
- the secondary vibration can be appropriately detected, and such secondary vibration can be appropriately suppressed by the voltage applied to the three first suppression electrodes 13j, 13j, 13j.
- the above-described detection electrodes 13 b can be arranged so as to include the center line in the plane of the ring-shaped vibrating body 11.
- This aspect is a further preferable aspect because distortion of the piezoelectric film is least likely to occur due to in-plane primary vibration or secondary vibration corresponding to the Z-axis, as compared with the above-described electrode arrangement.
- each detection electrode 13b is detected by a known circuit capable of detecting a voltage.
- the ring-shaped vibrating gyroscope 100 cancels the voltage signal related to the secondary vibration detected by the first detection electrodes 13b, that is, makes the value of the voltage signal zero.
- the first secondary vibration suppression feedback control circuit 62 instructs or controls the voltage applied to the first suppression electrode 13j.
- a voltage value to be applied to the first suppression electrode 13 j or a value corresponding to the voltage is used.
- the vibration axis means an orientation such that the amplitude of the described vibration is the largest, and is indicated by the direction on the ring-shaped vibrating body.
- positions of 0 °, 60 °, 120 ° 180 °, 240 °, and 300 ° are the vibration axes taking a direction counterclockwise from 12 o'clock direction of the clock. .
- the secondary vibration is detected by the three detection electrodes (second detection electrodes) 13d, 13d and 13d and the other three detection electrodes (second detection electrodes) 13e, 13e and 13e.
- the detection electrodes 13d and 13e are respectively disposed corresponding to the vibration axis of the out-of-plane secondary vibration.
- the detection electrodes 13d and 13e described above are formed outside the center line of the upper surface of the ring-shaped vibrating body 11, but the present invention is not limited to this.
- the above-described detection electrodes 13d and 13e be arranged to include a center line that hardly causes distortion of the piezoelectric film due to in-plane primary vibration or secondary vibration corresponding to the Z axis. It is an aspect.
- the positive and negative electric signals of the detection electrodes 13d and 13e generated by the out-of-plane secondary vibration excited by receiving the angular velocity are reversed.
- the difference between the electric signals of the detection electrodes 13d and 13e is calculated in an arithmetic circuit which is a known difference circuit.
- the detection signal has about twice the detection capability as compared to either of the detection electrodes.
- the first suppression electrode 13 j for suppressing the secondary vibration based on the voltage signal from the first detection electrode 13 b is provided, and the secondary control by the first secondary vibration suppression control circuit 62 is performed there. Apply an electrical signal that suppresses vibration.
- the ring-shaped vibrating gyroscope 100 is a vibrating gyroscope with almost no secondary vibration generated in the ring-shaped vibrating body 11 due to the angular velocity around the X axis, ie, secondary vibration in a mode as shown in FIG. 20D. Can demonstrate its performance.
- the ring-shaped vibrating gyroscope 100 of the present embodiment is extremely excellent in noise performance as compared with a vibrating gyroscope not provided with the first suppression electrode 13 j and the first feedback control circuit for secondary vibration suppression.
- the ring-shaped vibrating gyroscope 100 according to the present embodiment is compared with an example (a vibrating gyroscope according to the first embodiment) described in PCT / JP2009 / 052960 previously proposed by the applicant of the present application. Then, the magnitude of the noise in the low frequency region in the detection of the angular velocity around the X axis becomes half or less. Therefore, in the detection of the angular velocity around the X axis, the S / N ratio can be dramatically improved without sacrificing responsiveness.
- a well-known feedback control circuit can be applied to the first secondary vibration suppression feedback control circuit 62 described above.
- the names of the first detection electrode to the third detection electrode are given to the detection electrodes that detect each of the three axes that are targets of angular velocity detection.
- the name of the detection electrode for the axis may be given one non-overlapping name among the first detection electrode to the third detection electrode.
- FIG. 4 is a front view of a structure that plays a central role in the ring-shaped vibrating gyroscope 110 that measures triaxial angular velocities.
- a third suppression electrode 13p for suppressing secondary vibration generated when an angular velocity around the Z-axis is given is used.
- the first suppression electrodes 13j in the ring-shaped vibrating gyroscope 100 of the embodiment shown in FIG. 1 are not used, and the first detection electrodes 13c are used at their angles.
- detection of the angular velocity around the X axis is also performed using an arithmetic circuit that is a known difference circuit, similarly to detection of the angular velocity around the Y axis of the ring vibrating gyroscope 100.
- the difference between the electrical signals of the electrodes 13b and 13c is calculated.
- the third suppression electrode 13p is disposed at an angle of 135 ° and 315 ° in the circumferential direction from the reference electrode described in the 12 o'clock direction in the figure, and the ring-shaped vibration in FIG. It is arranged to replace the third detection electrode 13g of the gyro 100.
- a third secondary vibration suppression feedback control circuit 64 is connected to the third suppression electrode 13p.
- An output signal from the third detection electrode 13 f is input to the third secondary vibration suppression feedback control circuit 64.
- a known feedback control circuit can be used as the third secondary vibration suppression feedback control circuit 64.
- the third secondary vibration suppression feedback control circuit 64 cancels the voltage signal related to the secondary vibration detected by the third detection electrode 13f, in other words, makes the values of those voltage signals zero. It indicates or controls the voltage applied to the third suppression electrode 13p. As a result output of the angular velocity around the Z axis as a vibrating gyroscope, a voltage value to be applied to the third suppression electrode 13p or a value corresponding to the voltage is used.
- the secondary vibration corresponding to the angular velocity around the Z-axis (secondary vibration shown in FIG. 20B as in the first embodiment described above suppresses the secondary vibration corresponding to the angular velocity around the X-axis) Vibration) is suppressed. Therefore, in the measurement of the angular velocity around the Z-axis, both the S / N ratio and the response can be realized.
- FIG. 5 is a front view of a structure that plays a central role in the ring-shaped vibrating gyroscope 120 that measures triaxial angular velocities.
- a suppression electrode is used to suppress secondary vibration generated when angular velocity around the X, Y, and Z axes is given.
- the electrode arrangement in the plane of the ring-shaped vibrating body 11 in the ring-shaped vibrating gyroscope 120 of the present modification will be described with reference to a change from the ring-shaped vibrating gyroscope 100 of the embodiment shown in FIG.
- the first suppression electrodes are formed at angles separated by 60 °, 180 ° and 300 ° in the circumferential direction from the reference electrode.
- the third suppression electrode 13p is also used to suppress the secondary vibration generated by the angular velocity around the Z axis.
- the arrangement of the third suppression electrode 13 p is the same as that of the ring-shaped vibrating gyroscope 110.
- the second suppression electrode 13m is disposed in order to suppress the secondary vibration generated by the angular velocity around the Y axis.
- the arrangement of the second suppression electrode 13m is such that the circumferential direction from the reference electrode is at an angle of 90 °, 210 °, and 330 ° apart, so as to replace the second detection electrode 13b of the ring-shaped vibrating gyroscope 100 of FIG. Will be placed.
- the third two The next vibration suppression feedback control circuit 64 is connected to the third suppression electrode 13p, and the second secondary vibration suppression feedback control circuit 63 is connected to the second suppression electrode 13m.
- the first secondary vibration suppressing feedback control circuit 62 and the third secondary vibration suppressing feedback control circuit 64 operate in the same manner as the ring-shaped vibrating gyroscopes 100 and 110, respectively.
- the second secondary vibration suppression feedback control circuit 63 cancels the voltage signal related to the secondary vibration (secondary vibration in FIG. 20E) detected by the second detection electrode 13d, in other words, The voltage applied to the second suppression electrode 13m is instructed or controlled so that the value becomes zero. As a result output of the angular velocity around the Y axis, a voltage value to be applied to the second suppression electrode 13m or a value corresponding to the voltage is used.
- FIG. 6 is a front view of a structure that plays a central role in a ring-shaped vibrating gyroscope 300 obtained by partially modifying the first embodiment.
- the ring-shaped vibrating gyroscope 300 of the present embodiment has the same configuration as the ring-shaped vibrating gyroscope 100 of the first embodiment except for the upper metal film 50 in the first embodiment. Moreover, the manufacturing method is the same as that of the first embodiment except for a part. Furthermore, the vibration mode of the primary vibration and the vibration mode of the secondary vibration of the present embodiment are the same vibration modes as those of the first embodiment. Therefore, the description overlapping with the first embodiment is omitted.
- the detection electrodes 13b, 13c, 13d, and 13g, and the second suppression electrode 13m are disposed one by one. Further, as shown in FIG. 6, the first detection electrodes 13b and 13c extend to a range in which the electrode region exceeds the center line. Even with such an arrangement of the detection electrodes, the effects of the present invention are substantially exhibited. That is, the presence of each of the detection electrodes 13b, 13c, 13d and 13g allows detection of the angular velocity using the out-of-plane vibration mode of three axes, that is, two axes (X axis and Y axis). The angular velocity can be detected using the in-plane vibration mode of (Z axis).
- a second secondary vibration suppression feedback control circuit (not shown) is connected to the second suppression electrode 13m.
- a signal from the second detection electrode 13 d is input to the second secondary vibration suppression feedback control circuit.
- the second feedback control circuit for secondary vibration suppression cancels the voltage signal related to the secondary vibration (secondary vibration in FIG. 20E) generated by the angular velocity around the Y axis detected by the second detection electrode 13d.
- the voltage given to the second suppression electrode 13m is instructed or controlled based on the output of the second detection electrode 13d so as to make the values of those voltage signals zero.
- a voltage value to be applied to the second suppression electrode 13m or a value corresponding to the voltage is used.
- the first detection electrodes 13b and 13c are arranged so as to include the center line.
- the reason for this is that the distortion of the piezoelectric film is the least likely to occur due to the primary vibration or the secondary vibration that is the in-plane vibration mode.
- the first detection electrodes 13b and 13c described above are arranged so as to be symmetrical with respect to the central line because the direction of strain is reversed with respect to the central line. Is one more preferable mode.
- the second electrode arrangement region in which the detection electrodes 13b, 13c, 13d, and 13m are arranged is defined as the region of the upper surface of the ring-shaped vibrating body 11 not in electrical contact with the first electrode arrangement region. Be done.
- the electrode areas of the first detection electrodes 13b and 13c alone are increased as compared with those of the first embodiment. It is preferable that such first detection electrodes 13b and 13c be disposed symmetrically with respect to the vibration axis of the secondary vibration (secondary vibration in FIG. 20D) detected by these electrodes. Moreover, although the electrode area of only the first detection electrodes 13 b and 13 c is increased in the present embodiment, the present invention is not limited to this. For example, by increasing the area of the drive electrode, the area of the monitor electrode, or the area of the other detection electrodes, it is a preferable embodiment that the drive ability or the detection ability is improved.
- the leg portion 15 in which the extraction electrode 14 is not formed is present, but the present embodiment is not limited to this.
- the leg portion 15 in which the extraction electrode 14 is not formed is eliminated, the same effect as that of the present embodiment is exerted.
- the absence of the disordered leg portion 15 may cause a problem in the uniform vibration of the ring-shaped vibrating body 11, it is preferable to have a structure in which only the leg portion 15 located at a position to be allocated to be apart by an equal angle is eliminated.
- FIG. 7 is a front view of a structure that plays a central role in a ring-shaped vibrating gyroscope 310 obtained by modifying a part of the first embodiment.
- the ring-shaped vibrating gyroscope 310 of the present embodiment has the same configuration as the ring-shaped vibrating gyroscope 100 of the first embodiment except for the upper metal film 50 in the first embodiment, and in particular, the ring-shaped vibrating gyroscope
- the first detection electrode 13c in 300 is replaced with a first suppression electrode 13j.
- a first secondary vibration suppression feedback control circuit (not shown) is connected to the first suppression electrode 13 j.
- a signal from the first detection electrode 13 b is input to the first secondary vibration suppression feedback control circuit.
- the first feedback control circuit for secondary vibration suppression cancels the voltage signal related to the secondary vibration (secondary vibration in FIG.
- the voltage applied to the first suppression electrode 13j is instructed or controlled so that the value of the voltage signal becomes zero.
- a voltage value applied to the first suppression electrode 13 j or a value corresponding to the voltage is used.
- the S / N ratio and responsiveness can be made compatible.
- FIG. 8 is a cross-sectional view corresponding to FIG. 2 of a structure that plays a central role in a ring-shaped vibrating gyroscope 400 in which a portion of the first embodiment is modified.
- the piezoelectric film 40 is etched in conformity with the region where the upper metal film 50 is substantially formed. For this reason, since the alternating voltage applied to the upper metal film 50 is applied only vertically downward without being affected by the region in which the lower metal film 30 is formed, undesired expansion and contraction of the piezoelectric film 40 and an electric signal are generated. Can be prevented.
- the residual resist film on the upper layer metal film 50 or the metal film 50 itself is used as an etching mask, and subsequently, under the same conditions as the first embodiment.
- the above-described piezoelectric film 40 is formed by performing dry etching. Further, as shown in FIG.
- the piezoelectric film 40 is etched in an inclined shape (for example, an inclination angle of 75 °).
- the piezoelectric film 40 having a steep slope as shown in FIG. 8 is substantially invisible in the front view of the ring-shaped vibrating gyroscope 100 shown in FIG. Handled.
- the aspect in which the piezoelectric film 40 disclosed in this embodiment is etched can be applied to at least all the embodiments of the present application.
- the first detection electrodes 13b and 13c for measuring the angular velocity in the X axis and the second detection electrodes for measuring the angular velocity in the Y axis By arranging only 13 d and 13 e on the ring-shaped vibrating body 11, a vibrating gyroscope that detects biaxial angular velocity is manufactured. That is, by selecting detection electrodes corresponding to two axes of the first to third detection electrodes, it is possible to obtain a vibrating gyroscope that detects biaxial angular velocity.
- the first detection electrode 13b by arranging only one first detection electrode (for example, 13b) among the first detection electrodes 13b and 13c on the ring-shaped vibrating body 11, and using the first suppression electrode 13j, the first The secondary vibration due to the angular velocity around the X axis can be suppressed by the output of the detection electrode 13b.
- the same concept as described above is also applied to the structure of a vibrating gyroscope capable of detecting an angular velocity of one axis.
- a vibrating gyroscope capable of detecting an angular velocity of one axis.
- a vibrating gyroscope that detects an angular velocity of one axis can be manufactured.
- FIG. 9 is a front view of a structure that plays a central role in a ring-shaped vibrating gyroscope 500 which is a partial modification of the first embodiment.
- FIG. 10 is a cross-sectional view taken along the line BB in FIG.
- the fixed end 60 is formed around the ring-shaped vibrating body 11 via the groove or the leg portion 17. Further, on the leg portion 17 and the fixed end 60, the lead-out electrode 14 and the electrode pad 18 having the drive electrodes 13a and 13a and the second detection electrodes 13d and 13e as starting points are formed. Furthermore, since the lead-out electrode 14 on the leg 17 is formed, the lead-out electrode 14 and the electrode pad 18 on the leg 15 and the fixed end 19 are removed.
- the ring-shaped vibrating gyroscope 500 of the present embodiment has the same configuration as that of the first embodiment except for the points described above.
- the manufacturing method is the same as that of the first embodiment except for a part.
- the vibration mode of the primary vibration and the vibration mode of the secondary vibration of the present embodiment are the same vibration modes as those of the first embodiment. Therefore, the description overlapping with the first embodiment is omitted.
- an AC power supply connected to the drive electrodes 13a, 13a is not shown in order to make the drawing easy to see.
- the fixed end 60 and the leg portion 17 connecting the fixed end 60 and the ring-shaped vibrating body 11 in the ring-shaped vibrating gyroscope 500 of the present embodiment a plurality of lead electrodes are formed on the leg portion 15 inside the ring-shaped vibrating body 11 There is no need to place fourteen. Therefore, the risk of a short circuit between the lead electrodes due to a defect in the manufacturing process can be greatly reduced. As shown in FIG. 9, since the lead-out electrode 14 is connected to the central part of the width of each electrode, the bias of the electric signal from the drive electrodes 13a and 13a and the second detection electrodes 13d and 13e in the first embodiment is It does not occur. On the other hand, by forming the fixed end 60, the size of the vibrating gyroscope becomes larger than that of the first embodiment.
- the first suppression electrode 13j since the first suppression electrode 13j is used, it is possible to suppress the secondary vibration generated by the angular velocity around the X axis.
- FIG. 11 is a front view of a structure that plays a central role in the ring-shaped vibrating gyroscope 600 that measures angular velocity in another three axes in the present embodiment.
- the ring-shaped vibrating gyroscope 600 of this embodiment includes a drive electrode 13a, a monitor electrode 13h, a first detection electrode 13b in the first embodiment, a first suppression electrode 13j, second detection electrodes 13d and 13e, and a third detection electrode 13f. , 13g, and the same configuration as the ring-shaped vibrating gyroscope 100 of the first embodiment except for the arrangement of some of the detection electrodes and the arrangement and number of the AC power supplies 12.
- the manufacturing method is the same as that of the first embodiment. Therefore, the description overlapping with the first embodiment is omitted.
- the vibration mode of the primary vibration of this embodiment is a vibration mode of cos 3 ⁇ of the in-plane shown in FIG. 21A.
- the vibration mode of the secondary vibration of this embodiment includes the vibration mode of the out-of-plane of cos 2 ⁇ in the X axis shown in FIG. 21B and the vibration of the out-of-plane in cos 2 ⁇ of the Y axis shown in FIG. They are the mode and the in-plane vibration mode of cos 3 ⁇ of one axis (Z axis) shown in FIG. 21D.
- the outer end of the upper metal film 50 constituting the plurality of electrodes 13a to 13h has a ring-shaped vibrating body 11 having a ring-shaped flat having a width of about 40 ⁇ m. Is formed about 1 .mu.m inward from the outer peripheral edge, and its width is about 18 .mu.m. Further, the upper metal film 50 is formed outside or inside the center line.
- the primary vibration of the ring-shaped vibrating gyroscope 600 is excited in the in-plane vibration mode of cos 3 ⁇ .
- the vibration mode of the secondary vibration of the present embodiment is a vibration mode shown in FIGS. 21B to 21D.
- the breakdown of the plurality of electrodes 13a to 13h described above is as follows. First, three drive electrodes 13a, 13a, 13a arranged at an angle of 120 ° in the circumferential direction are arranged. When one of the three drive electrodes 13a, 13a and 13a described above (for example, the drive electrode 13a in the 12 o'clock direction of the watch in FIG. 11) is used as a reference electrode, the drive electrode 13a is used.
- Three monitor electrodes 13h, 13h and 13h are disposed in the circumferential direction at angles of 60 °, 180 ° and 300 °. Further, when the plane on which the piezoelectric element on the ring-shaped vibrating member is disposed, in other words, the sheet surface in FIG. 11 is an XY plane, when the angular velocity around the X axis is given to the ring-shaped vibrating gyroscope 600
- the first detection electrode 13 b is disposed at an angle of 0 ° and 180 ° in the circumferential direction from the reference electrode, which detects secondary vibration generated in the image.
- the first suppression electrode 13 j is disposed in the circumferential direction from the reference electrode and in the 90 ° and 270 ° directions.
- the second detection electrodes 13d and 13e are circumferentially 45 ° from the reference electrode, Located at angles of 135 °, 225 °, and 315 °. Furthermore, the ring-shaped vibrating gyroscope 600 has an axis perpendicular to the Z-axis, ie, a plane on which the ring-shaped vibrating gyroscope 600 shown in FIG.
- Third detection electrodes 13 f and 13 g are arranged to detect secondary vibration generated when an angular velocity around the axis “) is given.
- the third detection electrodes 13f and 13g of the present embodiment are disposed circumferentially from the reference electrode at angles of 30 °, 90 °, 150 °, 210 °, 270 °, and 330 °.
- each electrode provided in the ring-shaped vibrating gyroscope 600 will be described.
- the primary vibration of the in-plane cos 3 ⁇ vibration mode is excited. Since the fixed potential electrode 16 is grounded, the lower layer electrode film 30 formed continuously with the fixed potential electrode 16 is uniformly at 0V.
- an alternating voltage of 1VP-0 is applied to the three drive electrodes 13a, 13a, 13a.
- the piezoelectric film 40 expands and contracts to excite primary vibration.
- the upper metal film 50 is formed outside the center line of the upper surface of the ring-shaped vibrating member 11, the upper metal film 50 is not formed on the side surface of the ring-shaped vibrating member 11. It becomes possible to convert the stretching movement into the primary vibration of the ring-shaped vibrating body 11.
- monitor electrodes 13h, 13h and 13h shown in FIG. 11 detect the amplitude and resonance frequency of the above-mentioned primary vibration, and transmit a signal to a known feedback control circuit (not shown).
- the feedback control circuit of this embodiment controls so that the frequency of the AC voltage applied to the drive electrodes 13a, 13a, 13a matches the natural frequency of the ring-shaped vibrating body 11, and the amplitude of the ring-shaped vibrating body 11.
- the control is performed using the signals of the monitor electrodes 13h, 13h and 13h so as to have a certain fixed value. As a result, the ring-shaped vibrating body 11 maintains a constant vibration.
- the secondary vibration is detected by the three detection electrodes (third detection electrodes) 13f, 13f and 13f and the other three detection electrodes (third detection electrodes) 13g, 13g and 13g. Also in this embodiment, as in the first embodiment, the difference between the electric signals of the third detection electrodes 13f and 13g is calculated in an arithmetic circuit which is a known difference circuit. As a result, the detection signal has about twice the detection capability as compared to either of the detection electrodes.
- This secondary vibration is detected by the two detection electrodes (first detection electrodes) 13b. Then, the output signal is input to a first secondary vibration suppression feedback control circuit (not shown), and an output from the first secondary vibration suppression feedback control circuit is input to the first suppression electrode 13 j. .
- the detection electrodes 13b and the first suppression electrodes 13j are respectively disposed corresponding to the vibration axis of the out-of-plane secondary vibration.
- each detection electrode 13 b and the first suppression electrode 13 j described above are formed inside the center line of the upper surface of the ring-shaped vibrating body 11, but the present invention is not limited to this.
- each detection electrode 13 b and the first suppression electrode 13 j described above are arranged to include a central line that is the least likely to cause distortion of the piezoelectric film due to primary vibration and secondary vibration that are in-plane vibration modes. Is a preferred embodiment. Furthermore, in each of the detection electrodes 13b and the first suppression electrodes 13j described above, in the in-plane vibration mode, the direction of strain is reversed with respect to the central line, so that they have a symmetrical shape with respect to the central line. It is a further preferred aspect to be disposed.
- the electrical signals of the two first detection electrodes 13b generated by the out-of-plane secondary vibration excited upon receiving the angular velocity are essentially the same. It becomes a waveform signal.
- an alignment error occurs with the pattern forming each electrode and the pattern forming the ring-shaped vibrating body 11 to some extent.
- the first detection electrode 13b in the 12 o'clock direction and the first detection electrode 13b in the 6 o'clock direction are offset from each other with respect to the ring-shaped vibrating body 11 in reverse.
- the first detection electrode 13b in the 12 o'clock direction is shifted to the outer peripheral edge side of the ring-shaped vibrating body 11
- the first detection electrode 13b in the 6 o'clock direction is shifted to the inner peripheral edge side.
- the positions on the plane of the ring-shaped vibrating body 11, in particular, the radial displacements of the annular ring are mutually offset.
- This property is preferable because it means that the absolute value of the output is less susceptible to an alignment error when the electric signals detected by the first detection electrodes 13 b and 13 b are connected in parallel and taken out.
- the secondary vibration is detected by the two detection electrodes (second detection electrodes) 13d and 13d and the other two detection electrodes (second detection electrodes) 13e and 13e.
- the detection electrodes 13d and 13e are arranged corresponding to the vibration axis of the out-of-plane secondary vibration.
- the detection electrodes 13d and 13e described above are formed inside the center line of the upper surface of the ring-shaped vibrating body 11, but the present invention is not limited to this.
- each of the detection electrodes 13d and 13e described above be disposed so as to include a center line at which distortion of the piezoelectric film is least likely to occur due to the primary vibration or secondary vibration that is the in-plane vibration mode. It is an aspect. Further, in the in-plane vibration mode, the direction of strain is reversed with respect to the center line, and therefore, it is a further preferable mode to be arranged so as to be symmetrical with respect to the center line.
- the detection electrodes 13d and 13e of the present embodiment By the arrangement of the detection electrodes 13d and 13e of the present embodiment, the positive and negative of the electrical signals of the detection electrodes 13d and 13e generated by the out-of-plane secondary vibration excited by receiving the angular velocity are reversed. Therefore, in the arithmetic circuit which is a known difference circuit, the difference between the electric signals of the detection electrodes 13d and 13e is calculated. As a result, the detection signal has about twice the detection capability as compared to either of the detection electrodes.
- the names of the first detection electrode to the third detection electrode are given to the detection electrodes that detect each of the three axes for which the angular velocity is to be detected.
- the name of the detection electrode for the axis may be given one non-overlapping name among the first detection electrode to the third detection electrode.
- FIG. 12 is a front view of a structure that plays a central role in a ring-shaped vibrating gyroscope 610 that measures triaxial angular velocity.
- the ring-shaped vibrating gyroscope 610 of this modification uses third suppression electrodes 13p, 13p, 13p for suppressing secondary vibration generated when an angular velocity around the Z axis is given.
- the first suppression electrodes 13j in the ring-shaped vibrating gyroscope 600 of the embodiment shown in FIG. 11 are not used, and the first detection electrodes 13c are used at their angles.
- the detection of the angular velocity around the X axis is also performed using an arithmetic circuit that is a known difference circuit, similarly to the detection of the angular velocity around the Y axis of the ring vibrating gyroscope 600.
- the difference between the electrical signals of the electrodes 13b and 13c is calculated.
- the third suppression electrode 13p is disposed at an angle of 90 °, 210 °, and 330 ° in the circumferential direction from the reference electrode described in the 12 o'clock direction in FIG. It is arranged to replace the third detection electrode 13g of the ring-shaped vibrating gyroscope 600. Then, a third secondary vibration suppression feedback control circuit (not shown) is connected to the third suppression electrode 13p. An output signal from the third detection electrode 13 f is input to the third secondary vibration suppression feedback control circuit.
- a well-known feedback control circuit can be used as the third secondary vibration suppression feedback control circuit in the same manner as in the above embodiments.
- the third secondary vibration suppression feedback control circuit cancels the voltage signal related to the secondary vibration detected by the third detection electrode 13f, in other words, makes the values of those voltage signals zero. 3) Indicate or control the voltage applied to the suppression electrode 13p. As a result output of the angular velocity around the Z axis as a vibrating gyroscope, a voltage value to be applied to the third suppression electrode 13p or a value corresponding to the voltage is used.
- the secondary vibration corresponding to the angular velocity around the Z axis (the secondary vibration shown in FIG. 21D), as in the first embodiment described above, in which the secondary vibration corresponding to the angular velocity around the X axis is suppressed. Vibration) is suppressed. Therefore, in the measurement of the angular velocity around the Z-axis, both the S / N ratio and the response can be realized.
- FIG. 13 is a front view of a structure that plays a central role in a ring-shaped vibrating gyroscope 620 that measures triaxial angular velocity.
- a suppression electrode is used to suppress secondary vibration generated when angular velocity around the X, Y, and Z axes is given.
- the arrangement of electrodes on the plane of the ring-shaped vibrating body 11 in the ring-shaped vibrating gyroscope 620 of this modification will be described with reference to a change from the ring-shaped vibrating gyroscope 600 of the embodiment shown in FIG.
- the modification from the ring-shaped vibrating gyroscope 100 is the same as the explanation of the configuration of the ring-shaped vibrating gyroscope 120 of the modification (2) of the first embodiment. That is, in the ring-shaped vibrating gyroscope 620, the first suppressing electrode 13j similar to the ring-shaped vibrating gyroscope 600 of the embodiment shown in FIG. 11 is used, the second suppressing electrode 13m is used, and the above-described modified example (1) A third suppression electrode 13p similar to that of the ring-shaped vibrating gyroscope 610 is used.
- the first, second, and third suppression electrodes 13j, 13m, and 13p are used for the first, second, and third secondary vibration suppression, respectively.
- a feedback control circuit is connected. Signals from the first, second and third detection electrodes 13b, 13d and 13f are input to the first, second and third feedback control circuits for secondary vibration suppression.
- the voltage signal related to the secondary vibration (secondary vibration in FIGS. 17B, 17C, and 17D) detected by the first, second, and third detection electrodes 13b, 13d, and 13f is canceled.
- a voltage is applied to the first, second and third suppression electrodes.
- N is a natural number of 2 or more or 3 or more
- one of the drive electrodes 13 a is used as a reference drive electrode
- M 0, 1,.
- each monitor electrode 13 h is from the reference drive electrode, Arrangement is made so as to avoid arrangement of angles other than (180 / N) ⁇ ⁇ L + (1/2) ⁇ ° in the circumferential direction or arrangement symmetrical to the position of the angle.
- each monitor electrode 13 h is also arranged to avoid an arrangement that is symmetrical with respect to the center line in the ring width direction.
- FIG. 14B another example is a ring-shaped vibrating gyroscope 720 shown in FIG. 14B.
- the monitor electrodes 13h and 13h of the ring-shaped vibrating gyroscope 720 are arranged such that two of the monitor electrodes 13h,..., 13h of the ring-shaped vibrating gyroscope 700 of FIG. 14A are removed.
- the same effects as in the first embodiment can be obtained.
- FIG. 14C Another example is a ring-shaped vibrating gyroscope 740 shown in FIG. 14C.
- the monitor electrodes 13h and 13h of the ring-shaped vibrating gyroscope 740 are arranged such that the other two of the monitor electrodes 13h,..., 13h of the ring-shaped vibrating gyroscope 700 of FIG. 14A are removed. .
- the same effects as in the first embodiment can be obtained.
- FIG. 14D another example is a ring-shaped vibrating gyroscope 760 shown in FIG. 14D.
- the monitor electrodes 13h and 13h of the ring-shaped vibrating gyroscope 760 are arranged such that two other monitor electrodes of the monitor electrodes 13h,..., 13h of the ring-shaped vibrating gyroscope 700 in FIG. 14A are removed. It is done.
- the same effects as in the first embodiment can be obtained.
- FIG. 14E another example is a ring-shaped vibrating gyroscope 780 shown in FIG. 14E.
- Some of the monitor electrodes 13 h,..., 13 h of the ring-shaped vibrating gyroscope 780 are arranged on the region from the inner peripheral edge of the ring-shaped vibrating body 11 to the center line.
- the electrode area of the second detection electrode 13d is reduced.
- the monitor electrodes 13 h,..., 13 h shown in FIG. 14E at least a part of the effect of the first embodiment is exerted.
- the ring-shaped vibrating gyroscope 100 of the first embodiment is preferable to the ring-shaped vibrating gyroscope 760 shown in FIG. 14E.
- a region from the outer peripheral edge of the ring-shaped vibrating body 11 to the center line so that some or all of the monitor electrodes 13 h,..., 13 h are not symmetrical with respect to the center line. Even if disposed above, the same effects as in the first embodiment can be obtained.
- each monitor electrode 13 h is a reference drive electrode. From an angle other than (180 / N) ⁇ ⁇ L + (1/2) ⁇ ° in the circumferential direction, or an arrangement that is symmetrical with respect to the position of that angle. Ru.
- each monitor electrode 13 h is also arranged to avoid an arrangement that is symmetrical with respect to the center line. The reason is that the distortions are canceled because the distortion directions are opposite to each other.
- FIG. 15 is a front view of a structure that plays a central role in the ring-shaped vibrating gyroscope 900 that measures the angular velocity in three axes in the present embodiment.
- the electrodes are disposed also in the planar region including the center line, and in the annular portion of the ring-shaped vibrating body, a portion from the inner peripheral edge to the vicinity of the inner peripheral edge Electrodes are disposed in three parts including a line and a part from the outer peripheral edge to the vicinity of the outer peripheral edge.
- the ring-shaped vibrating gyroscope 900 suppresses secondary vibration caused by angular velocity with respect to all of the X-axis, Y-axis and Z-axis.
- the drive electrode 13a, the monitor electrode 13h, the third detection electrode 13f, and the third suppression electrode which are electrodes involved in in-plane vibration (excitation vibration, secondary vibration due to angular velocity around the Z axis).
- 13p is disposed at a portion from the inner periphery to the vicinity of the inner periphery and at a portion from the outer periphery to the vicinity of the outer periphery, and an electrode involved in out-of-plane vibration (secondary vibration due to angular velocity around X and Y axes)
- the first and second detection electrodes 13 b and 13 d and the first and second suppression electrodes 13 j and 13 m may be disposed in a portion including the center line.
- a signal for driving, a detection signal, and a signal for suppression are respectively generated between the in-plane vibration and the out-of-plane vibration. Is less likely to be associated with an unintended vibration, which is a preferred embodiment.
- FIG. 16 shows the electrode arrangement of a ring-shaped vibrating gyroscope 910 of a modified example of the ring-shaped vibrating gyroscope 900, in which the suppression of secondary vibration is used only for the angular velocity around the Z axis. Also in this case, as described above, between the in-plane vibration and the out-of-plane vibration, the signal for driving, the detection signal, and the signal for suppression each have an unintended vibration and It becomes difficult to relate, and it becomes one preferable aspect.
- the ring of the modified example in which the suppression of the secondary vibration deformed so as to enhance the detection accuracy of the angular velocity around the Z axis is used only for the angular velocity around the Z axis.
- 12 shows the electrode arrangement of the ring-shaped vibrating gyroscope 920.
- the detection electrode 13g is also used, and further, in addition to the suppression electrode 13p as the third suppression electrode, a suppression electrode 13q is also used.
- the ring-shaped vibrating gyroscope 1000 shown here differs from the ring-shaped vibrating gyroscope 900 in the electrode arrangement in the portion from the inner peripheral edge to the vicinity of the inner peripheral edge and in the portion from the outer peripheral edge to the vicinity of the outer peripheral edge. That is, an electrode involved in primary vibration, that is, a drive electrode 13a and a monitor electrode 13h are disposed in the portion from the outer peripheral edge to the vicinity of the outer peripheral edge, and in the portion from the inner peripheral edge to the vicinity of the inner peripheral edge An electrode involved in the next vibration, that is, a third detection electrode 13 f and a third suppression electrode 13 p are disposed.
- a wide range of the electrodes that is, a wide range in the angular direction can be secured, so excitation of the primary vibration is facilitated, and detection and suppression of secondary vibration by angular velocity around the Z axis are facilitated.
- These are advantageous for achieving both high S / N ratio and responsiveness in detection of angular velocity not only around Z axis but also around X axis and Y axis.
- each above-mentioned embodiment is explained by the oscillating gyroscope which used the annular vibrator, it may be a polygonal vibrator instead of annular.
- a regular polygonal oscillator such as a regular hexagon, a regular octagon, a regular dodecagon, and a regular icosagon
- it may be a vibrating body such as a dodecagon-shaped vibrating body 111 of the ring-shaped vibrating gyroscope 800 shown in FIG.
- a ring-shaped vibrating body in which the outer peripheral edge or the inner peripheral edge is a polygon having a point-symmetrical shape or an n-fold symmetrical shape (n is an arbitrary natural number) in front view of the vibrating body, the vibration of the vibrating body It is preferable from the viewpoint of the stability of time.
- the “annular ring” includes an elliptical shape. Also, in FIG. 19, unlike FIG. 1 and the like, the leg portion and the support are not illustrated in order to make the drawing easy to see.
- the ring-shaped vibrating gyroscope which uses silicon as a base material is adopted in each above-mentioned embodiment, it is not limited to this.
- the base material of the vibrating gyroscope may be germanium or silicon germanium.
- adoption of silicon or silicon germanium can greatly contribute to improvement of the processing accuracy of the entire gyro including the vibrator, since a known anisotropic dry etching technique can be applied.
- each electrode is formed by patterning the upper metal film, but the present invention is not limited to this.
- the present invention is not limited to this.
- the present invention is not limited to this.
- only the upper metal film is patterned as in each of the embodiments described above.
- the present invention may be applied as part of various devices as a vibrating gyroscope.
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Abstract
Description
(1)Nを2以上のある自然数とした場合に、cosNθの振動モードで前述のリング状振動体の一次振動を励起する、互いに円周方向に(360/N)°離れた角度に配置された駆動電極と、
(2)前述の駆動電極の1つを基準駆動電極とし、Sを0,1,・・・,Nとした場合に、前述のリング状振動体に角速度が与えられたときに発生するcos(N+1)θの振動モードの二次振動を検出し、前述の基準駆動電極から〔{360/(N+1)}×S〕°離れた角度と、前述の基準駆動電極から〔{360/(N+1)}×{S+(1/2)}〕°離れた角度とのうちの少なくともいずれかの角度に配置された検出電極と、
(3)前述の検出電極からの信号に基づいて前述の二次振動を抑制し、前述の基準駆動電極から〔{360/(N+1)}×S〕°離れた角度と、前述の基準駆動電極から〔{360/(N+1)}×{S+(1/2)}〕°離れた角度とのうちの少なくともいずれかの角度に配置された抑制電極とを有している。
さらに、前述駆動電極の各々は、前述のリング状振動体の前述の平面において、前述のリング状振動体の外周縁から前述の外周縁の近傍に至るまでの領域と、前述のリング状振動体の内周縁から前述の内周縁の近傍に至るまでの領域とのいずれか又は両方を含む第1電極配置領域上に配置されており、前述の検出電極の各々及び前述の抑制電極の各々は、第2電極配置領域上に配置されるとともに、前述の駆動電極のいずれとも電気的に接続しないようにされている。
(1)Nを2以上のある自然数とした場合に、cosNθの振動モードで前述のリング状振動体の一次振動を励起する、互いに円周方向に(360/N)°離れた角度に配置された駆動電極と、
(2)前述の駆動電極の1つを基準駆動電極とし、Sを0,1,・・・,Nとした場合に、前述のリング状振動体に角速度が与えられたときに発生するcos(N+1)θの振動モードの二次振動を検出し、前述の基準駆動電極から〔{360/(N+1)}×{S+(1/4)}〕°離れた角度と、前述の基準駆動電極から〔{360/(N+1)}×{S+(3/4)}〕°離れた角度とのうちの少なくともいずれかの角度に配置された検出電極と、
(3)前述の検出電極からの信号に基づいて前述の二次振動を抑制し、前述の基準駆動電極から〔{360/(N+1)}×{S+(1/4)}〕°離れた角度と、前述の基準駆動電極から〔{360/(N+1)}×{S+(3/4)}〕°離れた角度とのうちの少なくともいずれかの角度に配置された抑制電極とを有している。
さらに、前述の駆動電極の各々は、前述のリング状振動体の前述の平面において、前述のリング状振動体の外周縁から前述の外周縁の近傍に至るまでの領域と、前述のリング状振動体の内周縁から前述の内周縁の近傍に至るまでの領域とのいずれか又は両方を含む第1電極配置領域上に配置されており、前述の検出電極の各々及び前述の抑制電極の各々は、第2電極配置領域上に配置されるとともに、前述の駆動電極のいずれとも電気的に接続しないようにされている。
前述のリング状振動体を柔軟に支持するレッグ部と、前述のリング状振動体の前述の平面上又はその上方に置かれ、圧電体膜を厚み方向に挟む上層金属膜及び下層金属膜のうちの少なくともいずれかにより形成される複数の電極とを備えている。加えて、それらの複数の電極は、次の(1)、(2)及び(3)、すなわち、
(1)Nを3以上のある自然数とした場合に、cosNθの振動モードで前述のリング状振動体の一次振動を励起する、互いに円周方向に(360/N)°離れた角度に配置された駆動電極と、
(2)前述の駆動電極の1つを基準駆動電極とし、Sを0,1,・・・,N-2とした場合に、前述のリング状振動体に角速度が与えられたときに発生するcos(N-1)θの振動モードの二次振動を検出し、前述の基準駆動電極から〔{360/(N-1)}×S〕°離れた角度と、前述の基準駆動電極から〔{360/(N-1)}×{S+(1/2)}〕°離れた角度とのうちの少なくともいずれかの角度に配置された検出電極と、
(3)前述の検出電極からの信号に基づいて前述の二次振動を抑制し、前述の基準駆動電極から〔{360/(N-1)}×S〕°離れた角度と、前述の基準駆動電極から〔{360/(N-1)}×{S+(1/2)}〕°離れた角度とのうちの少なくともいずれかの角度に配置された抑制電極とを有している。
さらに、前述の駆動電極の各々は、前述の駆動電極の各々は、前述のリング状振動体の前述の平面において、前述のリング状振動体の外周縁から前述の外周縁の近傍に至るまでの領域と、前述のリング状振動体の内周縁から前述の内周縁の近傍に至るまでの領域とのいずれか又は両方を含む第1電極配置領域上に配置されており、前述の検出電極の各々及び前述の抑制電極の各々は、第2電極配置領域上に配置されるとともに、前述の第1電極配置領域と電気的に接続しないようにされている。
前述のリング状振動体を柔軟に支持するレッグ部と、前述のリング状振動体の前述の平面上又はその上方に置かれ、圧電体膜を厚み方向に挟む上層金属膜及び下層金属膜のうちの少なくともいずれかにより形成される複数の電極とを備えている。それらの複数の電極は、次の(1)、(2)及び(3)、すなわち、
(1)Nを3以上のある自然数とした場合に、cosNθの振動モードで前述のリング状振動体の一次振動を励起する、互いに円周方向に(360/N)°離れた角度に配置された駆動電極と、
(2)前述の駆動電極の1つを基準駆動電極、Sを0,1,・・・,N-2とした場合に、前述のリング状振動体に角速度が与えられたときに発生するcos(N-1)θの振動モードの二次振動を検出し、前述の基準駆動電極から〔{360/(N-1)}×{S+(1/4)}〕°離れた角度と、前述の基準駆動電極から〔{360/(N-1)}×{S+(3/4)}〕°離れた角度とのうちの少なくともいずれかに配置された検出電極と、
(3)前述の検出電極からの信号に基づいて前述の二次振動を抑制し、前述の基準駆動電極から〔{360/(N-1)}×{S+(1/4)}〕°離れた角度と、前述の基準駆動電極から〔{360/(N-1)}×{S+(3/4)}〕°離れた角度とのうちの少なくともいずれかの角度に配置された抑制電極とを有している。
さらに、前述の駆動電極の各々は、前述のリング状振動体の前述の平面において、前述のリング状振動体の外周縁から前述の外周縁の近傍に至るまでの領域と、前述のリング状振動体の内周縁から前述の内周縁の近傍に至るまでの領域とのいずれか又は両方を含む第1電極配置領域上に配置されており、前述の検出電極の各々及び前述の抑制電極の各々は、第2電極配置領域上に配置されるとともに、前述の第1電極配置領域と電気的に接続しないようにされている。
(1)Nを2以上のある自然数とした場合に、cosNθの振動モードで前述のリング状振動体の一次振動を励起する、互いに円周方向に(360/N)°離れた角度に配置された駆動電極と、
(2)前述の駆動電極の1つを基準駆動電極とし、Sを0,1,・・・,Nとした場合に、前述のリング状振動体に角速度が与えられたときに発生するcos(N+1)θの振動モードの第1の二次振動を検出し、前述の基準駆動電極から〔{360/(N+1)}×S〕°離れた角度と、前述の基準駆動電極から〔{360/(N+1)}×{S+(1/2)}〕°離れた角度とのうちの少なくともいずれかに配置された第1検出電極と、
(3)前述の第1の二次振動に対して{90/(N+1)}°離れた角度の振動軸の第2の二次振動を検出し、前述の基準駆動電極から〔{360/(N+1)}×{S+(1/4)}〕°離れた角度と、前述の基準駆動電極から〔{360/(N+1)}×{S+(3/4)}〕°離れた角度とのうちの少なくともいずれかの角度に配置された第2検出電極と、
(4)前述の第1検出電極からの信号に基づいて前述の第1の二次振動を抑制し、前述の基準駆動電極から〔{360/(N+1)}×S〕°離れた角度と、前述の基準駆動電極から〔{360/(N+1)}×{S+(1/2)}〕°離れた角度とのうちの少なくともいずれかの角度に配置された第1抑制電極と、
(5)前述の第2検出電極からの信号に基づいて前述の第2の二次振動を抑制し、前述の基準駆動電極から〔{360/(N+1)}×{S+1/4}〕°離れた角度と、前述の基準駆動電極から〔{360/(N+1)}×{S+(3/4)}〕°離れた角度とのうちの少なくともいずれかの角度に配置された第2抑制電極とを有している。
さらに、前述の駆動電極の各々は、前述のリング状振動体の前述の平面において、前述のリング状振動体の外周縁から前述の外周縁の近傍に至るまでの領域と、前述のリング状振動体の内周縁から前述の内周縁の近傍に至るまでの領域とのいずれか又は両方を含む第1電極配置領域上に配置されており、前述の第1検出電極の各々、前述の第2検出電極の各々、前述の第1抑制電極の各々、及び前述の第2抑制電極の各々は、第2電極配置領域上に配置されるとともに、前述の駆動電極のいずれとも電気的に接続しないようにされている。
(4)前述の第1の二次振動に対して{90/(N+1)}°離れた角度の振動軸の第2の二次振動を検出し、且つ前述の基準駆動電極から〔{360/(N+1)}×{S+(1/4)}〕°離れた角度と、前述の基準駆動電極から〔{360/(N+1)}×{S+(3/4)}〕°離れた角度とのうちの少なくともいずれかの角度に配置された第2検出電極。
(4)前述の第2の二次振動に対して{90/(N+1)}°離れた角度の振動軸の第1の二次振動を検出し、且つ前述の基準駆動電極から〔{360/(N+1)}×S〕°離れた角度と、前述の基準駆動電極から〔{360/(N+1)}×{S+(1/2)}〕°離れた角度とのうちの少なくともいずれかの角度に配置された第1検出電極。
(1)Nを3以上のある自然数とした場合に、cosNθの振動モードで前述のリング状振動体の一次振動を励起する、互いに円周方向に(360/N)°離れた角度に配置された駆動電極と、
(2)前述の駆動電極の1つを基準駆動電極とし、S=0,1,・・・,N-2とした場合に、前述のリング状振動体に角速度が与えられたときに発生するcos(N-1)θの振動モードの第1の二次振動を検出し、前述の基準駆動電極から〔{360/(N-1)}×S〕°離れた角度と、前述の基準駆動電極から〔{360/(N-1)}×{S+(1/2)}〕°離れた角度とのうちの少なくともいずれかに配置された第1検出電極と、
(3)前述の第1の二次振動に対して{90/(N-1)}°離れた角度の振動軸の第2の二次振動を検出し、前述の基準駆動電極から〔{360/(N-1)}×{S+(1/4)}〕°離れた角度と、前述の基準駆動電極から〔{360/(N-1)}×{S+(3/4)}〕°離れた角度とのうちの少なくともいずれかの角度に配置された第2検出電極と、
(4)前述の第1検出電極からの信号に基づいて前述の第1の二次振動を抑制し、前述の基準駆動電極から〔{360/(N-1)}×S〕°離れた角度と、前述の基準駆動電極から〔{360/(N-1)}×{S+(1/2)}〕°離れた角度とのうちの少なくともいずれかの角度に配置された第1抑制電極と、
(5)前述の第2検出電極からの信号に基づいて前述の第2の二次振動を抑制し、前述の基準駆動電極から〔{360/(N-1)}×{S+1/4}〕°離れた角度と、前述の基準駆動電極から〔{360/(N-1)}×{S+(3/4)}〕°離れた角度とのうちの少なくともいずれかの角度に配置された第2抑制電極とを有している。
さらに、前述の駆動電極の各々は、前述のリング状振動体の前述の平面内において、前述のリング状振動体の外周縁から前述の外周縁の近傍に至るまでの領域と、前述のリング状振動体の内周縁から前述の内周縁の近傍に至るまでの領域とのいずれか又は両方を含む第1電極配置領域上に配置されており、
前述の第1検出電極の各々、前述の第2検出電極の各々、前述の第1抑制電極の各々、及び前述の第2抑制電極の各々は、第2電極配置領域上に配置されるとともに、前述の第1電極配置領域と電気的に接続しないようにされている。
前述のリング状振動体を柔軟に支持するレッグ部と、前述のリング状振動体の前述の平面上又はその上方に置かれ、圧電体膜を厚み方向に挟む上層金属膜及び下層金属膜のうちの少なくともいずれかにより形成される複数の電極とを備えている。それらの複数の電極は、次の(1)、すなわち、
(1)Nを2以上のある自然数とした場合に、cosNθの振動モードで前述のリング状振動体の一次振動を励起する、互いに円周方向に(360/N)°離れた角度に配置された駆動電極
を有しており、前述の複数の電極は、次の(2)と(3)とのうちの少なくともいずれか又は両方、すなわち、
(2)前述の駆動電極の1つを基準駆動電極とし、Sを0,1,・・・,Nとした場合に、前述のリング状振動体に角速度が与えられたときに発生するcos(N+1)θの振動モードの第1の二次振動を検出し、前述の基準駆動電極から〔{360/(N+1)}×S〕°離れた角度と、前述の基準駆動電極から〔{360/(N+1)}×{S+(1/2)}〕°離れた角度とのうちの少なくともいずれかの角度に配置された第1の検出電極と、
(3)前述の第1の二次振動に対して{90/(N+1)}°離れた角度の振動軸の、前述のリング状振動体に角速度が与えられたときに発生するcos(N+1)θの振動モードの第2の二次振動を検出し、前述の基準駆動電極から〔{360/(N+1)}×{S+(1/4)}〕°離れた角度と、前述の基準駆動電極から〔{360/(N+1)}×{S+(3/4)}〕°離れた角度とのうちの少なくともいずれかの角度に配置された、前述の第1の検出電極とは異なる第2の検出電極と
のうちのいずれか又は両方を有しており、前述の複数の電極は、次の(4)及び(5)、すなわち、
(4)M=0,1,・・・,N-1とした場合に、前述のリング状振動体に角速度が与えられたときに発生するcosNθの振動モードの、前述の一次振動の振動軸から(90/N)°離れた角度の振動軸を持つ第3の二次振動を検出し、前述の基準駆動電極から〔(360/N)×{M+(1/4)}〕°離れた角度と、前述の基準駆動電極から〔(360/N)}×{M+(3/4)}〕°離れた角度とのうちの少なくともいずれかに配置された第3の検出電極と、
(5)前述の第3の検出電極からの信号に基づいて前述の二次振動を抑制し、M=0,1,・・・,N-1とした場合に、前述の基準駆動電極から〔(360/N)×{M+(1/4)}〕°離れた角度と、前述の基準駆動電極から〔(360/N)}×{M+(3/4)}〕°離れた角度とのうちの少なくともいずれかに配置された抑制電極とを有している。
さらに、前述の駆動電極の各々は、前述のリング状振動体の前述の平面において、前述のリング状振動体の外周縁から前述の外周縁の近傍に至るまでの領域と、前述のリング状振動体の内周縁から前述の内周縁の近傍に至るまでの領域とのいずれか又は両方を含む第1電極配置領域上に配置されており、
前述の第1検出電極の各々、前述の第2検出電極の各々は、第2電極配置領域上に配置されるとともに、前述の駆動電極のいずれとも電気的に接続しないようにされており、
前述の第3検出電極の各々、及び前述の抑制電極の各々は、第1電極配置領域に配置されるとともに、前述の駆動電極のいずれとも電気的に接続しないようにされている。
前述のリング状振動体を柔軟に支持するレッグ部と、前述のリング状振動体の前述の平面上又はその上方に置かれ、圧電体膜を厚み方向に挟む上層金属膜及び下層金属膜のうちの少なくともいずれかにより形成される複数の電極とを備えている。それらの複数の電極は、次の(1)、すなわち、
(1)Nを3以上のある自然数とした場合に、cosNθの振動モードで前述のリング状振動体の一次振動を励起する、互いに円周方向に(360/N)°離れた角度に配置された駆動電極
を有しており、前述の複数の電極は、次の(2)と(3)とのうちの少なくともいずれか又は両方、すなわち、
(2)前述の駆動電極の1つを基準駆動電極とし、Sを0,1,・・・,N-2とした場合に、前述のリング状振動体に角速度が与えられたときに発生するcos(N-1)θの振動モードの第1の二次振動を検出し、前述の基準駆動電極から〔{360/(N-1)}×S〕°離れた角度と、前述の基準駆動電極から〔{360/(N-1)}×{S+(1/2)}〕°離れた角度とのうちの少なくともいずれかの角度に配置された第1の検出電極と、
(3)前述の第1の二次振動に対して{90/(N-1)}°離れた角度の振動軸の、前述のリング状振動体に角速度が与えられたときに発生するcos(N-1)θの振動モードの第2の二次振動を検出し、前述の基準駆動電極から〔{360/(N-1)}×{S+(1/4)}〕°離れた角度と、前述の基準駆動電極から〔{360/(N-1)}×{S+(3/4)}〕°離れた角度とのうちの少なくともいずれかの角度に配置された、前述の第1の検出電極とは異なる第2の検出電極と
のうちの少なくともいずれか又は両方を有しており、前述の複数の電極は、次の(4)及び(5)、すなわち、
(4)M=0,1,・・・,N-1とした場合に、前述のリング状振動体に角速度が与えられたときに発生するcosNθの振動モードの、前述の一次振動の振動軸から(90/N)°離れた角度の振動軸を持つ第3の二次振動を検出し、前述の基準駆動電極から〔(360/N)×{M+(1/4)}〕°離れた角度と、前述の基準駆動電極から〔(360/N)}×{M+(3/4)}〕°離れた角度とのうちの少なくともいずれかに配置された第3の検出電極と、
(5)前述の第3の検出電極からの信号に基づいて前述の二次振動を抑制し、M=0,1,・・・,N-1とした場合に、前述の基準駆動電極から〔(360/N)×{M+(1/4)}〕°離れた角度と、前述の基準駆動電極から〔(360/N)}×{M+(3/4)}〕°離れた角度とのうちの少なくともいずれかに配置された抑制電極と
を有している。
さらに、前述の駆動電極の各々は、前述のリング状振動体の前述の平面において、前述のリング状振動体の外周縁から前述の外周縁の近傍に至るまでの領域と、前述のリング状振動体の内周縁から前述の内周縁の近傍に至るまでの領域とのいずれか又は両方を含む第1電極配置領域上に配置されており、
前述の第1検出電極の各々、前述の第2検出電極の各々は、第2電極配置領域上に配置されるとともに、前述の駆動電極のいずれとも電気的に接続しないようにされており、
前述の第3検出電極の各々、及び前述の抑制電極の各々は、第1電極配置領域に配置されるとともに、前述の駆動電極のいずれとも電気的に接続しないようにされている。
(8)L=0,1,・・・,2N-1とした場合に、前記基準駆動電極から円周方向に(180/N)×{L+(1/2)}°離れた角度以外の角度に配置された一群のモニタ電極。
11,11a,11b リング状振動体
12 交流電源
13a 駆動電極
13b,13c 第1検出電極
13d,13e 第2検出電極
13f,13g 第3検出電極
13h モニタ電極
13j,13k 第1抑制電極
13m,13n 第2抑制電極
13p,13q 第3抑制電極
14 引き出し電極
15 レッグ部
16 固定電位電極(グラウンド電極)
17 電極パッド用固定端部
18 電極パッド
19 支柱
20 シリコン酸化膜
30 下層金属膜
40 圧電体膜
50 上層金属膜
60 固定端
62,63,64 フィードバック制御回路
100,110,120,300,310,400,500,600,610,620,700,720,740,760,780,900,910,920,1000
リング状振動ジャイロ
図1は、本実施形態における3軸の角速度を測定するリング状振動ジャイロ100の中心的役割を果たす構造体の正面図である。図2は、図1のA-A断面図である。なお、説明の便宜上、図1には、X軸及びY軸が表記されている。
次に、図4によって、第1の実施形態の変形例(1)について説明する。図4は、3軸の角速度を測定するリング状振動ジャイロ110の中心的役割を果たす構造体の正面図である。
次に、図5によって、第1の実施形態の変形例(2)について説明する。図5は、3軸の角速度を測定するリング状振動ジャイロ120の中心的役割を果たす構造体の正面図である。本変形例においては、X、Y、Z軸の周りの角速度が与えられたときに発生する二次振動を抑制するために抑制電極を用いる。
<第1の実施形態の変形例(3)>
図6は、第1の実施形態の一部を変形したリング状振動ジャイロ300の中心的役割を果たす構造体の正面図である。
図7は、第1の実施形態の一部を変形したリング状振動ジャイロ310の中心的役割を果たす構造体の正面図である。
本実施形態のリング状振動ジャイロ310では、本実施形態のリング状振動ジャイロ300と同様にY軸周りの角速度の検出におけるS/N比と応答性の両立に加え、X軸周りの角速度の検出においても、S/N比と応答性を両立させることができる。
図8は、第1の実施形態の一部を変形したリング状振動ジャイロ400の中心的役割を果たす構造体の図2に相当する断面図である。
上述の第1の実施形態及びその変形例(1)乃至(5)では、3軸の角速度を検出し得る振動ジャイロの構造が説明され、1軸、2軸および3軸のまわりの角速度に関する二次振動が抑制されるような抑制電極を備えているが、2軸又は1軸の角速度検出のための各検出電極の配置も第1の実施形態から導き出される。
図9は、第1の実施形態の一部を変形したリング状振動ジャイロ500の中心的役割を果たす構造体の正面図である。また、図10は、図9のB-B断面図である。
図11は、本実施形態におけるもう一つの3軸の角速度を測定するリング状振動ジャイロ600の中心的役割を果たす構造体の正面図である。
次に、図12によって、第2の実施形態の変形例(1)について説明する。図12は、3軸の角速度を測定するリング状振動ジャイロ610の中心的役割を果たす構造体の正面図である。
次に、図13によって、第2の実施形態の変形例(2)について説明する。図13は、3軸の角速度を測定するリング状振動ジャイロ620の中心的役割を果たす構造体の正面図である。本変形例においては、X、Y、Z軸の周りの角速度が与えられたときに発生する二次振動を抑制するために抑制電極を用いる。
上記第1の実施形態のより好ましい実施形態を第3の実施形態として図15乃至図18を用いて説明する。
図15は、本実施形態における3軸の角速度を測定するリング状振動ジャイロ900の中心的役割を果たす構造体の正面図である。
第2の実施形態は、上述の第1の実施形態の各変形例と同様の変形例が適用され得る。従って、それぞれの構成による有利な効果が奏される。
Claims (19)
- 一様な平面を備えたリング状振動体と、
前記リング状振動体を柔軟に支持するレッグ部と、
前記リング状振動体の前記平面上又はその上方に置かれ、圧電体膜を厚み方向に挟む上層金属膜及び下層金属膜のうちの少なくともいずれかにより形成される複数の電極と
を備え、前記複数の電極は、次の(1)、(2)及び(3)、すなわち、
(1)Nを2以上のある自然数とした場合に、cosNθの振動モードで前記リング状振動体の一次振動を励起する、互いに円周方向に(360/N)°離れた角度に配置された駆動電極と、
(2)前記駆動電極の1つを基準駆動電極とし、Sを0,1,・・・,Nとした場合に、前記リング状振動体に角速度が与えられたときに発生するcos(N+1)θの振動モードの二次振動を検出し、前記基準駆動電極から〔{360/(N+1)}×S〕°離れた角度と、前記基準駆動電極から〔{360/(N+1)}×{S+(1/2)}〕°離れた角度とのうちの少なくともいずれかの角度に配置された検出電極と、
(3)前記検出電極からの信号に基づいて前記二次振動を抑制し、前記基準駆動電極から〔{360/(N+1)}×S〕°離れた角度と、前記基準駆動電極から〔{360/(N+1)}×{S+(1/2)}〕°離れた角度とのうちの少なくともいずれかの角度に配置された抑制電極と
を有しており、
前記駆動電極の各々は、前記リング状振動体の前記平面において、前記リング状振動体の外周縁から前記外周縁の近傍に至るまでの領域と、前記リング状振動体の内周縁から前記内周縁の近傍に至るまでの領域とのいずれか又は両方を含む第1電極配置領域上に配置されており、
前記検出電極の各々及び前記抑制電極の各々は、第2電極配置領域上に配置されるとともに、前記駆動電極のいずれとも電気的に接続しないようにされている、
振動ジャイロ。 - 一様な平面を備えたリング状振動体と、
前記リング状振動体を柔軟に支持するレッグ部と、
前記リング状振動体の前記平面上又はその上方に置かれ、圧電体膜を厚み方向に挟む上層金属膜及び下層金属膜のうちの少なくともいずれかにより形成される複数の電極と
を備え、前記複数の電極は、次の(1)、(2)及び(3)、すなわち、
(1)Nを2以上のある自然数とした場合に、cosNθの振動モードで前記リング状振動体の一次振動を励起する、互いに円周方向に(360/N)°離れた角度に配置された駆動電極と、
(2)前記駆動電極の1つを基準駆動電極とし、Sを0,1,・・・,Nとした場合に、前記リング状振動体に角速度が与えられたときに発生するcos(N+1)θの振動モードの二次振動を検出し、前記基準駆動電極から〔{360/(N+1)}×{S+(1/4)}〕°離れた角度と、前記基準駆動電極から〔{360/(N+1)}×{S+(3/4)}〕°離れた角度とのうちの少なくともいずれかの角度に配置された検出電極と、
(3)前記検出電極からの信号に基づいて前記二次振動を抑制し、前記基準駆動電極から〔{360/(N+1)}×{S+(1/4)}〕°離れた角度と、前記基準駆動電極から〔{360/(N+1)}×{S+(3/4)}〕°離れた角度とのうちの少なくともいずれかの角度に配置された抑制電極と
を有しており、
前記駆動電極の各々は、前記リング状振動体の前記平面において、前記リング状振動体の外周縁から前記外周縁の近傍に至るまでの領域と、前記リング状振動体の内周縁から前記内周縁の近傍に至るまでの領域とのいずれか又は両方を含む第1電極配置領域上に配置されており、
前記検出電極の各々及び前記抑制電極の各々は、第2電極配置領域上に配置されるとともに、前記駆動電極のいずれとも電気的に接続しないようにされている、
振動ジャイロ。 - 一様な平面を備えたリング状振動体と、
前記リング状振動体を柔軟に支持するレッグ部と、
前記リング状振動体の前記平面又はその上方に置かれ、圧電体膜を厚み方向に挟む上層金属膜及び下層金属膜のうちの少なくともいずれかにより形成される複数の電極と
を備え、前記複数の電極は、次の(1)乃至(5)、すなわち、
(1)Nを2以上のある自然数とした場合に、cosNθの振動モードで前記リング状振動体の一次振動を励起する、互いに円周方向に(360/N)°離れた角度に配置された駆動電極と、
(2)前記駆動電極の1つを基準駆動電極とし、Sを0,1,・・・,Nとした場合に、前記リング状振動体に角速度が与えられたときに発生するcos(N+1)θの振動モードの第1の二次振動を検出し、前記基準駆動電極から〔{360/(N+1)}×S〕°離れた角度と、前記基準駆動電極から〔{360/(N+1)}×{S+(1/2)}〕°離れた角度とのうちの少なくともいずれかに配置された第1検出電極と、
(3)前記第1の二次振動に対して{90/(N+1)}°離れた角度の振動軸の第2の二次振動を検出し、前記基準駆動電極から〔{360/(N+1)}×{S+(1/4)}〕°離れた角度と、前記基準駆動電極から〔{360/(N+1)}×{S+(3/4)}〕°離れた角度とのうちの少なくともいずれかの角度に配置された第2検出電極と、
(4)前記第1検出電極からの信号に基づいて前記第1の二次振動を抑制し、前記基準駆動電極から〔{360/(N+1)}×S〕°離れた角度と、前記基準駆動電極から〔{360/(N+1)}×{S+(1/2)}〕°離れた角度とのうちの少なくともいずれかの角度に配置された第1抑制電極と、
(5)前記第2検出電極からの信号に基づいて前記第2の二次振動を抑制し、前記基準駆動電極から〔{360/(N+1)}×{S+1/4}〕°離れた角度と、前記基準駆動電極から〔{360/(N+1)}×{S+(3/4)}〕°離れた角度とのうちの少なくともいずれかの角度に配置された第2抑制電極と
を有しており、
前記駆動電極の各々は、前記リング状振動体の前記平面において、前記リング状振動体の外周縁から前記外周縁の近傍に至るまでの領域と、前記リング状振動体の内周縁から前記内周縁の近傍に至るまでの領域とのいずれか又は両方を含む第1電極配置領域上に配置されており、
前記第1検出電極の各々、前記第2検出電極の各々、前記第1抑制電極の各々、及び前記第2抑制電極の各々は、第2電極配置領域上に配置されるとともに、前記駆動電極のいずれとも電気的に接続しないようにされている、
振動ジャイロ。 - 前記検出電極を第1検出電極とし、前記抑制電極を第1抑制電極とし、前記二次振動を第1の二次振動としたときに、前記複数の電極が、次の(4)、すなわち、
(4)前記第1の二次振動に対して{90/(N+1)}°離れた角度の振動軸の第2の二次振動を検出し、且つ前記基準駆動電極から〔{360/(N+1)}×{S+(1/4)}〕°離れた角度と、前記基準駆動電極から〔{360/(N+1)}×{S+(3/4)}〕°離れた角度とのうちの少なくともいずれかの角度に配置された第2検出電極
をさらに有しており、
前記第2検出電極の各々、及び前記第2抑制電極の各々が前記第2電極配置領域上に配置される、
請求項1に記載の振動ジャイロ。 - 前記検出電極を第2検出電極とし、前記抑制電極を第2抑制電極とし、前記二次振動を第2の二次振動としたときに、前記複数の電極が、次の(4)、すなわち、
(4)前記第2の二次振動に対して{90/(N+1)}°離れた角度の振動軸の第1の二次振動を検出し、且つ前記基準駆動電極から〔{360/(N+1)}×S〕°離れた角度と、前記基準駆動電極から〔{360/(N+1)}×{S+(1/2)}〕°離れた角度とのうちの少なくともいずれかの角度に配置された第1検出電極
をさらに有しており、
前記第1検出電極の各々、及び前記第1抑制電極の各々が前記第2電極配置領域上に配置される、
請求項2に記載の振動ジャイロ。 - 一様な平面を備えたリング状振動体と、
前記リング状振動体を柔軟に支持するレッグ部と、
前記リング状振動体の前記平面上又はその上方に置かれ、圧電体膜を厚み方向に挟む上層金属膜及び下層金属膜のうちの少なくともいずれかにより形成される複数の電極と
を備え、前記複数の電極は、次の(1)、(2)及び(3)、すなわち、
(1)Nを3以上のある自然数とした場合に、cosNθの振動モードで前記リング状振動体の一次振動を励起する、互いに円周方向に(360/N)°離れた角度に配置された駆動電極と、
(2)前記駆動電極の1つを基準駆動電極とし、Sを0,1,・・・,N-2とした場合に、前記リング状振動体に角速度が与えられたときに発生するcos(N-1)θの振動モードの二次振動を検出し、前記基準駆動電極から〔{360/(N-1)}×S〕°離れた角度と、前記基準駆動電極から〔{360/(N-1)}×{S+(1/2)}〕°離れた角度とのうちの少なくともいずれかの角度に配置された検出電極と、
(3)前記検出電極からの信号に基づいて前記二次振動を抑制し、前記基準駆動電極から〔{360/(N-1)}×S〕°離れた角度と、前記基準駆動電極から〔{360/(N-1)}×{S+(1/2)}〕°離れた角度とのうちの少なくともいずれかの角度に配置された抑制電極と
を有しており、前記駆動電極の各々は、前記リング状振動体の前記平面において、前記リング状振動体の外周縁から前記外周縁の近傍に至るまでの領域と、前記リング状振動体の内周縁から前記内周縁の近傍に至るまでの領域とのいずれか又は両方を含む第1電極配置領域上に配置されており、
前記検出電極の各々及び前記抑制電極の各々は、第2電極配置領域上に配置されるとともに、前記第1電極配置領域と電気的に接続しないようにされる、
振動ジャイロ。 - 一様な平面を備えたリング状振動体と、
前記リング状振動体を柔軟に支持するレッグ部と、
前記リング状振動体の前記平面上又はその上方に置かれ、圧電体膜を厚み方向に挟む上層金属膜及び下層金属膜のうちの少なくともいずれかにより形成される複数の電極と
を備え、前記複数の電極は、次の(1)、(2)及び(3)、すなわち、
(1)Nを3以上のある自然数とした場合に、cosNθの振動モードで前記リング状振動体の一次振動を励起する、互いに円周方向に(360/N)°離れた角度に配置された駆動電極と、
(2)前記駆動電極の1つを基準駆動電極、Sを0,1,・・・,N-2とした場合に、前記リング状振動体に角速度が与えられたときに発生するcos(N-1)θの振動モードの二次振動を検出し、前記基準駆動電極から〔{360/(N-1)}×{S+(1/4)}〕°離れた角度と、前記基準駆動電極から〔{360/(N-1)}×{S+(3/4)}〕°離れた角度とのうちの少なくともいずれかに配置された検出電極と、
(3)前記検出電極からの信号に基づいて前記二次振動を抑制し、前記基準駆動電極から〔{360/(N-1)}×{S+(1/4)}〕°離れた角度と、前記基準駆動電極から〔{360/(N-1)}×{S+(3/4)}〕°離れた角度とのうちの少なくともいずれかの角度に配置された抑制電極と
を有しており、
前記駆動電極の各々は、前記リング状振動体の前記平面内において、前記リング状振動体の外周縁から前記外周縁の近傍に至るまでの領域と、前記リング状振動体の内周縁から前記内周縁の近傍に至るまでの領域とのいずれか又は両方を含む第1電極配置領域上に配置され、
前記検出電極各々、及び前記抑制電極の各々は、第2電極配置領域上に配置されるとともに、前記第1電極配置領域と電気的に接続しないようにされる、
振動ジャイロ。 - 一様な平面を備えたリング状振動体と、
前記リング状振動体を柔軟に支持するレッグ部と、
前記リング状振動体の前記平面上又はその上方に置かれ、圧電体膜を厚み方向に挟む上層金属膜及び下層金属膜のうちの少なくともいずれかにより形成される複数の電極と
を備え、前記複数の電極は、次の(1)乃至(5)、すなわち、
(1)Nを3以上のある自然数とした場合に、cosNθの振動モードで前記リング状振動体の一次振動を励起する、互いに円周方向に(360/N)°離れた角度に配置された駆動電極と、
(2)前記駆動電極の1つを基準駆動電極とし、S=0,1,・・・,N-2とした場合に、前記リング状振動体に角速度が与えられたときに発生するcos(N-1)θの振動モードの第1の二次振動を検出し、前記基準駆動電極から〔{360/(N-1)}×S〕°離れた角度と、前記基準駆動電極から〔{360/(N-1)}×{S+(1/2)}〕°離れた角度とのうちの少なくともいずれかに配置された第1検出電極と、
(3)前記第1の二次振動に対して{90/(N-1)}°離れた角度の振動軸の第2の二次振動を検出し、前記基準駆動電極から〔{360/(N-1)}×{S+(1/4)}〕°離れた角度と、前記基準駆動電極から〔{360/(N-1)}×{S+(3/4)}〕°離れた角度とのうちの少なくともいずれかの角度に配置された第2検出電極と、
(4)前記第1検出電極からの信号に基づいて前記第1の二次振動を抑制し、前記基準駆動電極から〔{360/(N-1)}×S〕°離れた角度と、前記基準駆動電極から〔{360/(N-1)}×{S+(1/2)}〕°離れた角度とのうちの少なくともいずれかの角度に配置された第1抑制電極と、
(5)前記第2検出電極からの信号に基づいて前記第2の二次振動を抑制し、前記基準駆動電極から〔{360/(N-1)}×{S+1/4}〕°離れた角度と、前記基準駆動電極から〔{360/(N-1)}×{S+(3/4)}〕°離れた角度とのうちの少なくともいずれかの角度に配置された第2抑制電極と
を有しており、前記駆動電極の各々は、前記リング状振動体の前記平面内において、前記リング状振動体の外周縁から前記外周縁の近傍に至るまでの領域と、前記リング状振動体の内周縁から前記内周縁の近傍に至るまでの領域とのいずれか又は両方を含む第1電極配置領域上に配置されており、
前記第1検出電極の各々、前記第2検出電極の各々、前記第1抑制電極の各々、及び前記第2抑制電極の各々は、第2電極配置領域上に配置されるとともに、前記第1電極配置領域と電気的に接続しないようにされている、
振動ジャイロ。 - 前記検出電極を第1検出電極とし、前記抑制電極を第1抑制電極とし、前記二次振動を第1の二次振動としたときに、前記複数の電極が、次の(4)、すなわち、
(4)前記第1の二次振動に対して{90/(N-1)}°離れた角度の振動軸の第2の二次振動を検出し、且つ前記基準駆動電極から〔{360/(N-1)}×{S+(1/4)}〕°離れた角度と、前記基準駆動電極から〔{360/(N-1)}×{S+(3/4)}〕°離れた角度とのうちの少なくともいずれかの角度に配置された第2検出電極
をさらに有しており、
前記第2検出電極の各々、及び前記第2抑制電極の各々が、前記第2電極配置領域上に配置される、
請求項6に記載の振動ジャイロ。 - 前記検出電極を第2検出電極とし、前記抑制電極を第2抑制電極とし、前記二次振動を第2の二次振動としたときに、前記複数の電極が、次の(4)、すなわち、
(4)前記第2の二次振動に対して{90/(N-1)}°離れた角度の振動軸の第1の二次振動を検出し、且つ前記基準駆動電極から〔{360/(N-1)}×S〕°離れた角度と、前記基準駆動電極から〔{360/(N-1)}×{S+(1/2)}〕°離れた角度とのうちの少なくともいずれかの角度に配置された第1検出電極
をさらに有しており、
前記第1検出電極の各々、及び前記第1抑制電極の各々が、前記第2電極配置領域上に配置される、
請求項7に記載の振動ジャイロ。 - 前記複数の電極が、次の(6)、すなわち、
(6)前記リング状振動体に角速度が与えられたときに発生するcosNθの振動モードの第3の二次振動を検出し、M=0,1,・・・,N-1とした場合に、前記基準駆動電極から〔(360/N)×{M+(1/4)}〕°離れた角度と、前記基準駆動電極から〔(360/N)}×{M+(3/4)}〕°離れた角度とのうちの少なくともいずれかに配置された第3検出電極
をさらに有しており、
前記第3検出電極の各々が前記第1電極配置領域上に配置される、請求項1乃至請求項10のいずれか1項に記載の振動ジャイロ。 - 前記複数の電極が、次の(7)、すなわち、
(7)前記第3検出電極からの信号に基づいて前記第3の二次振動を抑制し、M=0,1,・・・,N-1とした場合に、前記基準駆動電極から〔(360/N)×{M+(1/4)}〕°離れた角度と、前記基準駆動電極から〔(360/N)}×{M+(3/4)}〕°離れた角度とのうちの少なくともいずれかに配置された第3抑制電極
をさらに有し、前記第3抑制電極の各々が前記第1電極配置領域上に配置される、
請求項11に記載の振動ジャイロ。 - 一様な平面を備えたリング状振動体と、
前記リング状振動体を柔軟に支持するレッグ部と、
前記リング状振動体の前記平面上又はその上方に置かれ、圧電体膜を厚み方向に挟む上層金属膜及び下層金属膜のうちの少なくともいずれかにより形成される複数の電極と
を備え、前記複数の電極は、次の(1)、すなわち、
(1)Nを2以上のある自然数とした場合に、cosNθの振動モードで前記リング状振動体の一次振動を励起する、互いに円周方向に(360/N)°離れた角度に配置された駆動電極
を有しており、前記複数の電極は、次の(2)と(3)とのうちの少なくともいずれか又は両方、すなわち、
(2)前記駆動電極の1つを基準駆動電極とし、Sを0,1,・・・,Nとした場合に、前記リング状振動体に角速度が与えられたときに発生するcos(N+1)θの振動モードの第1の二次振動を検出し、前記基準駆動電極から〔{360/(N+1)}×S〕°離れた角度と、前記基準駆動電極から〔{360/(N+1)}×{S+(1/2)}〕°離れた角度とのうちの少なくともいずれかの角度に配置された第1の検出電極と、
(3)前記第1の二次振動に対して{90/(N+1)}°離れた角度の振動軸の、前記リング状振動体に角速度が与えられたときに発生するcos(N+1)θの振動モードの第2の二次振動を検出し、前記基準駆動電極から〔{360/(N+1)}×{S+(1/4)}〕°離れた角度と、前記基準駆動電極から〔{360/(N+1)}×{S+(3/4)}〕°離れた角度とのうちの少なくともいずれかの角度に配置された、前記第1の検出電極とは異なる第2の検出電極と
のうちのいずれか又は両方を有しており、前記複数の電極は、次の(4)及び(5)、すなわち、
(4)M=0,1,・・・,N-1とした場合に、前記リング状振動体に角速度が与えられたときに発生するcosNθの振動モードの、前記一次振動の振動軸から(90/N)°離れた角度の振動軸を持つ第3の二次振動を検出し、前記基準駆動電極から〔(360/N)×{M+(1/4)}〕°離れた角度と、前記基準駆動電極から〔(360/N)}×{M+(3/4)}〕°離れた角度とのうちの少なくともいずれかに配置された第3の検出電極と、
(5)前記第3の検出電極からの信号に基づいて前記二次振動を抑制し、M=0,1,・・・,N-1とした場合に、前記基準駆動電極から〔(360/N)×{M+(1/4)}〕°離れた角度と、前記基準駆動電極から〔(360/N)}×{M+(3/4)}〕°離れた角度とのうちの少なくともいずれかに配置された抑制電極と
を有しており、
前記駆動電極の各々は、前記リング状振動体の前記平面において、前記リング状振動体の外周縁から前記外周縁の近傍に至るまでの領域と、前記リング状振動体の内周縁から前記内周縁の近傍に至るまでの領域とのいずれか又は両方を含む第1電極配置領域上に配置されており、
前記第1検出電極の各々、前記第2検出電極の各々は、第2電極配置領域上に配置されるとともに、前記駆動電極のいずれとも電気的に接続しないようにされており、
前記第3検出電極の各々、及び前記抑制電極の各々は、第1電極配置領域に配置されるとともに、前記駆動電極のいずれとも電気的に接続しないようにされている、
振動ジャイロ。 - 一様な平面を備えたリング状振動体と、
前記リング状振動体を柔軟に支持するレッグ部と、
前記リング状振動体の前記平面上又はその上方に置かれ、圧電体膜を厚み方向に挟む上層金属膜及び下層金属膜のうちの少なくともいずれかにより形成される複数の電極と
を備え、前記複数の電極は、次の(1)、すなわち、
(1)Nを3以上のある自然数とした場合に、cosNθの振動モードで前記リング状振動体の一次振動を励起する、互いに円周方向に(360/N)°離れた角度に配置された駆動電極
を有しており、前記複数の電極は、次の(2)と(3)とのうちの少なくともいずれか又は両方、すなわち、
(2)前記駆動電極の1つを基準駆動電極とし、Sを0,1,・・・,N-2とした場合に、前記リング状振動体に角速度が与えられたときに発生するcos(N-1)θの振動モードの第1の二次振動を検出し、前記基準駆動電極から〔{360/(N-1)}×S〕°離れた角度と、前記基準駆動電極から〔{360/(N-1)}×{S+(1/2)}〕°離れた角度とのうちの少なくともいずれかの角度に配置された第1の検出電極と、
(3)前記第1の二次振動に対して{90/(N-1)}°離れた角度の振動軸の、前記リング状振動体に角速度が与えられたときに発生するcos(N-1)θの振動モードの第2の二次振動を検出し、前記基準駆動電極から〔{360/(N-1)}×{S+(1/4)}〕°離れた角度と、前記基準駆動電極から〔{360/(N-1)}×{S+(3/4)}〕°離れた角度とのうちの少なくともいずれかの角度に配置された、前記第1の検出電極とは異なる第2の検出電極と
のうちのいずれか又は両方を有しており、前記複数の電極は、次の(4)及び(5)、すなわち、
(4)M=0,1,・・・,N-1とした場合に、前記リング状振動体に角速度が与えられたときに発生するcosNθの振動モードの、前記一次振動の振動軸から(90/N)°離れた角度の振動軸を持つ第3の二次振動を検出し、前記基準駆動電極から〔(360/N)×{M+(1/4)}〕°離れた角度と、前記基準駆動電極から〔(360/N)}×{M+(3/4)}〕°離れた角度とのうちの少なくともいずれかに配置された第3の検出電極と、
(5)前記第3の検出電極からの信号に基づいて前記二次振動を抑制し、M=0,1,・・・,N-1とした場合に、前記基準駆動電極から〔(360/N)×{M+(1/4)}〕°離れた角度と、前記基準駆動電極から〔(360/N)}×{M+(3/4)}〕°離れた角度とのうちの少なくともいずれかに配置された抑制電極と
を有しており、
前記駆動電極の各々は、前記リング状振動体の前記平面において、前記リング状振動体の外周縁から前記外周縁の近傍に至るまでの領域と、前記リング状振動体の内周縁から前記内周縁の近傍に至るまでの領域とのいずれか又は両方を含む第1電極配置領域上に配置されており、
前記第1検出電極の各々、前記第2検出電極の各々は、第2電極配置領域上に配置されるとともに、前記駆動電極のいずれとも電気的に接続しないようにされており、
前記第3検出電極の各々、及び前記抑制電極の各々は、第1電極配置領域に配置されるとともに、前記駆動電極のいずれとも電気的に接続しないようにされている、
振動ジャイロ。 - 前記複数の電極が、
(8)L=0,1,・・・,2N-1とした場合に、前記基準駆動電極から円周方向に(180/N)×{L+(1/2)}°離れた角度以外の角度に配置された一群のモニタ電極
をさらに有する、
請求項1乃至請求項10、及び請求項13乃至請求項14のいずれか1項に記載の振動ジャイロ。 - 前記複数の電極が、
(8)M=0,1,・・・,N-1とした場合に、前記基準駆動電極から円周方向に〔(360/N)×{M+(1/2)}〕°離れた角度に配置されたモニタ電極
をさらに有する、
請求項1乃至請求項10、及び請求項13乃至請求項14のいずれか1項に記載の振動ジャイロ。 - 前記第2電極配置領域が、前記外周縁から前記内周縁までの幅の中央を結ぶ中央線を含む、
請求項1乃至請求項10、及び請求項13乃至請求項14のいずれか1項に記載の振動ジャイロ。 - 前記リング状振動体がシリコン基板から形成され、
正面視で実質的に前記上層金属膜、前記圧電体膜、及び前記下層金属膜のみが観察される
請求項1乃至請求項10、及び請求項13乃至請求項14のいずれか1項に記載の振動ジャイロ。 - 前記リング状振動体がシリコン基板から形成され、
正面視で実質的に前記上層金属膜及び前記下層金属膜のみが観察される
請求項1乃至請求項10、及び請求項13乃至請求項14のいずれか1項に記載の振動ジャイロ。
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WO2013140134A1 (en) | 2012-03-22 | 2013-09-26 | Atlantic Inertial Systems Limited | Vibratory ring structure |
JP2021028626A (ja) * | 2019-08-12 | 2021-02-25 | アトランティック・イナーシャル・システムズ・リミテッドAtlantic Inertial Systems Limited | 振動型角速度センサ |
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JP5523755B2 (ja) * | 2009-02-11 | 2014-06-18 | 住友精密工業株式会社 | 圧電体膜を用いた振動ジャイロ及びその製造方法 |
JP6256962B1 (ja) * | 2017-06-21 | 2018-01-10 | 朝日インテック株式会社 | 磁気式の方位・位置測定装置 |
GB2567479B (en) * | 2017-10-13 | 2022-04-06 | Atlantic Inertial Systems Ltd | Angular rate sensors |
GB2570732B (en) * | 2018-02-06 | 2023-01-11 | Atlantic Inertial Systems Ltd | Angular rate sensors |
EP3985351A1 (en) * | 2020-10-16 | 2022-04-20 | Atlantic Inertial Systems Limited | Quadrature bias error reduction for vibrating structure gyroscopes |
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JPH0868638A (ja) * | 1994-08-30 | 1996-03-12 | Taiyo Yuden Co Ltd | 圧電振動ジャイロ,その支持構造,多次元ジャイロ |
WO1999047890A1 (en) * | 1998-03-14 | 1999-09-23 | Bae Systems Plc | A gyroscope |
JP2003227719A (ja) * | 2001-11-27 | 2003-08-15 | Matsushita Electric Ind Co Ltd | 薄膜微小機械式共振子、薄膜微小機械式共振子ジャイロ、この薄膜微小機械式共振子ジャイロを用いたナビゲーションシステム及び自動車 |
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