Controlled vibration angular rate sensor
First Claim
1. A vibratory angular rate sensor for measuring the rate of turn of an object affixed to said sensor, said sensor comprising:
- a plurality of elongated tynes with each tyne having ah end affixed to a common base and arranged about a common axis;
drive means for vibrating said tynes with a first one of said tynes vibrating in opposition to a second one of tynes in a selected direction at a selected frequency,a first coupling means affixed to each of said tynes at a first selected distance away from said common base for providing a predetermined amount of coupling between said tynes for a first in-phase mode of vibration of said tynes for separating by a selected amount the frequency of said first in-phase mode of vibration from the frequency of a first out-of-phase mode of vibration of said tynes, andpickoff means associated with said second one of said tynes and responsive to said vibration of said second tyne for generating output signals, representing changes in the vibratory pattern of said tynes caused by the rotation of said object about said common axis.
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Abstract
Apparatus for measuring an angular rate of turn employing vibrating elements which are so arranged that the reaction forces from both the driven deflection vibration mode as well as from the reaction deflections from the angular turn rate are contained within the assembly. The apparatus further employs means for selectively controlling the stiffness of the structure for undesirable modes of vibration while allowing maximum flexible coupling for the desirable modes of vibration thus minimizing the effects of outside vibrational influences and changing boundary conditions from causing errors in the turn rate signals. The assembly further employs unique non-contacting motion drivers and detectors for driving and sensing the movement of the elements without adversely affecting that motion. The apparatus further employs unique damping means which can dampen unwanted vibrational influence for selected modes and directions.
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Citations
43 Claims
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1. A vibratory angular rate sensor for measuring the rate of turn of an object affixed to said sensor, said sensor comprising:
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a plurality of elongated tynes with each tyne having ah end affixed to a common base and arranged about a common axis; drive means for vibrating said tynes with a first one of said tynes vibrating in opposition to a second one of tynes in a selected direction at a selected frequency, a first coupling means affixed to each of said tynes at a first selected distance away from said common base for providing a predetermined amount of coupling between said tynes for a first in-phase mode of vibration of said tynes for separating by a selected amount the frequency of said first in-phase mode of vibration from the frequency of a first out-of-phase mode of vibration of said tynes, and pickoff means associated with said second one of said tynes and responsive to said vibration of said second tyne for generating output signals, representing changes in the vibratory pattern of said tynes caused by the rotation of said object about said common axis. - View Dependent Claims (2, 3)
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4. A vibratory angular rate sensor for measuring the rate of turn of an object affixed to said sensor, said sensor comprising:
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a first and a second pair of elongated tynes with each tyne having ah end affixed to a common base and arranged about a common axis; drive means for vibrating said tynes with said first pair of tynes vibrating in opposition to said second pair of tynes in a selected direction at a selected frequency, a first coupling means affixed to each of said tynes at a first selected distance away from said common base for providing a predetermined amount of coupling between said tynes for a first in-phase mode of vibration of said tynes for separating by a selected amount the frequency of said first in-phase mode of vibration from the frequency of a first out-of-phase mode of vibration of said tynes, and pickoff means associated with said tynes for generating output information representing changes in the vibratory pattern of said tynes caused by the rotation of said object about said common axis. - View Dependent Claims (5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17)
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18. A vibratory angular rate sensor for measuring the rate of turn of an object affixed to said sensor, said sensor comprising:
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a plurality of elongated tynes arranged in a pattern about a common axis with each tyne having one end affixed to a common base, a first coupling means affixed to said tynes at a first selected distance away from said common base for providing a predetermined amount of coupling between said tynes for the first in-phase mode of vibration of said tynes and a different amount of coupling between said tynes for the first out-of-phase mode of vibration of said tynes, said first coupling means being further effective for separating by a selected amount the frequency of said first in-phase mode of vibration from the frequency of said first out-of-phase mode of vibration. second coupling means affixed to a first and a third one of said tynes at a second selected distance away from said common base for providing a predetermined amount of coupling between first and third tynes for selected modes of vibration of said first and third tynes, said second coupling means being further effective for synchronizing the motion of said first and third tynes for selected modes of vibration of said first and third tynes, third coupling means affixed to a second and fourth one of said tynes at a third selected distance away from said common base for providing a predetermined amount of coupling between said second and fourth tynes for selected modes of vibration of said second and fourth tynes, said third coupling means being further effective for synchronizing the motion of said second and fourth tynes for selected modes of vibration of said second and fourth tynes, drive means for vibrating said tynes with said first and third tynes vibrating in opposition to said second and fourth tynes in a selected direction at a selected frequency, and pickoff means for generating output signals representing changes in the vibratory pattern of said tynes caused by the rotation of said object about said common axis. - View Dependent Claims (19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30)
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31. A method of operating a vibratory angular rate sensor for measuring the rate of turn of an object affixed to said sensor, said method comprising the steps of:
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affixing an end of each of a plurality of elongated tynes to a common base with said tynes being arranged about a common axis; vibrating a first one of said tynes in opposition to a second one of tynes in a selected direction at a selected frequency, affixing a first coupling means to each of said tynes at a first selected distance away from said common base for providing a predetermined amount of coupling between said tynes for a first in-phase mode of vibration of said tynes for separating by a selected amount the frequency of said first in-phase mode of vibration from the frequency of a first out-of-phase mode of vibration of said tynes, and associating pickoff means with said second one of said tynes for generating output signals representing changes in the vibratory pattern of said tynes caused by the rotation of said object about said common axis. - View Dependent Claims (32, 33)
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34. A method of operating a vibratory angular rate sensor for measuring the rate of turn of an object affixed to said sensor, said method comprising the steps of:
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affixing one end of each of a first and a second pair of elongated tynes to a common base about a common axis; vibrating said first pair of tynes in opposition to said second pair of tynes in a selected direction at a selected frequency, affixing a first coupling means to each of said tynes at a first selected distance away from said common base for providing a predetermined amount of coupling between said tynes for a first in-phase mode of vibration of said tynes for separating by a selected amount the frequency of said first in-phase mode of vibration from the frequency of a first out-of-phase mode of vibration of said tynes, and generating output signals in pickoff means associated with said tynes with said output signals representing changes in the vibratory pattern of said tynes caused by the rotation of said object about said common axis. - View Dependent Claims (35, 36, 37, 38, 39, 40)
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41. A method of operating a vibratory angular rate sensor for measuring the rate of turn of an object affixed to said sensor, said method comprising the steps of:
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arranging a plurality of elongated tynes in a pattern about a common axis with each tyne having one end affixed to a common base, affixing a first coupling means to said tynes at a first selected distance away from said common base for providing a predetermined amount of coupling between said tynes for the first in-phase mode of vibration of said tynes and a different amount of coupling between said tynes for the first out-of-phase mode of vibration of said tynes, said first coupling means being further effective for separating by a selected amount the frequency of said first in-phase mode of vibration from the frequency of said first out-of-phase mode of vibration, affixing second coupling means to a first and a third one of said tynes at a second selected distance away from said common base for providing a predetermined amount of coupling between first and third tynes for selected modes of vibration of said first and third tynes, said second coupling means being further effective for synchronizing the motion of said first and third tynes for selected modes of vibration of said first and third tynes, affixing third coupling means to a second and fourth one of said tynes at a third selected distance away from said common base for providing a predetermined amount of coupling between said second and fourth tynes for selected modes of vibration of said second and fourth tynes, said third coupling means being further effective for synchronizing the motion of said second and fourth tynes for selected modes of vibration of said second and fourth tynes, vibrating said first and third tynes in opposition to said second and fourth tynes in a selected direction at a selected frequency, and generating output signals in pickoff means with said signals representing changes in the vibratory pattern of said tynes caused by the rotation of said object about said common axis. - View Dependent Claims (42, 43)
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Specification