Source: https://patents.google.com/patent/US7481110B2/en
Timestamp: 2020-03-28 08:48:53
Document Index: 206368446

Matched Legal Cases: ['arts 7', 'art 64', 'art 64', 'art 64', 'art 64', 'arts 64']

US7481110B2 - Method for quadrature-bias compensation in a Coriolis gyro, as well as a Coriolis gyro which is suitable for this purpose - Google Patents
Method for quadrature-bias compensation in a Coriolis gyro, as well as a Coriolis gyro which is suitable for this purpose Download PDF
US7481110B2
US7481110B2 US10/584,483 US58448304A US7481110B2 US 7481110 B2 US7481110 B2 US 7481110B2 US 58448304 A US58448304 A US 58448304A US 7481110 B2 US7481110 B2 US 7481110B2
US10/584,483
US20070144255A1 (en
Eberhard Handrich
2003-12-23 Priority to DE10360962A priority Critical patent/DE10360962B4/en
2003-12-23 Priority to DE10360962.8 priority
2004-11-26 Application filed by Litef GmbH filed Critical Litef GmbH
2004-11-26 Priority to PCT/EP2004/013447 priority patent/WO2005066585A1/en
2006-06-23 Assigned to LITEF GMBH reassignment LITEF GMBH ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: GEIGER, WOLFRAM, HANDRICH, EBERHARD
2007-06-28 Publication of US20070144255A1 publication Critical patent/US20070144255A1/en
2009-01-27 Publication of US7481110B2 publication Critical patent/US7481110B2/en
B Q=6.5·106°/h to 6.5·105°/h
B=B Q·Δ100=6,500°/h to 65°/h [8]
FIG. 1 illustrates the schematic design of a linear double oscillator 1 with corresponding electrodes including a block diagram of associated evaluation/excitation electronics 2. The linear double oscillator 1 is preferably produced by etching a silicon wafer. It has a first linear oscillator 3, a second linear oscillator 4, first spring elements 5 1 to 5 4, second spring elements 6 1 and 6 2 as well as parts of an intermediate frame 7 1 and 7 2 and a gyro frame 7 3 and 7 4. The second oscillator 4 is mounted within the first oscillator 3 to oscillate, and is connected to it via the second spring elements 6 1, 6 2. The first oscillator 3 is connected to the gyro frame 7 3, 7 4 by the first spring elements 5 1 to 5 4 and the intermediate frame 7 1, 7 2.
First excitation electrodes 8 1 to 8 4, first read electrodes 9 1 to 9 4, second excitation electrodes 10 1 to 10 4, and second read electrodes 11 1 and 11 2 are also provided. All of the electrodes are mechanically connected to the gyro frame, although electrically isolated. (The expression “gyro frame” refers to a mechanical, non-oscillating structure in which the oscillators are “embedded”, e.g., the non-oscillating part of the silicon wafer).
When the first oscillator 3 is excited by the first excitation electrodes 8 1 to 8 4 to oscillate in the X1 direction, such movement is transmitted through the second spring elements 6 1, 6 2 to the second oscillator 4 (alternate “pulling” and “pushing”). The vertical alignment of the first spring elements 5 1 to 5 4 prevents the first oscillator 3 from moving in the X2 direction. However, vertical oscillation can be carried out by the second oscillator 4 as a result of the horizontal alignment of the second spring elements 6 1, 6 2. When corresponding Coriolis forces occur, then the second oscillator 4 is excited to oscillate in the X2 direction.
A read signal that is read from the first read electrodes 9 1 to 9 4 and proportional to the amplitude/frequency of the X1 movement of the first oscillator 3 is supplied, via appropriate amplifier elements 21, 22 and 23, to an analog/digital converter 24. An appropriately digitized output signal from the analog/digital converter 24 is demodulated by a first demodulator 25 and by a second demodulator 26 to form corresponding output signals, with the two demodulators operating with an offset of 90° with respect to one another. The output signal from the first demodulator 25, whose output signal controls a frequency generator 30 so that the signal occurring downstream from the demodulator 25 is regulated at zero, is supplied to a first regulator 27 to regulate the frequency of the excitation oscillation (the oscillation of the mass system 1 in the X1 direction). Analogously, the output signal from the second demodulator 26 is regulated at a constant value (predetermined by the electronics component 29). A second regulator 31 insures that the amplitude of the excitation oscillation is regulated. The output signals from the frequency generator 30 and the amplitude regulator 31 are multiplied by one another at a multiplier 32. An output signal from the multiplier 32, which is proportional to the force to be applied to the first excitation electrodes 8 1 to 8 4, acts not only on a first force/voltage converter 33 but also on a second force/voltage converter 34, which use the digital force signal to produce digital voltage signals. The digital output signals from the force/voltage converters 33, 34 are converted by first and second digital/analog converters 35, 36 to corresponding analog voltage signals. Such signals are then passed to the first excitation electrodes 8 1 to 8 4. The first and second regulators 27, 31 readjust the natural frequency of the first oscillator 3 and set the amplitude of the excitation oscillation to a specific, predeterminable value.
When Coriolis forces occur, resultant movement of the second oscillator 4 in the X2 direction (read oscillation) is detected by the second read electrodes 11 1, 11 2, and a read signal, proportional to the movement of the read oscillation, is supplied via appropriate amplifier elements 40, 41 and 42 to an analog/digital converter 43 (see FIG. 2). A digital output signal from the analog/digital converter 43 is demodulated by a third demodulator 44 in phase with the direct-bias signal and demodulated by a fourth demodulator 45, offset through 90°. A corresponding output signal from the first demodulator 44 is applied to a third regulator 46, whose output signal is a compensation signal that corresponds to the rotation rate Ω to be measured. An output signal from the fourth demodulator 45 is applied to a fourth regulator 47 whose output signal is a compensation signal proportional to the quadrature bias to be compensated. The output signal from the third regulator is modulated by a first modulator 48, and the output signal from the fourth regulator 47 is modulated in an analogous manner by a second modulator 49, so that amplitude-regulated signals are produced whose frequencies correspond to the natural frequency of the oscillation in the X1 direction (sin≅0°, cos≅90°). Corresponding output signals from the modulators 48, 49 are added in an addition stage 50, whose output signal is supplied both to a third force/voltage converter 51 and to a fourth force/voltage converter 52. The corresponding output signals for the force/voltage converters 51, 52 are supplied to digital/analog converters 53, 54, whose analog output signals are applied to the second excitation electrodes 10 2 to 10 3, and reset the oscillation amplitudes of the second oscillator 4.
The electrostatic field produced by the second excitation electrodes 10 1 and 10 4 (or the two electrostatic fields produced by the electrode pairs 10 1, 10 3 and 10 2, 10 4) results in an alignment/position change of the second oscillator 4 in the X2 direction, and thus in a change in the alignments of the second spring elements 6 1 to 6 2. The fourth regulator 47 regulates the signal applied to the second excitation electrodes 10 1 and 10 4 so that the quadrature bias included in the compensation signal of the fourth regulator 47 is as small as possible, or disappears. A fifth regulator 55, a fifth and a sixth force/voltage converter 56, 57 and two analog/digital converters 58, 59 are used for this purpose.
The output signal from the fourth regulator 47, which is a measure of the quadrature bias, is supplied to the fifth regulator 55 that regulates the electrostatic field produced by the two excitation electrodes 10 1 and 104 so that the quadrature bias BQ disappears. An output signal from the fifth regulator 55 is supplied to the fifth and sixth force/voltage converters 56, 57 for this, employing the digital force/output signal from the fifth regulator 55 to produce digital voltage signals that are then converted to analog voltage signals in the digital/analog converters 58, 59. The analog output signal from the digital/analog converter 58 is supplied to the second excitation electrode 10 1 (alternatively to electrode 11 1). The analog output signal from the digital/analog converter 59 is supplied to the second excitation electrode 10 4 (alternatively to electrode 11 2).
As the second oscillator 4 is clamped only by the second spring elements 6 1 to 6 2 (clamped at one end), such alignment of the spring elements can be varied without problem by the electrostatic field. It is additionally possible to provide additional second spring elements, resulting in the second oscillator 4 being clamped at two ends, provided that such additional elements are appropriately designed to insure that clamping at one end is effective. In order to permit the same effect for the spring elements 5 1, 5 2 (and for the spring elements 5 3, 5 4 as well) the third and fourth spring elements 5 3, 5 4, as well as the first and second spring elements 5 1, 5 2 may be omitted, resulting in the first oscillator 3 being clamped at one end (together with an appropriately modified electrode configuration, not shown). In such a situation, the second oscillator 4 may also be attached to the first oscillator by further spring elements to achieve clamping at two ends.
The electrode arrangements shown in FIGS. 1 and 2 may be varied. For example, the electrodes identified by the reference numbers 8 1, 9 1, 9 2, 8 2 as well as 8 3, 9 3, 9 4, 8 4 in FIGS. 1 and 2 may alternatively be combined to form one electrode. An electrode combined in this way may be allocated a plurality of tasks by using suitable carrier frequency methods (i.e., the electrode has read, excitation and compensation functions). The electrodes identified by the reference numbers 11 1, 10 1, 10 3 as well as 11 2, 10 2 and 10 4 can also be combined to form one electrode.
A preferred embodiment of the Coriolis gyro of the invention as well as its method of operation will be described in more detail with reference to FIG. 3, a schematic illustration of a mass system comprising four linear oscillators with corresponding measurement and control loops for rotation rate and quadrature bias, as well as auxiliary control loops for compensation of the quadrature bias. The schematic layout of coupled system 1′ comprises a first resonator 70 1 and a second resonator 70 2. The first resonator 70 1 is coupled to the second resonator 70 2 by a mechanical coupling element (a spring) 71. The first and the second resonator 70 1, 70 2 are formed in a common substrate and may be caused to oscillate in antiphase with respect to one another along a common oscillation axis 72. The first and the second resonators 70 1, 70 2 are identical, and are mapped onto one another via an axis of symmetry 73. The design of the first and second resonators 70 1, 70 2 has been explained in conjunction with FIGS. 1 and 2 and will therefore not be explained again. (Identical and mutually corresponding components or component groups are identified by the same reference numbers with identical components associated with different resonators being identified by different indices.)
A major difference between the double oscillators shown in FIG. 3 and those shown in FIGS. 1 and 2 is that some of the individual electrodes are physically combined to form one overall electrode. For example, the individual electrodes identified by the reference numbers 8 1, 8 2, 9 1 and 9 2 in FIG. 3 form a common electrode. Further, the individual electrodes identified by the reference numbers 8 3, 8 4, 9 3 and 9 4 form a common electrode, those with the reference numbers 10 4, 10 2, 11 2 as well as the reference numbers 11 1, 10 3 and 10 1 each form an overall electrode. The same applies in an analogous manner to the other double-oscillator system.
During operation of the coupled system 1′ in accordance with the invention, the two resonators 70 1, 70 2 oscillate in antiphase along the common oscillation axis 72. The coupled system 1′ is thus not susceptible to external disturbances or to those emitted by the coupled system 1′ itself into the substrate in which the resonators 70 1 and 70 2 are mounted.
When the coupled system 1′ is rotated, the second oscillators 4 1 and 4 2 are deflected in mutually opposite directions (i.e., the X2 direction and opposite to the X2 direction). When an acceleration of the coupled system 1′ occurs, the second oscillators 4 1, 4 2 are each deflected in the same direction, i.e., in the same direction as the acceleration provided that such acceleration is in the X2 direction, or in the opposite direction. Accelerations and rotations can thus be measured simultaneously or selectively. Quadrature bias compensation can be carried out during the measurement process in the resonators 70 1, 70 2. However, this is not absolutely essential.
The evaluation/excitation electronics 2 identified by the reference number 2′ include three control loops: a first control loop for excitation and/or control of an antiphase oscillation of the first oscillators 3 1 and 3 2 along the common oscillation axis 72, a second control loop for resetting and compensation of the oscillations of the second oscillator 4 1 along the X2 direction, and a control loop for resetting and compensation of the oscillations of the second oscillator 4 2 along the X2 direction. The three described control loops include an amplifier 60, an analog/digital converter 61, a signal separation module 62, a first to third demodulation module 63 1 to 63 3, a control module 64, an electrode voltage calculation module 65, a carrier frequency addition module 67, and a first to sixth digital/analog converter 66 1 to 66 6.
Carrier frequencies can be applied to the electrodes 8 1 to 8 8, 9 1 to 9 8, 10 1 to 10 8 and 11 1 to 11 4 for tapping excitation of the antiphase oscillation or of the oscillations of the second oscillators 4 1, 4 2. This may be accomplished in a number of ways. They include a) using three different frequencies, with one frequency associated with each control loop, b) using square-wave signals with a time-division multiplexing method, and c) using random phase scrambling (stochastic modulation method).
The carrier frequencies are applied to the electrodes 8 1 to 8 8, 9 1 to 9 8, 10 1 to 10 8 and 11 1 to 11 4 via the associated signals UyAo, UyAu (for the second oscillator 4 1) Uxl, Uxr (for the antiphase resonance of the first oscillators 3 1 to 3 2) and UyBu and UyBo (for the second oscillator 4 2), that are produced in the carrier frequency addition module 67 and excited in antiphase with respect to the abovementioned frequency signals. The oscillations of the first and second oscillators 3 1, 3 2, 4 1 and 4 2 are tapped off via those parts of the gyro frame identified by the reference numbers 7 7, 7 9, 7 11 and 7 13, (used as tapping electrodes in addition to their function as suspension points for the mass system). For this, the two resonators 70 1, 70 2 are preferably designed to be electrically conductive, with all of the frames, springs and connections. The signal, tapped off by means of the gyro frame parts 7 7, 7 9, 7 11 and 7 13 and supplied to the amplifier 60, contains information about all three oscillation modes. It is converted by the analog/digital converter 61 to a digital signal supplied to the signal separation module 62.
The assembled signal is separated into three different signals in the signal separation module 62: x (which contains information about the antiphase oscillation), yA (which contains information about the deflection of the second oscillator 4 1) and yB (which contains information about the deflection of the second oscillator 4 2). The signals are separated differently in accordance with the type of carrier frequency method used (see a) to c) above). Separation is carried out by demodulation with the corresponding signals of the carrier frequency method. The signals x, yA and yB are supplied to the demodulation modules 63 1 to 63 3 that demodulate them with an operating frequency of the antiphase oscillation for 0° and 90°. The control module 64 and the electrode voltage calculation module 65 for regulation/calculation of the signals Fxl/r or Uxl/r, respectively, are preferably configured analogously to the electronics module 2 of in FIG. 1. The control module 64 and the electrode voltage calculation module 65 (for regulation/calculation of the signals FyAo/u, UyAo/u, and FyBo/u, UyBo/u) are preferably designed analogously to the electronics module 2 of FIG. 2. The only difference is that the signals for resetting the rotation rate and the quadrature after the multiplication by the operating frequency are passed together with DC voltages for the quadrature auxiliary regulator to a combined electrode pair. The two signals are therefore added, so that calculation of the electrode voltages includes the resetting signals for oscillation frequency and the DC signal for quadrature regulation as well as frequency tuning. The electrode voltages Uxl/r, UyAo/u and UyBo/u calculated in this way are then added to the carrier-frequency signals and passed jointly via the analog/digital converters 66 1 to 66 6 to the electrodes.
FIG. 4 is a block diagram of an embodiment of a control system for incorporation into a mass system in accordance with FIG. 3. It shows one preferred embodiment of the control system identified by the reference number 64 in FIG. 3. The control system 64 includes a first to third part 64 1 to 64 3. the first part 64 1 has a first regulator 80, a frequency generator 81, a second regulator 82, an electronics component 83, an addition stage 84 and a multiplier 85. The operation of the first part corresponds essentially to that of the electronics module 2 of FIG. 1 and will therefore not be described once again. The second part 64 2 has a first regulator 90, a first modulator 91, a second regulator 92, a second modulator 93 and a third regulator 94. A first and a second addition stage 95, 96 are also provided. A rotation rate signal Ω can be determined at the output of the first regulator 90, and an assembled signal comprising the compensation of the quadrature bias BQ1 and an acceleration A can be determined at the output of the third regulator 94.
The third part 64 3 of the control system 64 has a first regulator 100, a first modulator 101, a second regulator 102, a second modulator 103 and a third regulator 104. A first and a second addition stage 105, 106 are also provided. A rotation rate signal Ω with negative mathematical sign can be tapped off at the output of the first regulator 100 and an assembled signal comprising the compensation of the quadrature bias BQ2 with negative mathematical sign and an acceleration signal A can be tapped off at the output of the third regulator 104. The method of operation of the second and of the third parts 64 2 and 64 3 corresponds to that of the electronics module 2 illustrated in FIG. 2, and will therefore not be explained again.
Only the signals for resetting rotation rate and quadrature, after multiplication by the operating frequency, are passed, together with the DC voltages for the quadrature auxiliary regulator, to a combined electrode pair. The two signals are therefore added so that the calculation of the electrode voltages includes the reset signals for oscillation frequency and the DC signal for quadrature regulation. The electrode voltages Uxl/r, UyAo/u and UyBo/u thusly calculated are then added to the carrier frequency signals and jointly passed via the analog/digital converters 66 1 to 66 6 to the electrodes.
The carrier frequency methods described above with antiphase excitation have the advantage that a signal is applied to the amplifier 60 only when the linear oscillators 3 1, 3 2, as well as 4 1 and 4 2, are deflected. The frequency signals used for excitation may be discrete frequencies or square-wave signals. Square-wave excitation is preferred, as it is easier to produce and process.
US10/584,483 2003-12-23 2004-11-26 Method for quadrature-bias compensation in a Coriolis gyro, as well as a Coriolis gyro which is suitable for this purpose Active 2025-01-25 US7481110B2 (en)
DE10360962A DE10360962B4 (en) 2003-12-23 2003-12-23 Method for quadrature bias compensation in a Coriolis gyro and suitable Coriolis gyro
DE10360962.8 2003-12-23
PCT/EP2004/013447 WO2005066585A1 (en) 2003-12-23 2004-11-26 Method for compensating a coriolis gyroscope quadrature bias and a coriolis gyroscope for carrying out said method
US20070144255A1 US20070144255A1 (en) 2007-06-28
US7481110B2 true US7481110B2 (en) 2009-01-27
ID=34706530
US10/584,483 Active 2025-01-25 US7481110B2 (en) 2003-12-23 2004-11-26 Method for quadrature-bias compensation in a Coriolis gyro, as well as a Coriolis gyro which is suitable for this purpose
US (1) US7481110B2 (en)
EP (1) EP1706707B1 (en)
JP (1) JP4370331B2 (en)
KR (1) KR100850587B1 (en)
CN (1) CN100533062C (en)
AT (1) AT361459T (en)
AU (1) AU2004312572B2 (en)
CA (1) CA2548728C (en)
DE (2) DE10360962B4 (en)
NO (1) NO338403B1 (en)
PL (1) PL1706707T3 (en)
RU (1) RU2327109C2 (en)
WO (1) WO2005066585A1 (en)
ZA (1) ZA200605929B (en)
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2003-12-23 DE DE10360962A patent/DE10360962B4/en active Active
2004-11-26 CA CA002548728A patent/CA2548728C/en active Active
2004-11-26 CN CN 200480038233 patent/CN100533062C/en active IP Right Grant
2004-11-26 KR KR1020067009956A patent/KR100850587B1/en not_active IP Right Cessation
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2004-11-26 AU AU2004312572A patent/AU2004312572B2/en not_active Ceased
2004-11-26 US US10/584,483 patent/US7481110B2/en active Active
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2004-11-26 AT AT04798097T patent/AT361459T/en not_active IP Right Cessation
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JP4370331B2 (en) 2009-11-25
DE10360962A1 (en) 2005-07-28
EP1706707B1 (en) 2007-05-02
PL1706707T3 (en) 2007-09-28
US20070144255A1 (en) 2007-06-28
WO2005066585A1 (en) 2005-07-21
CN100533062C (en) 2009-08-26
CN1898528A (en) 2007-01-17
KR100850587B1 (en) 2008-08-05
DE502004003734D1 (en) 2007-06-14
AU2004312572B2 (en) 2008-02-07
KR20060090284A (en) 2006-08-10
CA2548728C (en) 2009-10-06
EP1706707A1 (en) 2006-10-04
AT361459T (en) 2007-05-15
RU2327109C2 (en) 2008-06-20
JP2007513344A (en) 2007-05-24
DE10360962B4 (en) 2007-05-31
RU2006113686A (en) 2008-01-27
ZA200605929B (en) 2008-01-08
CA2548728A1 (en) 2005-07-21
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