WO2023037559A1 - 振動型角速度センサ - Google Patents
振動型角速度センサ Download PDFInfo
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- WO2023037559A1 WO2023037559A1 PCT/JP2021/033607 JP2021033607W WO2023037559A1 WO 2023037559 A1 WO2023037559 A1 WO 2023037559A1 JP 2021033607 W JP2021033607 W JP 2021033607W WO 2023037559 A1 WO2023037559 A1 WO 2023037559A1
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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
- G01C19/5776—Signal processing not specific to any of the devices covered by groups G01C19/5607 - G01C19/5719
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- the present invention relates to a vibrating angular velocity sensor, and more particularly to a primary side control circuit that induces primary vibration in a vibrator and a secondary vibration generated in the vibrator due to the angular velocity applied to the vibrator.
- the present invention relates to a vibrating angular velocity sensor including a secondary side control circuit for output.
- a vibrating angular velocity sensor is known.
- Such a vibrating angular velocity sensor is disclosed, for example, in Japanese Unexamined Patent Application Publication No. 2009-115559 and Japanese Patent No. 6463335.
- a ring-shaped element portion and a plurality of electrodes are arranged radially outside and circumferentially of the ring-shaped element portion.
- the plurality of electrodes includes primary electrodes and secondary electrodes.
- An AC power source is connected to generate primary vibration in the ring-shaped element portion by applying an AC voltage to one of the primary electrode and the secondary electrode.
- the other of the primary electrode and the secondary electrode is connected to detection means for detecting the magnitude of the electrical signal generated in the ring-shaped element portion.
- the angular velocity detected by the vibrating angular velocity sensor has a bias component (from the zero point output from the sensor even when no angular velocity is applied). error) is included.
- the bias component is caused by the asymmetry of the gyro element included in the vibrating angular velocity sensor. Therefore, in a conventional vibrating angular velocity sensor such as that disclosed in Japanese Patent Application Laid-Open No. 2009-115559, an electrode (one of a primary electrode and a secondary electrode) to which an AC power supply is connected and a detecting means are connected. It is configured to switch between electrodes (the other of the primary and secondary electrodes). Then, the bias component is canceled by subtracting the outputs of the vibrating angular velocity sensors before and after the switching.
- the canceled may result in residual bias components.
- the remaining bias component fluctuates depending on the temperature of the surrounding environment.
- Japanese Patent No. 6463335 describes a primary side control circuit that induces primary vibration in the vibrator and a secondary side that detects and outputs secondary vibration generated in the vibrator due to the angular velocity applied to the vibrator.
- a vibrating angular rate sensor is disclosed that includes a control circuit.
- both the primary side control circuit and the secondary side control circuit are configured by closed control loops.
- a first offset value based on the output of the primary side control circuit which is inversely proportional to the temperature change of the gain of the vibrator and a second offset value based on a constant signal independent of temperature are provided. offset value is added.
- the first and second offset values are adjusted so as to reduce errors caused by crosstalk from the primary side control circuit to the secondary side control circuit. Thereby, the sensor output from the secondary side control circuit is corrected. As a result, it is possible to reduce temperature fluctuations in the output from the vibrating angular velocity sensor (change in output value due to ambient temperature).
- the present invention has been made to solve the above-described problems, and one object of the present invention is to suppress an increase in the temperature fluctuation component of the bias that remains uncancelled.
- An object of the present invention is to provide a vibrating angular velocity sensor.
- a vibrating angular velocity sensor has a vibrator and a closed control loop, and the output of the closed control loop induces primary vibration in the vibrator. It has a primary side control circuit and a closed control loop for detecting secondary vibration generated in the vibrator due to the angular velocity applied to the vibrator, and by adding an offset value to the closed control loop, a secondary side control circuit configured to correct the sensor output, wherein the primary side control circuit is configured to be able to switch electrodes for inducing primary vibration in the vibrator; The electrode for detecting the secondary vibration of the vibrator can be switched by the control circuit, and the offset value after switching and the offset value before switching are symmetrical values with respect to a predetermined reference value.
- the electrodes that induce the primary vibration in the vibrator can be switched by the primary side control circuit, and the secondary side control circuit
- the electrode for detecting the secondary vibration of the vibrator is switchable, and the offset value after switching and the offset value before switching are symmetrical values with respect to a predetermined reference value.
- the offset value becomes symmetrical with respect to the predetermined reference value before and after the switching, so it is possible to suppress the loss of symmetry in the control of the vibrating angular velocity sensor before and after the switching.
- the secondary side control circuit preferably includes a loop filter in a closed control loop, and corrects the sensor output by adding an offset value to the input of the loop filter.
- the output in the closed control loop corresponds to the output of the loop filter.
- the output of the loop filter is then inversely proportional to the gain of the oscillator which is temperature dependent due to the feedback action of the closed control loop.
- the offset value after switching is ⁇ a, which is the polarity of the offset value before switching reversed.
- the provisional offset value before switching is a
- the provisional offset value after switching is -a
- the sensor output before switching is a
- the offset value before switching is a+b
- the offset value after switching is ⁇ a+b.
- the offset value before and after switching is symmetrical with respect to the offset value b for the median value of the sensor output before and after switching. It is possible to suppress the loss of symmetry of control of the vibrating angular velocity sensor.
- temporary means an intermediate offset value until the final offset value is obtained.
- the closed control loop of the secondary side control circuit includes the gain of the vibrator from the secondary side control circuit.
- a first offset value based on the output of the primary side control circuit, which is inversely proportional to the temperature change of the oscillator gain, and the vibration from the secondary side control circuit
- a second offset value based on a constant signal independent of temperature is added, and the amount of addition of the first offset value and the second offset value is The adjustment is configured to correct the sensor output.
- the output of the secondary side control circuit is the gain of the oscillator that depends on temperature. has a characteristic inversely proportional to Similarly, the output of the primary side control circuit has a characteristic inversely proportional to the gain of the vibrator due to the feedback operation of the closed control loop.
- the output of the secondary side control circuit has characteristics inversely proportional to the square of the gain of the vibrator.
- a first offset value corresponding to the square of the gain of the transducer and a second offset value corresponding to the first power of the gain of the transducer are added, and the addition amounts of the first offset value and the second offset value are adjusted. Accordingly, by correcting the sensor output, correction inversely proportional to the first power of the gain of the transducer and correction inversely proportional to the square of the gain of the transducer can be performed.
- the output of the primary side control circuit which is inversely proportional to the temperature change in the gain of the oscillator, is quantized.
- the sensor output is corrected by adding an offset value that reduces the sensor output error due to temperature change to the quantized output of the primary side control circuit to the secondary side control circuit.
- the primary side control circuit includes a first switch provided on the signal input side to the vibrator and a second switch provided on the signal output side from the vibrator.
- the secondary side control circuit includes a third switch provided on the signal input side to the vibrator, a fourth switch provided on the signal output side from the vibrator, and a first switch and a second switch.
- FIG. 11 is a diagram (1) showing the relationship between the temperature after correction of the sensor output by the offset value and the bias component; (a) is a diagram (2) showing the relationship between temperature and bias components after correction of the sensor output by the offset value; (b) is a diagram (3) showing the relationship between the temperature and the bias component after correction of the sensor output by the offset value; FIG. 4 is a diagram (4) showing the relationship between temperature and bias components after correction of the sensor output by the offset value;
- FIG. 7 is a block diagram showing the configuration of a vibrating angular velocity sensor according to a second embodiment;
- FIG. 10 is a diagram for explaining correction of the sensor output of the vibrating angular velocity sensor according to the second embodiment;
- the vibrating angular velocity sensor 100 includes an oscillator 1, a primary control circuit 2 having a closed control loop for driving the oscillator 1, and an oscillator driven by the primary control circuit 2.
- a secondary side control circuit 3 having a closed control loop for detecting and outputting secondary vibration when an angular velocity is applied to the element 1 is provided.
- the vibrator 1 is a ring-shaped vibrator 1 .
- the primary side control circuit 2 includes an amplifier circuit 21, a synchronous detection circuit 22, a loop filter 23, a modulation circuit 24, a drive circuit 25, a PLL (Phase Locked Loop) circuit (phase synchronization circuit) 26, and a reference circuit. and a signal generation circuit 27 .
- the vibrator 1, amplifier circuit 21, synchronous detection circuit 22, loop filter 23, modulation circuit 24 and drive circuit 25 are connected in this order to form a closed control loop.
- the loop filter 23 consists of an integration filter, for example.
- the loop filter 23 is an example of a "primary loop filter" in the claims.
- the secondary side control circuit 3 includes an amplifier circuit 31 , a synchronous detection circuit 32 , an adder circuit 33 , a loop filter 34 , a modulation circuit 35 , a drive circuit 36 and an amplifier circuit 37 .
- the vibrator 1, amplifier circuit 31, synchronous detection circuit 32, addition circuit 33, loop filter 34, modulation circuit 35 and drive circuit 36 are connected in this order to form a closed control loop.
- the addition circuit 33 is composed of a general addition/subtraction circuit using an operational amplifier.
- the loop filter 34 consists of an integration filter, for example.
- the output of the loop filter 34 is input to the amplifier circuit 37 . Then, the signal output from the amplifier circuit 37 is output to the outside as the sensor output of the vibration type angular velocity sensor 100 .
- the vibrating angular velocity sensor 100 is configured such that the primary side control circuit 2 can switch the electrode 50 that induces the primary vibration in the vibrator 1 , and the secondary side control circuit 3
- the electrode 50 for detecting the secondary vibration of the vibrator 1 can be switched by the .
- a switch 41 is provided on the signal input side to the vibrator 1
- a switch 42 is provided on the signal output side (the output side of the amplifier circuit 21) from the vibrator 1.
- a switch 43 is provided on the signal input side to the vibrator 1
- a switch 44 is provided on the signal output side from the vibrator 1 (the output side of the amplifier circuit 31).
- switches 41 and 42 connect electrodes 50 arranged above the vibrator 1 and the primary control circuit 2, and switches 43 and 44 are arranged below the vibrator 1.
- a state in which the electrode 50 and the secondary side control circuit 3 are connected is shown.
- the terms “upper side” and “lower side” refer to the “upper side” and “lower side”, respectively, for explanation in FIG. It does not mean “lower side”.
- the switches 41 and 42 are examples of the “first switch” and the "second switch” in the claims, respectively.
- the switches 43 and 44 are examples of the “third switch” and the "fourth switch” in the claims, respectively.
- the electrodes 50 that induce the primary vibration in the vibrator 1 are switched by the primary-side control circuit 2 by switching the switches 41 and 42 . Further, by switching the switches 43 and 44 , the electrode 50 for detecting the secondary vibration of the vibrator 1 is switched by the secondary side control circuit 3 . Specifically, switches 41 and 42 shown in FIG. From the state in which the electrode 50 arranged on the lower side of the element 1 and the secondary side control circuit 3 are connected, the switch 41 and the switch 42 are connected to the electrode 50 arranged on the upper side of the vibrator 1 and the secondary side control circuit. Circuit 3 is connected, and switch 43 and switch 44 are switched to a state in which electrode 50 arranged on the lower side of vibrator 1 and primary side control circuit 2 are connected.
- the electrode 50 for inducing the primary vibration in the vibrator 1 is switched by the primary side control circuit 2
- the electrode 50 for detecting the secondary vibration of the vibrator 1 is switched by the secondary side control circuit 3 .
- the terms “upper side” and “lower side” refer to the “upper side” and “lower side”, respectively, for explanation in FIG. It does not mean “lower side”.
- the vibration type angular velocity sensor 100 is provided with addition/subtraction amount adjustment circuits 4a and 4b to which the output from the primary side control circuit 2 (output from the loop filter 23) is input.
- the addition/subtraction amount adjusting circuits 4a and 4b adjust the magnitude of the output of the loop filter 23 of the primary side control circuit 2, which depends on the temperature, and apply the adjusted output (provisional first offset value) to the secondary side control. It is configured to be input to the adder circuit 33 of the circuit 3 .
- the addition amount of the provisional first offset value is adjusted by dividing the voltage using a potentiometer (volume resistor) or the like.
- the vibration type angular velocity sensor 100 is provided with an addition/subtraction amount adjustment circuit 5a to which a constant signal S1 independent of temperature is input.
- the addition/subtraction amount adjustment circuit 5a adjusts the magnitude of the constant signal S1 and inputs the adjusted constant signal S1 (provisional second offset value) to the addition circuit 33 of the secondary side control circuit 3. It is configured.
- the addition amount of the constant signal S1 is adjusted by dividing the voltage using a potentiometer (volume resistor) or the like.
- the vibration type angular velocity sensor 100 is provided with an addition/subtraction amount adjustment circuit 5b to which a constant signal S2 independent of temperature is input.
- the addition/subtraction amount adjustment circuit 5b adjusts the magnitude of the constant signal S2 and inputs the adjusted constant signal S2 (temporary second offset value) to the addition circuit 33 of the secondary side control circuit 3. It is configured.
- the addition amount of the constant signal S2 is adjusted by dividing the voltage using a potentiometer (volume resistor) or the like.
- the closed control loop of the secondary side control circuit 3 (the input of the loop filter 34 of the secondary side control circuit 3) is provided with the secondary
- the output of the primary side control circuit 2 (loop filter 23 output) and the sensor output from the secondary control circuit 3, which is inversely proportional to the temperature change of the gain of the vibrator 1, the first offset value based on a constant signal independent of temperature.
- the offset values after switching (the first offset value and the second offset value) and the offset values before switching are symmetrical values with respect to a predetermined reference value.
- the absolute value of the difference between the offset value added to the closed control loop before switching and the predetermined reference value, and the difference between the offset value added to the closed control loop after switching and the predetermined reference value. is substantially equal to the absolute value of .
- a1+b1 is added to the secondary side control circuit 3 as the first offset value.
- the addition circuit 33 receives the output (-a1) from the inversion circuit 51 and the output (b1) from the addition/subtraction amount adjustment circuit 4b. . That is, -a1+b1 is added to the secondary side control circuit 3 as the first offset value. How to obtain a1 and b1 will be described later.
- An inverting circuit 45 and a switch 46 are provided on the output side of the addition/subtraction amount adjustment circuit 5b.
- the switch 46 is configured to switch between a state of being connected to the addition/subtraction amount adjustment circuit 5b and a state of being connected to the inverting circuit 45 .
- the addition circuit 33 receives the output (a2) from the addition/subtraction amount adjustment circuit 5b and the output (a2) from the addition/subtraction amount adjustment circuit 5a. and the output (b2) of are input. That is, a2+b2 is added to the secondary side control circuit 3 as the second offset value.
- the addition circuit 33 receives the output (-a2) from the inversion circuit 45 and the output (b2) from the addition/subtraction amount adjustment circuit 5a. . That is, -a2+b2 is added to the secondary side control circuit 3 as the second offset value. How to obtain a2 and b2 will be described later.
- the primary-side control circuit 2 does not switch the electrode 50 that induces the primary vibration of the vibrator 1
- the secondary-side control circuit 3 does not switch the electrode 50 that detects the secondary vibration of the vibrator 1. (that is, the configuration of Japanese Patent No. 6463335).
- an error signal generated from a circuit block that constitutes the secondary side control circuit 3 causes a sensor output error in the closed control loop of the secondary side control circuit 3 and the primary side control circuit. 2 to the secondary-side control circuit 3, the total error V Out_Total_Error of the sensor output generated in the closed control loop of the secondary-side control circuit 3 is represented by Equation 3 below.
- A, B, and C are constant values (coefficients) independent of temperature.
- V Out_Const_Corr is the gain G R (T ) is inversely proportional to
- p in said Formula 4 is a constant value.
- V In_Const_Corr (second Offset value) is adjusted by the addition/subtraction amount adjustment circuit 5a to cancel B/G R (T), which is the second term of the above equation 3. That is , the term can be canceled.
- the output V AGC of the loop filter 23 of the primary side control circuit 2 which depends on the temperature, is represented by the following Equation 5. Note that the output V AGC of the loop filter 23 is the output of the loop filter 23 considering a closed control loop, and is a value that depends on the temperature.
- V In_Const_Corr (second offset value) based on a constant signal that does not depend on the temperature
- a value obtained by multiplying the output V AGC by a certain ratio q (first 1 offset value) is added to the input (path 2) of the loop filter 34 of the secondary side control circuit 3 .
- the sensor output V Out_AGC_Corr of the vibrating angular velocity sensor 100 when this first offset value is added is represented by Equation 6 below.
- A/G R 2 (T), which is the first term in Equation 3 above, is canceled by adjusting q by the addition/subtraction amount adjustment circuit 4b so that q is That is, the sensor output of the vibrating angular velocity sensor 100 becomes a value obtained by adding the error represented by the above Equation 3 to the original sensor output when the sensor output is not corrected. Then, by adding the first offset value and the second offset value, the sensor output of the vibrating angular velocity sensor 100 becomes a value obtained by adding the constant value C to the original sensor output.
- the temperature - dependent 1 While adjusting the amount of addition of the first offset value based on the output of the secondary side control circuit 2, the second term of Equation 3, B/G R (T), is inversely proportional to the temperature-dependent gain G R (T). term) is set to 0, the sensor output is corrected in an analog manner by adjusting the amount of addition of the second offset value based on a constant signal that does not depend on temperature.
- the sensor output of the vibrating angular velocity sensor 100 is proportional to 1/G R 2 (T) (temperature-dependent gain G
- the sensor output becomes substantially constant (the solid line in FIG. 3) independent of temperature.
- the signal is a continuous value, unlike the case of digital correction (where the signal is a discrete value). It is possible to suppress the stepwise change (make the sensor output a continuous value).
- the bias component (vertical axis) of the angular velocity detected by the vibrating angular velocity sensor 100 changes with respect to temperature changes (horizontal axis).
- the change in the bias component before switching (P in FIG. 4) differs from the change in the bias component after switching (S in FIG. 4).
- the sensor output Temperature change (P in FIG. 5) becomes smaller.
- the temperature change of the sensor output (S ) becomes smaller.
- the tentative number before and after the switching is set so that the temperature fluctuation component of the difference is the smallest before and after the switching, and the polarity of the offset value is reversed before and after the switching.
- a first offset value a1 and a temporary second offset value a2 are determined. Note that when the provisional first offset value a1 and the provisional second offset value a2 are used before switching, since the first and second terms of the above equation 3 are not canceled, the bias component is It has a gradient with respect to temperature. Similarly, when the provisional first offset value -a1 and the provisional second offset value -a2 are used after switching, the first and second terms of the above equation 3 are not canceled, so the bias The component has a gradient with respect to temperature.
- the median value (M in FIG. 4) between the change in bias component before switching (P in FIG. 4) and the change in bias component after switching (S in FIG. 4) is In contrast, the provisional first offset value b1 and the provisional second offset value b2 are determined so as to cancel the first and second terms of Equation 3 above.
- the first offset value before switching is a1+b1
- the second offset value is a2+b2
- the first offset value after switching is ⁇ a1+b1
- the second offset value is ⁇ a2+b2.
- the first offset value becomes symmetrical with respect to the provisional first offset value b1 for the median value
- the second offset value is symmetrical with respect to the provisional second offset value b2 for the median value. be symmetrical.
- both the change in bias component before switching (P in FIG. 7) and the change in bias component after switching (S in FIG. 7) have smaller temperature gradients. As a result, it is possible to reduce the temperature gradient of the bias component while reducing the difference between P and S in FIG. 7 (remaining bias component).
- the Q value (a dimensionless number indicating the state of vibration) is assumed to have characteristics that are generally inversely proportional to temperature.
- the vibrating angular velocity sensor 100 is configured such that the primary-side control circuit 2 can switch the electrode 50 that induces the primary vibration in the vibrator 1.
- the electrode 50 for detecting the secondary vibration of the vibrator 1 can be switched by the circuit 3, and the offset value after switching and the offset value before switching are symmetrical values with respect to a predetermined reference value. .
- the offset value becomes symmetrical with respect to the predetermined reference value before and after the switching, so it is possible to prevent the symmetry of the control of the vibrating angular velocity sensor 100 before and after the switching from being lost.
- the secondary side control circuit 3 includes the loop filter 34 in the closed control loop, and by adding an offset value to the input of the loop filter 34, the sensor output is configured to make corrections.
- the output in the closed control loop corresponds to the output of the loop filter.
- the output of the loop filter is inversely proportional to the gain of the vibrator 1, which depends on the temperature due to the feedback action of the closed control loop. Focusing on this point, in the first embodiment, an offset value is added to the input of the loop filter 34 to reduce the error caused by the crosstalk that is inversely proportional to the first power and/or the square of the gain of the oscillator 1. can do.
- the offset value after switching is ⁇ a, which is the polarity of the offset value before switching reversed.
- the provisional offset value before switching is a
- the provisional offset value after switching is ⁇ a
- the sensor output before switching and the sensor output after switching.
- the offset value before switching is a+b
- the offset value after switching is -a+b.
- the closed control loop of the secondary side control circuit 3 is provided with the vibrator 1 from the secondary side control circuit 3.
- a first offset value based on the output of the primary side control circuit 2 which is inversely proportional to the gain temperature change of the vibrator 1 and the secondary side control circuit A second offset value based on a constant signal that does not depend on temperature is added to correct the sensor output, which is inversely proportional to the temperature change in the gain of the oscillator 1 from 3, and the first offset value and the second offset value are added. It is configured to correct the sensor output by adjusting the addition amount of the value.
- the output of the secondary side control circuit 3 is a temperature dependent oscillator. It has a characteristic inversely proportional to a gain of 1.
- the output of the primary side control circuit 2 also has a characteristic inversely proportional to the gain of the oscillator 1 due to the feedback operation of the closed control loop.
- a first offset value corresponding to the square of the gain of the transducer 1 and a second offset value corresponding to the first power of the gain of the transducer 1 are added, and the addition amount of the first offset value and the second offset value is By adjusting the sensor output, correction inversely proportional to the first power of the gain of the transducer 1 and correction inversely proportional to the square of the gain of the transducer 1 can be performed.
- the addition amount of the first offset value based on the output of the primary side control circuit 2, which depends on the temperature and is inversely proportional to the temperature change of the gain of the vibrator 1, is adjusted so that
- the addition amount of the second offset value based on a constant signal independent of temperature so as to reduce a certain B/G R (T)
- the sensor output is corrected in an analog manner.
- the constant value C remains, since C is a constant value that does not depend on temperature, it does not affect sensor output errors due to temperature changes, so there is no problem in terms of correction.
- the vibrator 1 includes the ring-shaped vibrator 1 as described above.
- the vibration mode by the primary side control circuit 2 and the vibration mode by the secondary side control circuit 3 are similar. Therefore, if the present invention is applied to the vibrating angular velocity sensor 100 including the ring-type vibrator 1, there is no need to consider the influence of the difference in vibration modes, so the sensor output can be easily corrected. .
- the part of the vibrator 1 that induces the primary vibration is switched by the primary side control circuit 2, and the switches 43 and 42 are switched.
- the switch 44 the part of the vibrator 1 that detects the secondary vibration is switched by the secondary side control circuit 3 .
- the electrode 50 that induces the primary vibration in the vibrator 1 by the primary side control circuit 2 and the secondary vibration of the vibrator 1 by the secondary side control circuit 3 can be easily controlled.
- the electrodes 50 that detect vibration can be switched.
- the vibrating angular velocity sensor 101 includes an oscillator 1, a primary side control circuit 2, a secondary side control circuit 3, an AD conversion circuit 6, a correction arithmetic processing unit 7, a DA conversion circuit 8;
- the configurations of the vibrator 1, the primary side control circuit 2 and the secondary side control circuit 3 are the same as those of the first embodiment.
- the vibrating angular velocity sensor 101 includes electrodes 50 that induce primary vibration in the vibrator 1 by the primary control circuit 2 and vibrator 1 by the secondary control circuit 3 . and the electrode 50 for detecting the secondary vibration of .
- a switch 41 is provided on the signal input side to the vibrator 1
- a switch 42 is provided on the signal output side (the output side of the amplifier circuit 21) from the vibrator 1.
- a switch 43 is provided on the signal input side to the vibrator 1
- a switch 44 is provided on the signal output side (the output side of the amplifier circuit 31) from the vibrator 1. .
- the AD conversion circuit 6 receives the temperature-dependent analog signal output from the loop filter 23 of the primary side control circuit 2, converts (quantizes) the analog signal into a digital signal, and performs a correction operation. It is configured to output to the processing unit 7 . Then, in the second embodiment, the correction arithmetic processing unit 7 applies an offset value to the quantized output of the primary side control circuit 2 (output from the AD conversion circuit 6) to reduce errors in the sensor output due to temperature changes. It is configured to output the value to the DA conversion circuit 8 . Also, the DA conversion circuit 8 is configured to convert the offset value into an analog signal and add it to the input of the loop filter 34 of the secondary side control circuit 3 . Accordingly, the vibrating angular velocity sensor 101 is configured to correct the sensor output.
- offset values (y1, y2, . . . , see FIG. 9) are searched for at each temperature (T1, T2, . . . , see FIG. Further, for each temperature ( T1, T2, . . . , see FIG. 9) are searched for offset values (z1, z2, . . . , see FIG.
- Equation 7 a second-order polynomial is used as shown in Equation 7 below.
- the relational expression between the offset value at each temperature and the quantized output of the primary side control circuit 2 at each temperature is pre-established (using the actual vibrating angular velocity sensor 101). before ).
- the calculation of the relational expression is performed for each vibration type angular velocity sensor 101 (for each product).
- the quantized output (x) of the primary side control circuit 2 is expressed by Equations 7 and 8 above. is used to perform software calculation in the correction calculation processing unit 7, and the obtained offset value (y+z before switching, -y+z after switching) is added to the secondary side control circuit 3 to perform correction. That is, when the sensor output is to be corrected digitally, calculations are always performed using the relational expressions (Formula 7 and Formula 8), and the correction is performed corresponding to the quantized output of the primary side control circuit 2. Always done.
- the output of the primary side control circuit 2 which is inversely proportional to the temperature change of the gain of the vibrator 1, is quantized.
- the sensor output is corrected by adding to the secondary side control circuit 3 an offset value that reduces an error in the sensor output due to temperature changes to the quantized output of the primary side control circuit 2. is configured to As a result, the sensor output can be corrected simply by adding an offset value that reduces an error in the sensor output due to temperature changes to the secondary side control circuit 3. Therefore, the temperature dependent primary side control circuit 2 can be Unlike the case where an offset value other than the offset value based on the output is added, the configuration of the vibrating angular velocity sensor 101 can be simplified.
- a closed control loop is configured by the vibrator, amplifier circuit, synchronous detection circuit, loop filter, modulation circuit, and drive circuit.
- the control loop may be configured with a configuration other than the configuration including the amplifier circuit, synchronous detection circuit, loop filter, modulation circuit, and drive circuit.
- an integration filter is used as a loop filter
- a loop filter other than an integration filter may be used.
- the first offset value before switching is a1+b1 and the second offset value is a2+b2, and the first offset value after switching is -a1+b1 and the second offset value is -a2+b2.
- the present invention is not limited to this.
- the first offset value before switching is set to a1 and the second offset value is set to a2
- the first offset value after switching is set to -a1, which is the polarity of the first offset value a1 before switching
- the second offset value after switching may be ⁇ a2 obtained by inverting the polarity of the second offset value a2 before switching.
- a bias voltage is applied before and after switching between the electrode 50 for inducing the primary vibration of the vibrator by the primary-side control circuit 2 and the electrode 50 for detecting the secondary vibration of the vibrator by the secondary-side control circuit 3.
- the temperature fluctuation component remains to some extent, a first offset value for performing correction inversely proportional to the square of the gain of the oscillator 1, and a second offset value for performing correction inversely proportional to the square of the gain of the oscillator 1 Since the offset value is symmetrical with respect to zero (predetermined reference value), it is possible to suppress the loss of symmetry in the control of the vibrating angular velocity sensor before and after switching.
- the first offset value before switching is a1+b1 and the second offset value is a2+b2, and the first offset value after switching is -a1+b1 and the second offset value is -a2+b2.
- the median value is determined to cancel the first term of Equation 3 above (i.e., the first offset value is fixed at b1)
- the second offset value before switching is a2+b2
- the second offset value after switching is a2+b2.
- the second offset value may be configured to be -a2+b2. That is, only the second offset value may be a symmetrical value with respect to a predetermined reference value before and after switching.
- the temporary first offset value a1 and the temporary second offset value a2 before and after switching are determined so that the residual bias component is minimized before and after switching.
- the present invention is not limited to this.
- the first offset value and the second offset value before and after switching may be determined so as to be values in the vicinity of values at which residual bias components are minimized before and after switching.
- addition/subtraction amount adjustment circuits 4a and 4b and addition/subtraction amount adjustment circuits 5a and 5b are provided to output the offset value a+b and the offset value ⁇ a+b.
- a circuit for outputting signals corresponding to the offset value a+b and the offset value ⁇ a+b may be provided.
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Abstract
Description
まず、図1を参照して、第1実施形態による振動型角速度センサ100の構成について説明する。この第1実施形態では、振動型角速度センサ100のセンサ出力をアナログ的に処理することにより、補正を行う例について説明する。
次に、図1を参照して、振動型角速度センサ100のセンサ出力の補正について詳細に説明する。以下では、1次側制御回路2によって振動子1に1次振動を誘起する電極50を切り替えないとともに、2次側制御回路3によって振動子1の2次振動を検出する電極50を切り替えない場合(すなわち、特許第6463335号の構成)について説明する。
次に、1次側制御回路2によって振動子1に1次振動を誘起する電極50を切り替え可能に構成されているとともに、2次側制御回路3によって振動子1の2次振動を検出する電極50を切り替え可能に構成されている第1実施形態のオフセット値について説明する。
第1実施形態では、以下のような効果を得ることができる。なお、以下では、Q値(振動の状態を示す無次元数)は、概ね温度に反比例した特性を有するものとして、説明している。
次に、図8を参照して、第2実施形態による振動型角速度センサ101の構成について説明する。第2実施形態では、1次側制御回路2のループフィルタ23の出力をデジタル的に処理することにより、補正を行う例について説明する。
2 1次側制御回路
3 2次側制御回路
34 ループフィルタ
41 スイッチ(第1スイッチ)
42 スイッチ(第2スイッチ)
43 スイッチ(第3スイッチ)
44 スイッチ(第4スイッチ)
50 電極
100、101 振動型角速度センサ
Claims (9)
- 振動子と、
閉じた制御ループを有し、前記閉じた制御ループの出力が前記振動子に1次振動を誘起させる1次側制御回路と、
前記振動子に印加される角速度に起因して前記振動子に発生する2次振動を検出する閉じた制御ループを有するとともに、前記閉じた制御ループにオフセット値を加算することによって、センサ出力の補正を行うように構成されている2次側制御回路と、を備え、
前記1次側制御回路によって前記振動子に前記1次振動を誘起する電極を切り替え可能に構成されており、
前記2次側制御回路によって前記振動子の前記2次振動を検出する電極を切り替え可能に構成されており、
切り替え後の前記オフセット値と切り替え前の前記オフセット値とは、所定の基準値に対して対称な値である、振動型角速度センサ。 - 前記2次側制御回路は、前記閉じた制御ループ内にループフィルタを含み、
前記ループフィルタの入力に前記オフセット値を加算することによって、前記センサ出力の補正を行うように構成されている、請求項1に記載の振動型角速度センサ。 - 切り替え前の前記オフセット値をaとした場合、切り替え後の前記オフセット値は、切り替え前の前記オフセット値の極性が反転された-aである、請求項1に記載の振動型角速度センサ。
- 切り替え前の仮の前記オフセット値をaとし、
切り替え後の仮の前記オフセット値を-aとし、
切り替えの前の前記センサ出力と、切り替えの後の前記センサ出力との中央値に対する仮の前記オフセット値をbとした場合、
切り替え前の前記オフセット値は、a+bであり、切り替え後の前記オフセット値は、-a+bである、請求項1に記載の振動型角速度センサ。 - 前記センサ出力をアナログ的に補正する場合には、前記2次側制御回路の閉じた制御ループに、前記2次側制御回路からの前記振動子の利得の温度変化の二乗に反比例するセンサ出力の補正を行うために、前記振動子の利得の温度変化に反比例する前記1次側制御回路の前記出力に基づく第1オフセット値と、前記2次側制御回路からの前記振動子の利得の温度変化に反比例するセンサ出力の補正を行うために、温度に依存しない一定の信号に基づく第2オフセット値とを加算するとともに、前記第1オフセット値および前記第2オフセット値の加算量を調整することによって、前記センサ出力の補正を行うように構成されている、請求項1に記載の振動型角速度センサ。
- 前記振動子の温度に依存する利得をGR(T)とし、A、BおよびCを温度に依存しない一定値とした場合に、前記2次側制御回路を構成する回路ブロックから生じるエラー信号により前記2次側制御回路の閉じた制御ループに生じる前記センサ出力の誤差と前記1次側制御回路から前記2次側制御回路へのクロストークにより前記2次側制御回路の閉じた制御ループに生じる前記センサ出力の誤差の合計VOut_Total_Errorは、以下の数式で表され、以下の数式の第1項であるA/GR 2(T)を低減するように、前記振動子の利得の温度変化に反比例する温度に依存する前記1次側制御回路の前記出力に基づく前記第1オフセット値の加算量を調整するとともに、以下の数式の第2項であるB/GR(T)を低減するように、温度に依存しない前記一定の信号に基づく前記第2オフセット値の加算量を調整することによって、アナログ的に前記センサ出力の補正を行うように構成されている、請求項5に記載の振動型角速度センサ。
- 前記センサ出力をデジタル的に補正する場合には、前記振動子の利得の温度変化に反比例する温度に依存する前記1次側制御回路の前記出力を量子化するとともに、量子化した前記1次側制御回路の前記出力に対して、温度変化による前記センサ出力の誤差を低減する前記オフセット値を、前記2次側制御回路に加算することによって、前記センサ出力の補正を行うように構成されている、請求項1に記載の振動型角速度センサ。
- 前記振動子は、リング型の振動子を含む、請求項1に記載の振動型角速度センサ。
- 前記1次側制御回路は、前記振動子に対する信号の入力側に設けられる第1スイッチと、前記振動子からの信号の出力側に設けられる第2スイッチとを含み、
前記2次側制御回路は、前記振動子に対する信号の入力側に設けられる第3スイッチと、振動子からの信号の出力側に設けられる第4スイッチとを含み、
前記第1スイッチおよび前記第2スイッチが切り替えらえることにより、前記1次側制御回路によって前記振動子に前記1次振動を誘起する電極が切り替えられ、
前記第3スイッチおよび前記第4スイッチが切り替えらえることにより、前記2次側制御回路によって前記振動子の前記2次振動を検出する電極が切り替えられる、請求項1に記載の振動型角速度センサ。
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JPH09170927A (ja) * | 1995-12-21 | 1997-06-30 | Denso Corp | 振動型角速度検出装置 |
JP2009115559A (ja) | 2007-11-05 | 2009-05-28 | Sumitomo Precision Prod Co Ltd | 角速度センサ及び角速度センサを備えた電子機器 |
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JP6761140B1 (ja) * | 2020-03-24 | 2020-09-23 | 住友精密工業株式会社 | 振動型角速度センサ |
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JPH09170927A (ja) * | 1995-12-21 | 1997-06-30 | Denso Corp | 振動型角速度検出装置 |
JP2009115559A (ja) | 2007-11-05 | 2009-05-28 | Sumitomo Precision Prod Co Ltd | 角速度センサ及び角速度センサを備えた電子機器 |
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