Generation of mechanical oscillation applicable to vibratory rate gyroscopes

• US 6,253,612 B1
• Filed: 05/28/1999
• Issued: 07/03/2001
• Est. Priority Date: 06/05/1998
• Status: Expired due to Term

• Current Assignee: Analog Devices IMI, Inc. (Analog Devices, Inc.)
• Original Assignee: Integrated Micro Instruments, Inc. (Analog Devices, Inc.)
• Inventors: Clark, William A., Lemkin, Mark A., Roessig, Allen W., Juneau, Thor N.
• Primary Examiner(s): MOLLER, RICHARD ALAN
• Application Number:
  US09/322,840
• Time in Patent Office: 767 Days
• Field of Search: 735/041.2, 735/041.4, 735/040.4, 735/040.3, 735/040.2
• US Class Current: 73/504.02
• CPC Class Codes: G01C 19/56 Turn-sensitive devices using vibrating masses, e.g. vibratory angular rate sensors based on Coriolis forces

Abstract

To achieve a drive-axis oscillation with improved frequency and amplitude stability, additional feedback loops are used to adjust force-feedback loop parameters.

An amplitude-control loop measures oscillation amplitude, compares this value to the desired level, and adjusts damping of the mechanical sense-element to grow or shrink oscillation amplitude as appropriate. A frequency-tuning loop measures the oscillation frequency, compares this value with a highly stable reference, and adjusts the gain in the force-feedback loop to keep the drive-axis oscillation frequency at the reference value. The combined topology simultaneously controls both amplitude and frequency. Advantages of the combined topology include improved stability, fast oscillation start-up, low power consumption, and excellent shock rejection.

Claims

1. An oscillation-sustaining system for a vibrating microstructure comprising:

a microstructure having a resonant frequency anchored to a substrate by a suspension having compliance along a dither axis;

a sensor for measuring displacement of the microstructure along the dither axis;

sensing circuitry to infer positioning of the microstructure based upon an output of the sensor;

an amplitude detection circuit having an output;

a filter circuit for filtering the output of the amplitude-detection circuit;

a filter having a phase shift about the resonant frequency, the phase shift having a magnitude and a sign which are adjustable by the filtered representation of the amplitude-detection circuit output; and

a force transducer for applying an oscillation-sustaining force along the dither axis based upon a phase-shifted representation of the microstructure position.

2. The system of claim 1 wherein the sensor includes:

a first substantially stationary conductive comb anchored to said substrate having a plurality of fingers extending towards the microstructure; and

a second conductive comb connected to the microstructure having a plurality of fingers that interdigitate with the fingers of the first comb, the first and second combs forming electrodes of a first capacitor with capacitance changing for displacements along the dither axis.

3. The system of claim 1 wherein the force transducer includes:

a third substantially stationary conductive comb anchored to said substrate having a plurality of fingers extending towards the microstructure; and

a fourth conductive comb connected to the microstructure having a plurality of fingers that interdigitate with the fingers of the third comb, the third and fourth combs forming electrodes of a second capacitor with capacitance changing for displacements along the dither axis.

4. The system of claim 2 wherein said first capacitor is additionally used as a force transducer by time multiplexing connectivity of said first capacitor between a position-sense interface and a pair of terminals having a voltage across the pair.

5. The system of claim 2 wherein said first capacitor is additionally used as a force transducer using frequency multiplexing of voltages applied to said first capacitor.

6. The system of claim 1 wherein said sensing circuitry, said amplitude detection circuit, and said filter having a phase shift about the resonant frequency operate at discrete time periods.

7. The system of claim 1 wherein said sensing circuitry, said amplitude detection circuit, and said filter having a phase shift about the resonant frequency, operate continuously.

8. The system of claim 1 additionally including a phase-locked loop for synchronization of a clock circuit to the position of the microstructure during oscillation.

9. An oscillation-sustaining system for a vibrating microstructure comprising:

a microstructure having a resonant frequency anchored to a substrate by a suspension having compliance along a dither axis;

a sensor for measuring displacement of the microstructure along the dither axis;

sensing circuitry to determine the position of the microstructure based upon an output of the sensor;

a reference frequency;

a phase detection circuit having an output;

a filter circuit for filtering the output of the phase detection circuit;

a filter having a substantially constant phase shift about the resonant frequency;

a circuit producing a gain having a magnitude which is adjustable by the filtered representation of the output of the phase-detection circuit; and

a force transducer for applying an oscillation-sustaining force along the dither axis based upon a phase-shifted representation of the microstructure position.

10. The system of claim 9 wherein the sensor includes:

a first substantially stationary conductive comb anchored to said substrate having a plurality of fingers extending towards the microstructure; and

a second conductive comb connected to the microstructure having a plurality of fingers that interdigitate with the fingers of the first comb, the first and second combs forming electrodes of a first capacitor with capacitance changing for displacements along the dither axis.

11. The system of claim 9 wherein the force transducer includes:

a third substantially stationary conductive comb anchored to said substrate having a plurality of fingers extending towards the microstructure; and

a fourth conductive comb connected to the microstructure having a plurality of fingers that interdigitate with the fingers of the third comb, the third and fourth combs forming electrodes of a second capacitor with capacitance changing for displacements along the dither axis.

12. The system of claim 10 wherein said first capacitor is additionally used as a force transducer by time multiplexing connectivity of said first capacitor between a position-sense interface and a pair of terminals having a voltage across the pair.

13. The system of claim 10 wherein said first capacitor is additionally used as a force transducer using frequency multiplexing of voltages applied to said first capacitor.

14. The system of claim 9 wherein said sensing circuitry, said phase detection circuit, and said filter having a substantially constant phase shift about the resonant frequency operate at discrete time periods.

15. The system of claim 9 wherein said sensing circuitry, said phase detection circuit, and said filter having a substantially constant phase shift about the resonant frequency operate.

16. The system of claim 9 additionally including a phase-locked loop for synchronization of a clock circuit to the position of the microstructure during oscillation.

17. An oscillation-sustaining system for a vibrating microstructure comprising:

a microstructure having a resonant frequency anchored to a substrate by a suspension having compliance along a dither axis;

a sensor for measuring displacement of the microstructure along the dither axis;

sensing circuitry to determine the position of the microstructure based upon an output of the sensor;

an amplitude detection circuit having an output;

a filter circuit for filtering the output of the amplitude-detection circuit;

a filter having a phase shift about the resonant frequency, the phase shift having a magnitude and a sign which are adjustable by the filtered representation of the amplitude-detection circuit output;

a reference frequency;

a phase-detection circuit having an output;

a filter circuit for filtering the output of the phase-detection circuit;

a circuit outputting a gain having a magnitude adjustable by the filtered representation of the phase-detection circuit output; and

a force transducer for applying an oscillation-sustaining force along the dither axis, where the input to the transducer is a phase-shifted representation of the microstructure position.

18. The system of claim 17 wherein the sensor includes:

a first substantially stationary conductive comb anchored to said substrate having a plurality of fingers extending towards the microstructure; and

a second conductive comb connected to the microstructure having a plurality of fingers that interdigitate with the fingers of the first comb, the first and second combs forming electrodes of a first capacitor with capacitance changing for displacements along the dither axis.

19. The system of claim 17 wherein the force transducer includes:

a third substantially stationary conductive comb anchored to said substrate having a plurality of fingers extending towards the microstructure; and

a fourth conductive comb connected to the microstructure having a plurality of fingers that interdigitate with the fingers of the third comb, the third and fourth combs forming electrodes of a second capacitor with capacitance changing for displacements along the dither axis.

20. The system of claim 18 wherein said first capacitor is additionally used as a force transducer by time multiplexing connectivity of said first capacitor between a position-sense interface and a pair of terminals having a voltage across the pair.

21. The system of claim 18 wherein said first capacitor is additionally used as a force transducer using frequency multiplexing of voltages applied to said first capacitor.

22. The system of claim 17 wherein said sensing circuitry, said amplitude detection circuit, said phase detection circuit, and said filter having a phase shift about the resonant frequency, operate at discrete time periods.

23. The system of claim 17 wherein said sensing circuitry, said amplitude detection circuit, said phase detection circuit, and said filter having a phase shift about the resonant frequency, operate continuously.

24. The system of claim 17 additionally including a phase-locked loop for synchronization of a clock circuit to the position of the microstructure during oscillation.