Micromechanical tuning fork angular rate sensor

• US 5,635,639 A
• Filed: 06/07/1995
• Issued: 06/03/1997
• Est. Priority Date: 09/11/1991
• Status: Expired due to Term

• Current Assignee: Charles Stark Draper Laboratory Incorporated
• Original Assignee: Charles Stark Draper Laboratory Incorporated
• Inventors: Boxenhorn, Burton, Greiff, Paul
• Primary Examiner(s): CHAPMAN JR, JOHN E
• Application Number:
  US08/484,363
• Time in Patent Office: 727 Days
• Field of Search: 73/504.04, 73/504.12, 73/504.14, 73/504.15, 73/504.16
• US Class Current: 73/504.04
• CPC Class Codes: G01C 19/5719 using planar vibrating masses driven in a translation vibration along an axis
• CPC Class Codes: G01C 19/574 the devices having two sensing masses in anti-phase motion

Abstract

A micromechanical tuning fork gyroscope includes a suspended structure comprising at least first and second vibratable structures. Each vibratable structure is energizable to vibrate laterally, within a first plane, along an axis normal to the rotation sensitive axis. The lateral or inplane vibration of the first and second vibratable structures effects simultaneous vertical or rotational movement of at least a portion of the suspended structure upon the occurrence of angular rotation of the gyroscope about the rotation sensitive axis. Vertical or rotational movement of the suspended structure is sensed, and a voltage proportional to the movement is generated, for providing an indication of angular rate of rotation detected by the gyroscope.

Claims

1. A monolithic, micromechanical tuning fork gyroscope, for detecting angular rotation about at least a first rotation sensitive axis, comprising:

a silicon substrate over which is suspended a silicon structure;

said silicon structure disposed within a first plane and including at least first and second closed-ended elongate vibratable structures having, in line, a central mass and resilient attachments to said silicon structure, said first and second closed-ended vibratable structures disposed generally adjacent and parallel to one another;

drive means, for energizing said first and second closed-ended vibratable structures to vibrate laterally along an axis normal to said rotation sensitive axis and within said first plane, said lateral vibration of said first and second closed-ended vibratable structures effecting simultaneous vertical movement parallel to a second plane and normal to said first plane of at least a portion of said silicon structure upon the occurrence of angular rotation of said gyroscope about said first rotation sensitive axis; and

means for sensing said simultaneous vertical movement of said at least a portion of said silicon structure, and for providing a voltage output signal proportional to said sensed vertical movement, said voltage output signal providing an indication of angular rotation detected by said gyroscope.

2. The gyroscope of claim 1 wherein said first closed-ended vibratable structure includes a first end coupled to a first segment of said silicon structure, and a second end coupled to a second segment of said silicon structure, said second segment located generally diametrically opposed from said first segment;

and

said second closed-ended vibratable structure is disposed parallel to said first closed-ended vibratable structure, and includes a first end coupled to said first segment of said silicon structure, and a second end coupled to said second segment of said silicon structure.

3. The gyroscope of claim 2 wherein each of said first and second closed-ended vibratable structures include a mass disposed generally about a longitudinal central point of each of said first and second closed-ended vibratable structures.

4. The gyroscope of claim 3 wherein each of said mass include a silicon mass on which is disposed a counter weight.

5. The gyroscope of claim 4 wherein said counter weight is selected from a high density group consisting of gold, tungsten and lead.

6. The gyroscope of claim 4 wherein each of said silicon masses is integral with said first and second vibratable structures respectively.

7. The gyroscope of claim 6 wherein said mass on each of said first and second closed-ended vibratable structures includes a center of gravity within said first plane.

17. The gyroscope of claim 1 wherein said drive means applies a sinusoidal voltage to each of said first and second closed-ended vibratable structures.

18. The gyroscope of claim 17 wherein said sinusoidal voltage applied at a given instant to said first closed-ended vibratable structure is of opposite polarity to the sinusoidal voltage applied at said given instant to said second closed-ended vibratable structure.

19. The gyroscope of claim 1 further including at least one sense electrode sensing movement of said at least a portion of said silicon structure.

20. The gyroscope of claim 19 wherein said at least one sense electrode includes at least one bridge electrode coupled to said silicon substrate.

21. The gyroscope of claim 20 wherein said at least one bridge electrode is electrically isolated from said silicon substrate.

22. The gyroscope of claim 19 wherein said at least one sense electrode includes at least one buried electrode.

23. The gyroscope of claim 1 wherein said means for sensing rotation includes electrostatic sense means, for electrostatically sensing rotation of said silicon structure.

24. The gyroscope of claim 23 wherein said electrostatic sense means includes means for measuring differential capacitance between said first and second segments of said silicon structure and at least one sense electrode.

25. The gyroscope of claim 1 further comprising a second, non-etched silicon structure, said second silicon structure including third and fourth closed-ended vibratable structures, for forming at least a second micromechanical tuning fork gyroscope disposed co-planar with a first micromechanical tuning fork gyroscope, and oriented co-planar with and orthogonal to said first tuning fork gyroscope, for detecting angular rotation about a second rotation sensitive axis co-planar with and generally orthogonal to said first rotation sensitive axis.

26. The gyroscope of claim 25 further including a third micromechanical tuning fork gyroscope disposed in a plane orthogonal to said first plane, for detecting angular rotation about a third rotation sensitive axis orthogonal to said first and second rotation sensitive axes.

27. The gyroscope of claim 25 further including

a third gyroscope having a third rotation sensitive axis normal to the plane of the first and second tuning fork gyroscopes and orthogonal to the rotation sensitive axes of the first and second tuning fork gyroscopes;

and

first, second and third accelerometers, for detecting acceleration along said first, second and third rotation sensitive axes respectively, and forming along with said first, second and third gyroscopes a three axis instrument measurement unit on one silicon substrate.

28. The gyroscope of claim 1 wherein said drive means includes electrostatic drive means.

29. The gyroscope of claim 1 wherein said drive means includes at least first and second electrodes, for applying a drive voltage to said first and second closed-ended vibratable structures.

30. The gyroscope of claim 1 wherein each of said first and second closed-ended vibratable structures includes:

first and second support beams, each of said first and second support beams including a first end coupled to a first region of said silicon substrate, and a second end coupled to a first region of said mass; and

third and fourth support beams, each of said third and fourth support beams including a first end coupled to a second region of said silicon substrate, and a second end coupled to a second region of said mass, said second region of said mass and said second region of said silicon substrate located generally diametrically opposed from said first region of said mass and said first region of said silicon substrate respectively.

31. The gyroscope of claim 30 wherein each of said support beams include first and second portions, said first portion proximate said first end and coupled to said silicon substrate;

and

said second portion disposed proximate said second end and coupled to said mass.

8. A monolithic, micromechanical tuning fork gyroscope, for detecting angular rotation about at least a first rotation sensitive axis, comprising:

a silicon substrate over which is suspended a silicon structure;

said silicon structure disposed within a first plane and including at least first and second closed-ended elongate vibratable structures having, in line, a central mass and resilient attachments to said silicon structure, said first and second closed-ended vibratable structures disposed generally adjacent and parallel to one another;

drive means, for energizing said first and second closed-ended vibratable structures to vibrate laterally along an axis normal to said rotation sensitive axis and within said first plane, said lateral vibration of said first and second closed-ended vibratable structures effecting simultaneous vertical movement parallel to a second plane and normal to said first plane of at least a portion of said silicon structure upon the occurrence of angular rotation of said gyroscope about said first rotation sensitive axis;

means for sensing said simultaneous vertical movement of said at least a portion of said silicon structure, and for providing a voltage output signal proportional to said sensed vertical movement, said voltage output signal providing an indication of angular rotation detected by said gyroscope;

first and second flexible elements coupling said silicon structure to said substrate, each of said flexible elements integral with said substrate and said silicon structure, and disposed generally co-linear and co-planar with said first rotation sensitive axis, for allowing said silicon structure to rotate about said first rotation sensitive axis;

said first flexible element including a first end coupled to a first region of said silicon substrate and a second end coupled to a first side of said silicon structure;

said second flexible element including a first end coupled to a second region of said silicon substrate diametrically opposed from said first region of said silicon substrate and said first region of said silicon substrate and said first flexible element, and a second end coupled to a second side of said silicon structure;

said silicon structure including first and second segments, said first segment structurally coupled and electrically isolated from said second segment;

said first closed-ended vibratable structure including a first end coupled to a first region of said first segment, and a second end coupled to a second region of said first segment, said second region located generally diametrically opposed from said first region;

said second closed-ended vibratable structure including a first end coupled to a first region of said second segment, and a second end coupled to a second region of said second segment, said second region located generally diametrically opposed from said first region;

wherein said drive means is operative for energizing said first and second closed-ended vibratable structures to vibrate laterally, co-planar with and along an axis normal to said first rotation sensitive axis, and vibrating of said first and second vibratable structures effecting rotational movement of said silicon structure about said rotation sensitive axis upon the occurrence of angular rotation of said gyroscope about said first rotation sensitive axis; and

wherein said means for sensing senses rotation of said silicon structure, for providing a voltage output signal proportional to the rotational movement of said silicon structure, said voltage output signal providing an indication of angular rotation detected by said gyroscope.

9. The gyroscope of claim 8 further including means for providing stress relief of tensile forces between said silicon structure and said silicon substrate.

10. The gyroscope of claim 9 wherein said means for providing stress relief includes at least one tension relief beam formed by an opening having a predetermined length and width disposed in said silicon structure, said at least one tension relief beam coupled to the second end of at least one of said first and second flexible elements.

11. The gyroscope of claim 10 further including a second opening having a predetermined length and width, and forming a second tension relief beam to which is coupled the second end of the other of said first and second flexible elements.

12. The gyroscope of claim 10 wherein said at least one tension relief beam has a height-to-width ratio greater than one.

13. The gyroscope of claim 12 wherein said height-to-width ratio is at least two-to-one.

14. The gyroscope of claim 8 wherein said first and second segments are structurally coupled and electrically isolated by means of a lap joint.

15. The gyroscope of claim 8 wherein said first and second segment are structurally coupled and electrically isolated by means of a dielectric isolation region.

16. The gyroscope of claim 8 further including rebalance means, responsive to said means for sensing, for counteracting and zeroing the rotational movement of said silicon structure about said rotation sensitive axis upon the occurrence and sensing of angular rotation of said gyroscope about said rotation sensitive axis.

32. A pivoting, monolithic, micromechanical tuning fork gyroscope, for detecting angular rotation about at least a first rotation sensitive axis, comprising:

a silicon substrate over which is suspended a silicon structure;

first and second flexible elements coupling said silicon structure to said substrate, each of said flexible elements integral with said substrate and said silicon structure, and disposed generally co-linear and co-planar with said rotation sensitive axis, for allowing said silicon structure to rotate about said rotation sensitive axis;

said first flexible element including a first end coupled to a first region of said silicon substrate and a second end coupled to a first side of said silicon structure;

said second flexible element including a first end coupled to a second region of said silicon substrate diametrically opposed from said first region of said silicon substrate, and a second end coupled to a second side of said silicon structure, diametrically opposed from said first side of said silicon structure;

said silicon structure including first and second closed-ended vibratable structures, said first and second closed-ended vibratable structures disposed generally parallel to one another, each of said first and second closed-ended vibratable structures including a central mass and, in line, resilient attachments to said silicon substrate integral with an associated vibratable structure;

said first closed-ended vibratable structure including a first end coupled to a first region of said silicon structure, and a second end coupled to a second region of said silicon structure, said second region located generally diametrically opposed from said first region;

said second closed-ended vibratable structure including a first end coupled to a third region of said silicon structure, and a second end coupled to a fourth region of said silicon structure, said fourth region located generally diametrically opposed from said third region;

drive means, operative for energizing said first and second closed-ended vibratable structures to vibrate along an axis co-planar with and normal to said rotation sensitive axis, vibration of said first and second closed-ended vibratable structures effecting rotational movement of said silicon structure about said rotation sensitive axis upon the occurrence of angular rotation of said gyroscope about said first rotation sensitive axis; and

means for sensing rotation of said silicon structure, and for providing a voltage output signal proportional to the rotational movement of said silicon structure, said voltage output signal providing an indication of angular rotation detected by said gyroscope.

33. The gyroscope of claim 32 further including rebalance means, responsive to said means for sensing, for counteracting and zeroing the rotational movement of said silicon structure about said rotation sensitive axis upon the occurrence and sensing of angular rotational of said gyroscope about said rotation sensitive axis.

35. The gyroscope of claim 33 further including rebalance means, responsive to said means for sensing, for counteracting and zeroing the rotational movement of said silicon structure about said rotation sensitive axis upon the occurrence and sensing of angular rotational of said gyroscope about said rotation sensitive axis.

34. A pivoting, monolithic, micromechanical tuning fork gyroscope, for detecting angular rotation about at least a first rotation sensitive axis, comprising:

a silicon substrate over which is suspended a silicon structure;

first and second flexible elements coupling said silicon structure to said substrate, each of said flexible elements integral with said substrate and said silicon structure, and disposed generally co-linear with said rotation sensitive axis, for allowing said silicon structure to rotate about said rotation sensitive axis;

said first flexible element including a first end coupled to a first region of said silicon substrate and a second end coupled to a first side of said silicon structure;

said second flexible element including a first end coupled to a second region of said silicon substrate diametrically opposed from said first region of said silicon substrate and said first flexible element, and a second end coupled to a second side of said silicon substrate;

said silicon structure including first and second segments, said first segment structurally coupled and electrically isolated from said second segment;

said silicon structure further including first and second closed-ended vibratable structures, said first and second closed-ended vibratable structures disposed generally parallel to one another, each of said first and second closed-ended vibratable structures including a central mass and, in line, resilient attachments to said silicon substrate integral with an associated vibratable structure;

said first closed-ended vibratable structure including a first end coupled to a first region of said first segment, and a second end coupled to a second region of said first segment, said second region located generally diametrically opposed from said first region;

said second closed-ended vibratable structure including a first end coupled to a first region of said second segment, and a second end coupled to a second region of said second segment, said second region located generally diametrically opposed from said first region;

drive means, operative for energizing said first and second closed-ended vibratable structures to vibrate along an axis co-planar with and normal to said rotation sensitive axis, vibration of said first and second closed-ended vibratable structures effecting rotational movement of said silicon structure about said rotation sensitive axis upon the occurrence of angular rotation of said gyroscope about said first rotation sensitive axis; and

means for sensing rotation of said silicon structure, and for providing a voltage output signal proportional to the rotational movement of said silicon structure, for providing an indication of angular rotation detected by said gyroscope.

36. A monolithic, micromechanical tuning fork gyroscope, for detecting angular rotation about at least a first rotation sensitive axis, comprising:

a silicon substrate over which is suspended a silicon structure;

said silicon structure disposed within a first plane and including at least first and second closed-ended vibratable structures, said first and second closed-ended vibratable structures disposed generally adjacent and parallel to one another;

first and second flexible elements coupling said silicon structure to said substrate, each of said flexible elements integral with said substrate and said silicon structure, and disposed generally co-linear and co-planar with said first rotation sensitive axis, for allowing said silicon structure to rotate about said first rotation sensitive axis;

said first flexible element including a first end coupled to a first region of said silicon substrate and a second end coupled to a first side of said silicon structure;

said second flexible element including a first end coupled to a second region of said silicon substrate diametrically opposed from said first region of said silicon substrate and said first flexible element, and a second end coupled to a second side of said silicon structure;

said silicon structure including first and second segments, said first segment structurally coupled and electrically isolated from said second segment by means of a dielectric isolation region;

said first closed-ended vibratable structure including a first resilient end coupled to a first region of said first segment, and a second resilient end coupled to a second region of said first segment, said second region located generally diametrically opposed from said first region;

said second closed-ended vibratable structure including a first resilient end coupled to a first region of said second segment, and a second resilient end coupled to a second region of said second segment, said second region located generally diametrically opposed from said first region;

drive means, for energizing said first and second closed-ended vibratable structures to vibrate laterally along an axis normal to said rotation sensitive axis and within said first plane, said lateral vibration of said first and second closed-ended vibratable structures effecting simultaneous vertical movement parallel to a second plane and normal to said first plane of at least a portion of said silicon structure upon the occurrence of angular rotation of said gyroscope about said first rotation sensitive axis;

wherein said drive means is operative for energizing said first and second closed-ended vibratable structures to vibrate laterally, co-planar with and along an axis normal to said first rotation sensitive axis, and vibrating of said first and second vibratable structures effecting rotational movement of said silicon structure about said rotation sensitive axis upon the occurrence of angular rotation of said gyroscope about said first rotation sensitive axis;

means for sensing said simultaneous vertical movement of said at least a portion of said silicon structure, and for providing a voltage output signal proportional to said sensed vertical movement, said voltage output signal providing an indication of angular rotation detected by said gyroscope; and

wherein said means for sensing senses rotation of said silicon structure, for providing a voltage output signal proportional to the rotational movement of said silicon structure, said voltage output signal providing an indication of angular rotation detected by said gyroscope.

37. A monolithic, micromechanical tuning fork gyroscope, for detecting angular rotation about at least a first rotation sensitive axis, comprising:

a silicon substrate over which is suspended a silicon structure;

said silicon structure disposed within a first plane and including at least first and second closed-ended elongate vibratable structures having, in line, a central mass and resilient attachments to said silicon structure, said first and second closed-ended vibratable structures disposed generally adjacent and parallel to one another;

drive means, for energizing said first and second closed-ended vibratable structures to vibrate laterally along an axis normal to said rotation sensitive axis and within said first plane, said lateral vibration of said first and second closed-ended vibratable structures effecting simultaneous vertical movement parallel to a second plane and normal to said first plane of at least a portion of said silicon structure upon the occurrence of angular rotation of said gyroscope about said first rotation sensitive axis; and

means for sensing said simultaneous vertical movement of said at least a portion of said silicon structure, and for providing a voltage output signal proportional to said sensed vertical movement, said voltage output signal providing an indication of angular rotation detected by said gyroscope, wherein each of said first and second closed-ended vibratable structures includes;

first and second support beams, each of said first and second support beams including a first end coupled to a first region of said silicon substrate, and a second end coupled to a first region of said mass; and

third and fourth support beams, each of said third and fourth support beams including a first end coupled to a second region of said silicon substrate, and a second end coupled to a second region of said mass, said second region of said mass and said second region of said silicon substrate located generally diametrically opposed from said first region of said mass and said first region of said silicon substrate respectively,

wherein each of said support beams include first and second portions, said first portion proximate said first end and coupled to said silicon substrate; and

said second portion disposed proximate said second end and coupled to said mass, wherein each of said second portion of each of said support beams includes a height-to-width ratio which is greater than the height-to-width ratio of each of said first portions of each of said support beams.

38. The gyroscope of claim 37 wherein the height-to-width ratio of each of said second portion of each of said support beams is selected from the range of 0.1 to 1.

39. The gyroscope of claim 37 wherein the height-to-width ratio of each of said first portion of each of said support beams is selected from the range of 1-10.