Angular rate sensor

• US 9,528,830 B2
• Filed: 07/17/2014
• Issued: 12/27/2016
• Est. Priority Date: 07/17/2013
• Status: Active Grant

• Current Assignee: Ramot at Tel Aviv University Limited (Tel Aviv University)
• Original Assignee: Ramot at Tel Aviv University Limited (Tel Aviv University)
• Inventors: Gerson, Yuval, Bar-On, Yotam, Krylov, Viacheslav
• Primary Examiner(s): GRAY, FRANCIS C
• Application Number:
  US14/334,216
• Publication Number:
  US 20150316377A1
• Time in Patent Office: 894 Days
• US Class Current: 1/1
• CPC Class Codes: G01C 19/5642 using vibrating bars or beams
• CPC Class Codes: G01C 19/574 the devices having two sensing masses in anti-phase motion

Abstract

A rotation sensing device is presented. The device comprises: a proof mass arrangement comprising at least one pair of proof masses spaced-apart from one another along a first axis; a suspension assembly comprising flexible suspension beams having a main axis deformable between their substantially straight and curved states, the suspension assembly coupling the proof masses to an anchor assembly, while allowing a drive-mode oscillatory movement of the proof masses at least along a second axis substantially perpendicular to the main axis of the beams; and an actuation mechanism configured and operable to cause the drive-mode oscillatory movement of the proof masses in opposite directions along said second axis, thereby generating a sense-mode oscillatory movement of the proof masses during the rotation of the device about at least one rotation axis perpendicular to said second axis, said sense-mode movement being indicative of a rate of the rotation.

Claims

1. A rotation sensing device comprising a structure comprising:

a proof mass arrangement comprising at least one pair of proof masses spaced-apart from one another along a first axis;

a suspension assembly comprising flexible suspension beams having a main axis deformable between their substantially straight and curved states, the suspension assembly coupling the proof masses to an anchor assembly, while allowing a drive-mode oscillatory movement of the proof masses at least along a second axis substantially perpendicular to the main axis of the beams;

an actuation mechanism configured and operable to apply an electrostatic force to the proof masses, causing deformation of the beams and periodic variation of the beams'"'"' stiffness, to thereby parametrically excite the drive-mode oscillatory movement of the proof masses in opposite directions along said second axis, thereby generating a sense-mode oscillatory movement of the proof masses during the rotation of the device about at least one rotation axis perpendicular to said second axis, said sense-mode movement being indicative of a rate of the rotation.

2. The device of claim 1, wherein said first axis along which the proof masses are spaced is substantially perpendicular to said second axis along which the proof masses move in drive mode.

3. The device of claim 2, wherein the proof masses of the pair face one another by their first sides, and each of the proof masses is coupled by a predetermined number of said beams to one or more anchors of the anchor assembly located at a second opposite side of the proof mass.

4. The device of claim 3, wherein the actuation mechanism comprises said proof masses being made of electrically conductive material composition, thereby allowing charging of the proof masses to create the electrostatic force therebetween.

5. The device of claim 3, comprising an electrodes arrangement comprising at least one central electrode located in a space between the proof masses of the pair.

6. The device of claim 3, comprising an inner electrodes arrangement, which comprises at least two inner electrodes, each located between a respective one of the proof masses and the one or more anchors located at the second opposite side of the respective proof mass.

7. The device of claim 2, wherein the proof masses of the pair are mechanically coupled to one another by a swing element configured for a pivotal rotation about an axis perpendicular to both the first axis and the second axis, such that the movement of one of the proof masses in one direction along said second axis causes the pivotal rotation of the swing element resulting in the movement of the other proof mass in the opposite direction along said second axis.

8. The device of claim 1, wherein said structure is substantially symmetric about the first axis.

9. The device of claim 1, wherein said first axis along which the proof masses are spaced is substantially parallel to said second axis along which the proof masses move in drive mode.

10. The device of claim 9, wherein each of the proof masses is enclosed between first and second anchors of the anchor assembly located at first and second opposite sides of said proof mass.

11. The device of claim 10, comprising an electrodes arrangement, comprising movable electrodes and fixed electrodes, wherein each of said proof masses is enclosed between first and second movable electrodes which are located at said first and second opposite sides of said proof mass, each the first and second movable electrodes being connected to the one of the first and second anchors respectively via at least one of said beams and connected to the respective proof mass via at least another one of said beams.

12. The device of claim 1, wherein said rotation axis is the main axis of the beams and wherein said sense-mode movement is along a third axis which is perpendicular to said main axis of the beams and to said second axis.

13. The device of claim 12, wherein said drive-mode movement is along the second axis and along the third axis, and said sense-mode movement is along the third axis.

14. The device of claim 13, wherein said movements along the second axis and along the third axis in the drive mode have a predetermined phase difference, and said sense mode movement along the third axis affects an overall movement of the proof masses along the third axis, causing a change in the predetermined phase difference, said change in the predetermined difference being indicative of the rate of rotation.

15. The device of claim 1, wherein:

each of the proof masses is coupled to the suspension assembly via a respective frame;

the actuation mechanism is configured and operable to cause the drive-mode oscillatory movement of the frames along the second axis; and

each proof mass is joined to the respective frame via a joining element which enables movement of the proof mass relative to the respective frame.

16. The device of claim 15, wherein the movement of the proof mass relative to the respective frame comprises a tilting motion along a plane perpendicular to the second axis.

17. The device of claim 16, wherein said rotation axis is the main axis of the beams, and the sense-mode movement of the proof masses comprises the tilting motion along a plane perpendicular to the second axis.

18. The device of claim 15, wherein the movement of the proof mass relative to the respective frame comprises a translation along the main axis of the beams.

19. The device of claim 18, wherein said rotation comprises rotation about an axis perpendicular to the main axis of the beams and to the second axis, and the sense-mode movement of the proof masses comprises the translation along the main axis of the beams.

20. The device of claim 1, comprising a measuring unit for extracting at least one parameter of said oscillatory sense-mode movement, thereby enabling calculation of said rate of rotation.

21. A rotation sensing device comprising:

at least one pair of proof masses spaced-apart from one another along a first axis;

a suspension assembly comprising flexible suspension beams having a main axis deformable between their substantially straight and curved states, the suspension assembly coupling the proof masses of said at least one pair of proof masses to an anchor assembly, while allowing a drive-mode oscillatory movement of the proof masses at least along a second axis substantially perpendicular to the main axis of the beams;

an actuation mechanism adapted to apply an electrostatic force to the proof masses causing deformation of the beams and periodic variation of the beams'"'"' stiffness, to thereby parametrically excite the drive-mode oscillatory movement of the proof masses in opposite directions along said second axis, such that a sense-mode oscillatory movement of the proof masses is generated during the rotation of the device about at least one rotation axis perpendicular to said second axis, said sense-mode movement being indicative of a rate of the rotation.

22. A rotation sensing device comprising a structure comprising:

a proof mass arrangement comprising at least one pair of proof masses spaced-apart from one another along a first axis, each of the proof masses being enclosed between first and second anchors of an anchor assembly located at first and second opposite sides of said proof mass;

a suspension assembly comprising flexible suspension beams having a main axis deformable between their substantially straight and curved states, the suspension assembly coupling the proof masses to an the anchor assembly, while allowing a drive-mode oscillatory movement of the proof masses at least along a second axis substantially perpendicular to the main axis of the beams and substantially parallel to said first axis along which the proof masses are spaced;

an actuation mechanism configured and operable to cause the drive-mode oscillatory movement of the proof masses in opposite directions along said second axis, thereby generating a sense-mode oscillatory movement of the proof masses during the rotation of the device about at least one rotation axis perpendicular to said second axis, said sense-mode movement being indicative of a rate of the rotation; and

an electrodes arrangement, comprising movable electrodes and fixed electrodes, wherein each of said proof masses is enclosed between first and second movable electrodes which are located at said first and second opposite sides of said proof mass, each the first and second movable electrodes being connected to the one of the first and second anchors respectively via at least one of said beams and connected to the respective proof mass via at least another one of said beams.