Patent Publication Number: US-2011056291-A1

Title: Angular Velocity Detecting Apparatus

Description:
CROSS-REFERENCE TO RELATED APPLICATION 
     The present application relates to subject matters described in a co-pending patent application Ser. No. 12/625,142 filed on Nov. 24, 2009 entitled “ANGULAR VELOCITY DETECTING APPARATUS” by Toshiaki Nakamura, et al. and assigned to the assignees of the present application. The disclosures of this co-pending application are incorporated herein by reference. 
    
    
     BACKGROUND OF THE INVENTION 
     The present invention relates to a vibration-type angular-velocity sensor. More particularly, it relates to an angular-velocity sensor which reduces the influence of a phase variation in the displacement signal of a vibrator. 
     In JP-A-2005-43098, there is disclosed an apparatus for controlling the vibration-type angular-velocity sensor with a high accuracy. 
     SUMMARY OF THE INVENTION 
     In the vibration-type angular-velocity sensor, in order to maintain the detection sensitivity of the sensor at a constant value, the resonant frequency in a driving-axis direction and the resonant frequency in a detection-axis direction which is orthogonal to the driving-axis direction are adjusted so that both of the resonant frequencies coincide with each other, or make a constant frequency difference therebetween. There exists a problem, however, that the relationship between the resonant frequencies in the driving-axis direction and the detection-axis direction varies, and that the detection sensitivity of the sensor varies accordingly. This variation in the relationship therebetween occurs due to such factors as a pressure variation inside a housing for enclosing the sensor therein, and a temperature variation and an elapsed-time deterioration in the sensor element and its control circuit themselves. 
     In order to address the above-described problem, in the technology disclosed in JP-A-2005-43098, there is provided a detection driving circuit for vibrating a vibrator at a desired resonant frequency in the detection-axis direction. Then, the vibrator is vibrated in the detection-axis direction. Moreover, the resonant frequency in the detection-axis direction is adjusted so that the gain of the sensor output becomes equal to a desired value. 
     In view of the circumstances like this, the present invention has been devised. The vibration into the detection-axis direction is detected by inputting a desired resonant-frequency signal into a leakage vibration leaking from the driving-axis direction into the detection-axis direction, or inputting the signal into a servo-control electrode on the direction side. Furthermore, based on this detection result, the resonant frequency in the detection-axis direction is adjusted. In this way, the resonant frequency in the driving-axis direction and the resonant frequency in the detection-axis direction are caused to coincide with each other, or to make the constant frequency difference therebetween. 
     The above-described problem is solved as follows. Namely, in an angular-velocity detecting apparatus, a displacement is detected, the displacement occurring permanently in a second direction regardless of the occurrence of an angular velocity, and the resonant frequency in the second direction is adjusted in response to the output of this detection result. 
     Also, the above-described problem is solved as follows. Namely, in an angular-velocity detecting apparatus, there are provided a unit for inputting a signal into a servo electrode, the servo electrode being provided on a vibrator in order to suppress a displacement of the vibrator into a second direction, the signal being designed for vibrating the vibrator in the second direction, a unit for detecting the displacement which occurs in the second direction, and a unit for adjusting the resonant frequency in the second direction in response to the output of this detection result. 
     At all times, the resonant frequencies in the driving-axis direction and the detection-axis direction can be adjusted so that both of the resonant frequencies coincide with each other, or make a constant frequency difference therebetween. As a result, it becomes possible to maintain the detection sensitivity of the sensor at a constant value. 
     Other objects, features and advantages of the invention will become apparent from the following description of the embodiments of the invention taken in conjunction with the accompanying drawings. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG. 1  illustrates the configuration of a signal processing circuit of an angular-velocity sensor according to a first embodiment of the present invention; 
         FIG. 2  illustrates a timing chart for the signal processing circuit of the angular-velocity sensor according to the first embodiment of the present invention; 
         FIG. 3  illustrates the configuration of a signal processing circuit of an angular-velocity sensor according to a second embodiment of the present invention; 
         FIG. 4  illustrates a timing chart for the signal processing circuit of the angular-velocity sensor according to the second embodiment of the present invention; 
         FIG. 5  illustrates the sensor-sensitivity characteristics relative to the resonant frequency; 
         FIG. 6  illustrates the vibration characteristics in the case where the angular velocity is absent; 
         FIG. 7  illustrates the vibration characteristics in the case where the angular velocity is present; 
         FIG. 8  illustrates the vibration characteristics at the time of the servo control; and 
         FIG. 9  illustrates the vibration characteristics at the time of the fy adjustment. 
     
    
    
     DESCRIPTION OF THE INVENTION 
     Hereinafter, referring to  FIG. 1 ,  FIG. 2 , and  FIG. 5  to  FIG. 7 , the explanation will be given below concerning embodiments of the present invention. 
       FIG. 5  is a diagram for illustrating the resonant frequency fy on the detection-axis side and characteristics of the angular-velocity sensor sensitivity relative thereto. As illustrated in  FIG. 5 , when the resonant frequency fy coincides with the resonant frequency fx in the vibration-axis direction, the sensor sensitivity becomes its maximum value. The sensor sensitivity being equal to its maximum value means that the sensor output becomes its maximum value. Accordingly, in the present embodiment, the sensor output is detected. Then, using a fy-adjustment control unit  32  illustrated in  FIG. 1 , a feedback control is executed over a fy-adjustment electrode  31  so that the sensor output is always maintained at its maximum value.  FIG. 6  illustrates vibration waveforms in the respective vibration-axis and detection-axis directions in a case where no angular velocity is applied. Also,  FIG. 7  illustrates vibration waveforms in the respective vibration-axis and detection-axis directions in a case where an angular velocity is applied. In  FIG. 6  where the angular velocity is absent, there occurs none of a vibration attributed to the angular velocity in the detection-axis direction. However, there always occurs a leakage vibration from the vibration-axis direction. The reason for this phenomenon is as follows: On account of a characteristics variation in the manufacturing of the sensor element and a distortion due to the stress, the vibrator vibrates in a direction which is slightly oblique from the vibration-axis direction. As a result, a vibration component into the detection-axis direction occurs, which causes the occurrence of the above-described leakage vibration. Meanwhile, in  FIG. 7  where the angular velocity is present, in addition to the leakage vibration from the vibration-axis direction, the vibration attributed to the angular velocity is generated in the detection-axis direction. Also, when the resonant frequency fx in the vibration-axis direction and the resonant frequency fy in the detection-axis direction are equal to each other, there exist characteristics from  FIG. 7  that the phase of the leakage vibration delays by the amount of 90° as compared with the phase of the angular-velocity vibration. In view of the circumstances described so far, in the present embodiment, attention is focused on the leakage vibration which always occurs regardless of the presence or absence of the angular velocity. Then, a control of making fx and fy equal to each other is employed and implemented by adjusting the fy-adjustment electrode  31  so that the amplitude of the leakage vibration always becomes its maximum value. Also, letting a synchronous-detection signal be Φ 2 , an angular-velocity signal has the 90-°phase difference as compared therewith. Accordingly, in the synchronous detection using Φ 2 , the synchronous-detection output becomes equal to zero even in the case where the angular velocity is applied. Consequently, when this angular-velocity sensor is installed on, e.g., an automobile, the control can be executed where fx=fy is always implemented not only at the time of the stationary state before the driving of the automobile, but also at the time of the driving thereof when the angular velocity is generated. 
       FIG. 1  is the block diagram for illustrating a control circuit (i.e., signal processing circuit) of the angular-velocity sensor according to the first embodiment.  FIG. 2  illustrates the timing chart for the control circuit of the angular-velocity sensor according to the first embodiment. A detection element  1  of the angular-velocity sensor according to the present embodiment includes the following configuration components: A vibrator  4  which has a predetermined mass, and which vibrates at the predetermined resonant frequency fx in the vibration-axis direction  20  illustrated in  FIG. 1 , a driving electrode  45  for vibrating the vibrator  4  in the vibration-axis direction, fixed electrodes  3  and  6  (i.e., displacement detecting units) which are deployed in a manner of being opposed to the vibrator  4 , and which detect a displacement in accordance with a change in the electrostatic capacity, the displacement being caused to occur in the vibrator  4  in the direction perpendicular to the vibration-axis direction by a Coriolis force which is generated by the application of an angular velocity to the detection element  1 , and the fy-adjustment electrode  31  for adjusting the resonant frequency fy of the vibration that is caused to occur in the vibrator  4  in the direction perpendicular to the vibration-axis direction. The signal processing circuit includes the following configuration components: A driving-signal generator  43  for generating and transmitting, to the driving electrode  45 , an AC signal for the vibration at the resonant frequency fx in the vibration-axis direction, a capacitance detector  7  for detecting the displacement by detecting a difference between the electrostatic capacity between the vibrator  4  and the fixed electrode  3  and the electrostatic capacity between the vibrator  4  and the fixed electrode  6 , the displacement being caused to occur by the Coriolis force and being exerted onto the vibrator  4 , an A/D converter  8  for converting the output of the capacitance detector  7  to a digital signal, a signal Φ 1  whose frequency is equal to the driving frequency fx and whose phase advances by the amount of 90° as compared with the phase of the A/D output (i.e., the detected displacement of the vibrator  4 ) as is illustrated in  FIG. 2 , a synchronous-detection unit  9  for multiplying the displacement output in the detection-axis direction by Φ 1  using a multiplier  10 , the signal Φ 2  whose phase is equal to the phase of the A/D output (i.e., the detected displacement of the vibrator  4 ), a LPF (: low-pass filter)  18  for extracting the DC component of the output of the synchronous-detection unit  9 , a synchronous-detection unit  39  for multiplying the displacement output in the detection-axis direction by Φ 2  using a multiplier  40 , the fy-adjustment control unit  32 , an adder  37  for adding a constant bias voltage Vb to the output of the fy-adjustment control unit  32 , and a D/A converter  38  for converting the output of the adder  37  to an analog-signal voltage to apply the analog-signal voltage to the fy-adjustment electrode  31 . Here, the fy-adjustment control unit  32  includes a delay circuit  33  which has a time delay equal to the inverse of the driving frequency fx, a comparator  34  for making a comparison between the output of the synchronous-detection unit  39  and the output of the delay circuit  33 , and outputting “1” if the + (positive) side output is larger and outputting “−1” if the − (negative) side output is larger, an adder  35 , and a delay circuit  36  which has a time delay equal to the inverse of the driving frequency fx. Next, the explanation will be given below concerning the operation of the angular-velocity sensor according to the first embodiment. 
     In the angular-velocity sensor according to the present embodiment, the displacement of the vibrator  4 , which is caused to occur by the Coriolis force and exerted onto the vibrator  4 , is detected using the fixed electrodes  3  and  6  and the capacitance detector  7 . Moreover, the amplitude of the displacement is regarded as the detected signal of the angular velocity, then being outputted. First, with respect to the displacement signal of the vibrator  4  acquired via the capacitance detector  7  and the A/D converter  8 , the synchronous-detection unit  39  performs the synchronous detection using the synchronous signal Φ 2  illustrated in  FIG. 2 . As a result of this synchronous detection, the synchronous-detection unit  39  detects the vibration displacement in the direction perpendicular to the vibration-axis direction  20 . Next, in the fy-adjustment control unit  32 , the comparator  34  makes the comparison between the output of the synchronous-detection unit  39  and signals accumulated in the delay circuit  33 . If the output of the synchronous-detection unit  39  is larger than a one-period-earlier signal accumulated in the delay circuit  33 , the comparator  34  outputs “1”. Then, the adder  35  increments the one-period-earlier delay circuit  36  by 1. Also, in the reverse case, the adder  35  decrements the delay circuit  36  by 1. As illustrated in  FIG. 2 , in the time-interval during which the synchronous-detection output increases on a one-period basis, the comparator  34  outputs “1” continuously. Then, it turns out that, in the state where the output is converged into its maximum value, the output of the comparator  34  repeats +1 and −1 alternately. As a consequence, as is illustrated in the fy-adjustment output in  FIG. 2 , an adjustment voltage is outputted to the fy-adjustment electrode  31  so that the output of the synchronization result is always maintained at its maximum value while the vibration of ± 1  is being repeated on the one-period basis. 
     Next, referring to  FIG. 3 ,  FIG. 4 ,  FIG. 8 , and  FIG. 9 , the explanation will be given below concerning a second embodiment of the angular-velocity sensor of the present invention. In this embodiment, at the time of the stationary state, the vibrator  4  is forcefully vibrated in the detection-axis direction. Then, the adjustment voltage applied to the fy-adjustment electrode  31  is controlled so that the vibration amplitude at that time becomes its maximum value.  FIG. 8  illustrates the displacement of the vibrator  4  at the time of the normal operation. The vibration that is caused to occur by the Coriolis force which is generated by the application of an angular velocity is suppressed by a signal applied to servo electrodes. Then, the signal amplitude with which the suppression force at this time is generated is regarded as the sensor output. Next,  FIG. 9  illustrates the displacement of the vibrator  4  at the time of the fy adjustment. At the fy-adjustment time, an AC signal at the resonant frequency fx in the vibration-axis direction is inputted into the angular-velocity servo electrodes of the vibrator  4 . This input of the AC signal forcefully vibrates the vibrator  4  in the detection-axis direction. Then, the control is performed so that the vibration amplitude is maintained at its maximum value. 
       FIG. 3  is a block diagram for illustrating a signal processing circuit of the angular-velocity sensor according to the second embodiment.  FIG. 4  illustrates the timing chart according to the second embodiment. A detection element  1  of the angular-velocity sensor according to the present embodiment includes the following configuration components: A vibrator  4  which has a predetermined mass, and which vibrates at the predetermined resonant frequency fx in the vibration-axis direction  20  illustrated in  FIG. 1 , a driving electrode  45  for vibrating the vibrator  4  in the vibration-axis direction, fixed electrodes  3  and  6  (i.e., displacement detecting units) which are deployed in a manner of being opposed to the vibrator  4 , and which detect a displacement in accordance with a change in the electrostatic capacity, the displacement being caused to occur in the vibrator  4  in the direction perpendicular to the vibration-axis direction by a Coriolis force which is generated by the application of an angular velocity to the detection element  1 , fixed electrodes  2  and  5  for exerting an electrostatic force onto the vibrator  4  so that the Coriolis force exerted onto the vibrator  4  is cancelled out by the electrostatic force, and the fy-adjustment electrode  31  for adjusting the resonant frequency fy of the vibration that is caused to occur in the vibrator  4  in the direction perpendicular to the vibration-axis direction. Also, the signal processing circuit includes the following configuration components: A capacitance detector  7  for detecting the displacement by detecting a difference between the electrostatic capacity between the vibrator  4  and the fixed electrode  3  and the electrostatic capacity between the vibrator  4  and the fixed electrode  6 , the displacement being caused to occur by the Coriolis force and being exerted onto the vibrator  4 , an A/D converter  8  for converting the output of the capacitance detector  7  to a digital signal, a signal Φ 1  whose frequency is equal to the driving frequency fx and whose phase is equal to that of the A/D output (i.e., the detected displacement of the vibrator  4 ) as is illustrated in  FIG. 4 , a synchronous-detection unit  9  for multiplying the displacement output in the detection-axis direction by Φ 1  using a multiplier  10 , an integrator  11  including a coefficient multiplier  12  for determining an integral gain, an adder  13  for performing an integral calculation, and a shift register including a delay circuit  15  which has a time delay equal to the inverse of the driving frequency fx, a LPF (: low-pass filter)  18  for extracting the DC component of the output of the integrator  11 , and outputting the DC component as the detection result of the angular velocity, a driving-signal generator  43  for driving and controlling the vibrator  4  in the vibration-axis direction at the resonant frequency fx in the vibration-axis direction, a selector  42  for selecting the output of the integrator  11  at the time of the normal operation, and selecting, from the driving-signal generator  43 , the AC signal at the resonant frequency fx in the vibration-axis direction at the time of adjusting the resonant frequency fy in the detection-axis direction, an adder  23  for, adding a constant bias voltage Vb to the output of an adder  21  with respect to the output of the selector  42 , a D/A converter  25  for converting the output of the adder  23  to an analog-signal voltage to apply the analog-signal voltage to the fixed electrode  5 , an inverter  22  for inverting the signal from the adder  21 , an adder  24  for adding the constant bias voltage Vb to the inverter  22 , a D/A converter  26  for converting the output of the adder  24  to an analog-signal voltage to apply the analog-signal voltage to the fixed electrode  2 , and the fy-adjustment control unit  32  explained in the first embodiment illustrated in  FIG. 1 . 
     Next, the explanation will be given below concerning the operation of the angular-velocity sensor according to the second embodiment. First, the explanation will be given below regarding the normal operation of the angular-velocity sensor. In the angular-velocity sensor according to the present embodiment, the displacement of the vibrator  4 , which is caused to occur by the Coriolis force and is exerted onto the vibrator  4 , is detected using the fixed electrodes  3  and  6  and the capacitance detector  7 . Moreover, the cancel-out operation is performed such that the Coriolis force exerted onto the vibrator  4  and the leakage vibration leaking from the vibration-axis direction are canceled out by the electrostatic force. Here, this electrostatic force is generated between the fixed electrodes  2  and  5  and the vibrator  4  by applying a voltage to the fixed electrodes. Also, the leakage vibration is attributed to such factors as a distortion in the structure of the vibrator  4 . As a method for implementing this cancel-out operation, the following servo control is performed: A voltage for making the displacement of the vibrator  4  equal to zero is fed back to the angular-velocity sensor. Here, the displacement of the vibrator  4  is caused to occur in the direction perpendicular to the vibration-axis direction by the Coriolis force. Furthermore, a partial voltage of the feedback voltage at that time is regarded as the detected signal of the angular velocity, then being outputted. First, with respect to the displacement signal of the vibrator  4  acquired via the capacitance detector  7  and the A/D converter  8 , the synchronous-detection unit  9  performs the synchronous detection using the synchronous signal Φ 1  illustrated in  FIG. 4 . As a result of this synchronous detection, the synchronous-detection unit  9  detects the vibration displacement (which, hereinafter, will be referred to as “Coriolis component”) in the direction perpendicular to the vibration-axis direction  20 . Next, the integrator  11  integrates the signal acquired by the synchronous-detection unit  9 . Moreover, in order to feed back the signal acquired by the integrator  11  to the vibrator  4 , the output of the integrator  11  is inputted into an angular-velocity vibration control unit  27  by the selector  42 . The angular-velocity vibration control unit  27  multiplies the Coriolis component by the inverted signal of Φ 2  using a multiplier  19 , thereby generating the feedback signal with respect to the vibration displacement which is attributed to the angular velocity in the direction perpendicular to the vibration-axis direction of the vibrator  4 . Furthermore, the adders  23  and  24  add the constant bias voltage Vb to the feedback signal, then applying the addition results to the fixed electrodes  2  and  5  of the vibrator  4 . This application makes it possible to cancel out the vibration displacement in the direction perpendicular to the vibration-axis direction. Also, the output of the integrator  11  in the case where this vibration displacement is canceled out is outputted as the detection result of the angular velocity via the low-pass filter  18 . Next, the explanation will be given below regarding the adjustment operation of the resonant frequency fy in the detection-axis direction. First, the driving signal of the driving-signal generator  43  is selected based on an operation-mode selection signal, then being outputted via the selector  42 . In addition, the output from the selector is inputted into the angular-velocity servo electrodes  2  and  5 . When the vibrator  4  performs none of the vibration in the detection-axis direction, the vibrator  4  is forcefully vibrated at the resonant frequency fx by applying the AC voltage at the resonant frequency fx to the vibrator  4 . In this state, as illustrated in  FIG. 4 , the synchronous detection is applied to the output of the A/D converter  8 . Moreover, the fy-adjustment control by the fy-adjustment control unit  32  explained in the first embodiment in  FIG. 1  is carried out with respect to the output result of the synchronous detection. This fy-adjustment control allows the detection-axis-side resonant frequency fy to coincide with the vibration-axis-side resonant frequency fx, thereby making it possible to maintain the sensor sensitivity at a constant value. 
     It should be further understood by those skilled in the art that although the foregoing description has been made on embodiments of the invention, the invention is not limited thereto and various changes and modifications may be made without departing from the spirit of the invention and the scope of the appended claims.