Yaw-rate sensor

• US 9,689,676 B2
• Filed: 06/12/2015
• Issued: 06/27/2017
• Est. Priority Date: 11/15/2007
• Status: Active Grant

• Current Assignee: Robert Bosch GmbH
• Original Assignee: Robert Bosch GmbH
• Inventors: Hauer, Joerg, Classen, Johannes, Franke, Axel, Meisel, Daniel Christoph, Kohn, Oliver, Kuhlmann, Burkhard, Gomez, Udo-Martin, Neul, Reinhard, Kehr, Kersten, Ohms, Torsten
• Primary Examiner(s): Chapman, Jr., John
• Application Number:
  US14/737,971
• Publication Number:
  US 20150276408A1
• Time in Patent Office: 746 Days
• Field of Search: 7350412
• CPC Class Codes: F16F 1/025 characterised by having a particular shape F16F1/04, F16F1/14, F16F1/18, F16F1/32, F16F1/34 take precedence
• CPC Class Codes: G01C 19/574 the devices having two sensing masses in anti-phase motion
• CPC Class Codes: G01C 19/5747 each sensing mass being connected to a driving mass, e.g. driving frames
• CPC Class Codes: G01P 3/44 for measuring angular speed G01P3/56 takes precedence

Abstract

A yaw-rate sensor having a substrate and a plurality of movable substructures that are mounted over a surface of the substrate, the movable substructures being coupled to a shared, in particular, central spring element, means being provided for exciting the movable substructures into a coupled oscillation in a plane that extends parallel to the surface of the substrate, the movable substructures having Coriolis elements, means being provided for detecting deflections of the Coriolis elements induced by a Coriolis force, a first Coriolis element being provided for detecting a yaw rate about a first axis, a second Coriolis element being provided for detecting a yaw rate about a second axis, the second axis being oriented perpendicularly to the first axis.

Claims

1. A yaw-rate sensor comprising:

a substrate and a plurality of movable substructures that are mounted over a surface of the substrate, the movable substructures having Coriolis elements that are directly connected to a shared spring element;

means for exciting the movable substructures into a coupled oscillation in a plane that extends parallel to the surface of the substrate;

means for detecting deflections of the Coriolis elements caused by a Coriolis force;

wherein;

the Coriolis elements include;

a first Coriolis element for detecting a yaw rate about a first axis; and

a second Coriolis element for detecting a yaw rate about a second axis;

the second axis is not oriented parallel to the first axis;

each of the Coriolis elements is connected via additional spring elements to a drive frame of a respective one of the substructures.

2. The yaw-rate sensor of claim 1, wherein a common center of mass of at least two movable substructures remains fixed during one oscillatory period.

3. The yaw-rate sensor of claim 1, wherein:

with respect to at least one of the Coriolis elements, the additional spring elements are flexural spring elements that exhibit a high level of stiffness in the direction of the oscillation of the substructure and a low level of stiffness in a second direction which is oriented perpendicularly to the direction of oscillation of the substructure, means being provided for detecting a deflection of the Coriolis element in the second direction, caused by a Coriolis force.

4. The yaw-rate sensor of claim 1, wherein:

with respect to at least one of the Coriolis elements, the additional spring elements are flexural spring elements that exhibit a high level of stiffness in directions that extend parallel to the surface of the substrate and a low level of stiffness in a second direction that extends perpendicularly to the surface of the substrate, means being provided for detecting a deflection of the Coriolis element in the second direction, caused by a Coriolis force.

5. The yaw-rate sensor of claim 1, further comprising means for exciting two movable substructures into an oscillation mode that essentially induces an antiphase deflection of the two movable substructures parallel to a single axis.

6. The yaw-rate sensor of claim 5, wherein the two movable substructures, which are excitable into a common oscillation mode accompanied by antiphase deflection, have one Coriolis element each, the two Coriolis elements being deflectable in opposite directions in response to a Coriolis force.

7. The yaw-rate sensor of claim 1, wherein four movable substructures are provided, means being provided for exciting the four movable substructures into a coupled oscillation mode, which essentially induces an antiphase deflection of a first and of a second movable substructure along a first axis, and which essentially induces an antiphase deflection of a third and of a fourth movable substructure along a second axis.

8. The yaw-rate sensor of claim 7, further comprising means for exciting an oscillation mode whereby the deflection of the first and second movable substructure proceeds in phase with the deflection of the third and fourth movable substructure.

9. The yaw-rate sensor of claim 7, further comprising means for exciting an oscillation mode whereby the deflection of the first and second movable substructure proceeds in phase opposition to the deflection of the third and fourth movable substructure.

10. The yaw-rate sensor of claim 7, wherein:

the first and the second movable substructure have a substantially identical first mass;

the third and the fourth movable substructure have a substantially identical second mass;

the shared spring element has a first spring stiffness in the direction of the first axis;

the shared spring element has a second spring stiffness in the direction of the second axis; and

the first mass, the second mass, the first spring stiffness and the second spring stiffness are selected in such a way that the four movable substructures are excitable into an oscillation mode having substantially the same deflection amplitude for all four movable substructures.

11. The yaw-rate sensor of claim 7, wherein the third and the fourth movable substructures are mounted on the surface of the substrate in such a way that a portion of the surface of the third and fourth movable substructures covers a region of the surface of the substrate that resides between the first and the second movable substructure.

12. The yaw-rate sensor of claim 1, wherein:

the shared spring element is composed of a plurality of tines and connecting elements;

each tine includes a first kink extending 90°

counterclockwise, a first straight section of a first length, a second kink extending 90°

clockwise, a second straight section of a second length, a third kink extending 90°

clockwise, and a third section of the first length;

each connecting element has a fourth kink 90°

counterclockwise and a fourth section of a third length;

each tine is followed by either a connecting element or another tine;

a tine follows each connecting element; and

the spring element forms a closed ring.

13. The yaw-rate sensor of claim 1, wherein the shared spring element is designed as a ring, the movable substructures being coupled to the shared spring element via connecting pieces that are joined to the ring.

14. The yaw-rate sensor of claim 1, wherein the movable substructures are coupled to a shared, central spring element and wherein the second axis is oriented perpendicular to the first axis.