Inertial angular sensor of balanced MEMS type and method for balancing such a sensor

Abstract

An inertial angular sensor of MEMS type has a support of at least two masses which are mounted movably with respect to the support, at least one electrostatic actuator and at least one electrostatic detector. The masses are suspended in a frame itself connected by suspension means to the support. The actuator and the detector are designed to respectively produce and detect a vibration of the masses, and a method for balancing such a sensor provided with at least one load detector mounted between the frame and the support and with at least one electrostatic spring placed between the frame and one of the masses and slaved so as to ensure dynamic balancing of the sensor as a function of a measurement signal of the load sensor.

Claims

1. A vibrating inertial angular sensor of MEMS type comprising a support of at least two masses which are mounted movably with respect to the support, and at least one electrostatic actuator and at least one electrostatic detector which are designed to respectively produce and detect a vibration of the masses, wherein the sensor comprises a frame connected by first suspension means to the support and each mass is directly connected to the frame by second suspension means, so that each of the masses has only three degrees of freedom in a plane, and the frame has only three degrees of freedom in the plane.

2. The sensor according to claim 1, in which the masses are two in number.

3. The sensor according to claim 2, in which the masses are designed to be able to be mounted concentrically on either side of the frame.

4. The sensor according to claim 2, in which at least one electrostatic spring is mounted between the frame and at least one of the masses, for each of the two axes defining a plane of suspension of the masses, the electrostatic springs are four in number and are each mounted between the frame and each of the masses.

5. The sensor according to claim 1, in which at least one unbalance effect detector is mounted between the frame and the support and at least one electrostatic spring is placed between the frame and one of the masses and is slaved so as to ensure dynamic balancing of the sensor as a function of a measurement signal of the unbalance effect detector.

6. The sensor according to claim 1, in which the electrostatic actuator and the electrostatic detector are each mounted between one of the masses and the frame.

7. A method for balancing a sensor, the sensor comprising a support of at least two masses which are mounted movably with respect to the support, and at least one electrostatic actuator and at least one electrostatic detector which are designed to respectively produce and detect a vibration of the masses, wherein the sensor comprises a frame connected by first suspension means to the support and each mass is directly connected to the frame by second suspension means, so that each of the masses has only three degrees of freedom in a plane and the frame has only three degrees of freedom in the plane, and in which at least one unbalance effect detector is mounted between the frame and the support and at least one electrostatic spring is placed between the frame and one of the masses and is slaved so as to ensure dynamic balancing of the sensor as a function of a measurement signal of the unbalance effect detector, the method comprising: the steps of measuring and of correcting an anisotropy in frequency between the masses due to production defects, the measurement step being carried out by measuring an effect produced by an unbalance of the sensor resulting from the frequency anisotropy and the correction step being carried out by slaving the control of the electrostatic spring so as to reduce this effect.

8. The method according to claim 7, in which the effect of the unbalance measured is a load applied by the frame to the support.

9. The method according to claim 7, in which the effect of the unbalance measured is an acceleration of the frame with respect to the support.

10. The method according to claim 7, in which the effect of the unbalance measured is a speed of the frame with respect to the support.

11. The method according to claim 7, in which the effect of the unbalance measured is a displacement of the frame with respect to the support.

Description

(1) Reference will be made to the appended drawings, among which:

(2) FIG. 1 is a schematic view of a first embodiment of the sensor of the invention,

(3) FIG. 2 is a schematic view illustrating the operating principle of this sensor,

(4) FIG. 3 is a schematic view of a second embodiment of the sensor of the invention,

(5) FIG. 4 is a schematic view of a third embodiment of the sensor of the invention,

(6) FIG. 5 is a schematic view of an embodiment of a control unit for the sensor of the invention.

(7) With reference to the figures, the invention relates to a vibrating inertial angular sensor of MEMS type intended to form a free gyro or a rate gyro.

(8) The sensor of the invention comprises a support 1 and at least two masses 2 which are mounted movably with respect to the support 1 and which are associated with electrostatic actuators 3 and with electrostatic detectors 4.

(9) The masses 2 are suspended via suspension means 5 in a frame 6 itself connected to the support 1 by suspension means 7. The suspension means 5 and 7 are isotropic in the XY plane defining the plane of suspension of the masses of the sensor and are produced

(10) so as to exhibit sizable stiffness along the axis normal to the plane of the sensor so as to eliminate the degrees of freedom of the masses 2 and of the frame 6 outside of the plane. Each mass 2 and the frame 6 have three degrees of freedom in the plane, namely two translations (along the X and Y axes) and a rotation (about an axis normal to this X and Y plane).

(11) For each of the X and Y axes, an actuator 3 and a detector 4 are mounted between each of the masses 2 and the frame 6. The actuators 3 and the detectors 4 have a known structure in the form of comb electrodes whose teeth are mutually intercalated. The combs of the actuators 3 and of the detectors 4 can have a mode of operation with variable gap or with variable surface area.

(12) The masses 2 are identical and of square shape on the sides of which are disposed the actuators 3 and the detectors 4. The suspension means 5 are disposed at the vertices of each mass 2.

(13) Two electrostatic springs 8 are mounted between the frame 6 and each of the masses 2 so as to act respectively along the X and Y axes. The electrostatic springs 8 have a known structure in the form of comb electrodes whose teeth are mutually intercalated. The combs of the electrostatic springs 8 have a mode of operation with variable gap.

(14) Unbalance effect detectors, here more particularly force sensors, are integrated into the suspension means 7 so as to provide a measurement signal representative of the loads transmitted to the support 1 by the frame 6. These sensors are known per se and may be piezoresistive or piezoelectric strain gauges.

(15) The fabrication of the sensor of the invention is carried out on the basis of conventional techniques for etching wafers of semi-conductor material. The semi-conductor material used here is silicon.

(16) The actuators 3 and the detectors 4 are connected, by electrical conductors known per se, to a control unit 9, likewise known per se, which is programmed to control the actuators 3 and process the signals of the detectors 4 so as to ensure the detection of angular magnitude about an axis normal to the plane of displacement of the masses 2.

(17) The electrostatic spring 8 and the force sensors integrated into the suspension means 7 are likewise connected to the control unit 9 which is programmed to slave the electrostatic springs 8 as a function of the signals of the said force sensors demodulated as a function of the vibration frequency of the masses 2 so as to eliminate the unbalance at the vibration frequency in such a way as to ensure balancing of the sensor.

(18) The operation of the control unit is represented in FIG. 5 in the determination of the stiffness variation kn for the balancing of the sensor according to a degree of freedom n. Symbolized therein is an elliptical vibration of major axis a and of minor axis b. The major axis of the vibration forms an angle in an XY coordinate system. The implementation of the gyroscope leads to the determination of the controls C1 and C2 of the actuators 3 as a function of the motions 1, 2 detected by the sensors 4. Knowing that the values 1=a.Math.cos cos +q.Math.sin sin and 2=a.Math.sin sin +q.Math.cos cos , an estimation of a, q, and is deduced therefrom. Knowing the loads n detected by the sensors 7, the control unit calculates the values n.Math.cos and n.Math.sin so as to arrive at the stiffness variation kn serving as set-point to drive the electrostatic springs 8.

(19) In the embodiment of FIGS. 1 and 2, the masses 2 are two in number and are mounted side by side within the frame 6. The frame 6 is of rectangular shape and comprises two adjacent housings 10 which each receive one of the two masses 2.

(20) With reference more particularly to FIG. 2, the sensor according to the first embodiment can be regarded as two mass/spring systems (m.sub.1, k.sub.1) and (m.sub.2, k.sub.2) connected to the outside world by another mass/spring system (m.sub.0, k.sub.0).

(21) The behaviour of the sensor can be modelled on the basis of the following data (a mass discrepancy and a stiffness discrepancy are denoted m and k respectively):
m1:=m.Math.(1+m):m2:=m.Math.(1m):
k1:=k.Math.(1+k):k2:=k.Math.(1k):
m0:=.Math.m: k0:=.Math.k:
k:=.sup.2.Math.m:

(22) The modelling makes it possible to calculate the frequencies of the natural modes, the unbalance of the useful natural mode and the reaction force of this unbalance on the support.

(23) It follows from this that the unbalance is proportional to the mass m, to the ratio k.sub.0/k denoted and to the discrepancy in angular frequencies of the two mass spring systems. The unbalance of the useful mode thus equals:
unbalance=2m

(24) The load transmitted to the outside world can be expressed in a similar manner:
load=2k

(25) It emerges from the above formulae that the particular architecture of the invention makes it possible to cancel the unbalance by cancelling the discrepancy in angular frequency between the two mass spring systems, which discrepancy is observable on the basis of the measurement of the load on the frame. A balancing of the sensor can therefore be carried out, in accordance with the invention, on the basis of the following steps: measuring an anisotropy in frequency between the masses, the measurement step being carried out by measuring the load applied by the frame to the support on account of the unbalance of the sensor resulting from production defects, correcting the anisotropy in frequency between the masses.

(26) The correction step is carried out by controlling the electrostatic springs 8 in such a way as to reduce this effect: a slaving utilizing the demodulation with respect to the frequency of the vibration of the signals of the force sensors incorporated into the suspension means 7 corrects the stiffnesses of the electrostatic springs 8 placed between the masses 2 and the frame 6 so as to eliminate the unbalance at the frequency of the vibration.

(27) The correction is performed here more precisely by adding a negative electrostatic stiffness to the stiffness of the mass/spring system possessing the highest frequency so as to correct the intrinsic discrepancy in angular frequency due to production defects and to temporal and thermal changes in the parameters of each of the mass/spring systems.

(28) It will be noted that the arrangement of the sensor makes it possible to obtain two natural modes along the X axis, namely masses m.sub.1 and m.sub.2 displacing in phase and masses m.sub.1 and m.sub.2 displacing in phase opposition, with a small displacement of the mass m.sub.0, which do not have the same frequencies. The frequency discrepancy is for example of the order of 10% if m.sub.0=10*m.sub.1/2 or 25% if m.sub.0=4*m.sub.1/2. This confirms the possibility of simplifying the structure, by riot using any mechanical coupling levers between the masses, without any risk of interlinking of the two natural modes during operation.

(29) It is thus possible to fabricate a closed-loop gyrometer having 2 vibrating masses with a slaving to 0 of the motion on the Coriolis pathway Y. This makes it possible to use a natural mode that is unbalanced to first order for this pathway.

(30) In the embodiment of FIG. 3, the masses 2 are four in number disposed according to a square pattern and an electrostatic spring 8 is placed between the frame 6 and each of the four masses 2, for each of the X and Y axes. The frame 6 is of square shape and comprises four adjacent housings 10 which each receive one of the masses 2.

(31) In this embodiment, the sensor is also balanced to first order on the Y axis on account of the arrangement with four masses. This sensor can therefore be used in gyroscope mode and profit from the intrinsic advantage of this mode, namely the stability of the mean drift.

(32) In the embodiment of FIG. 4, the masses 2.1, 2.2 are two in number and are designed to be able to be mounted concentrically. The frame 6 is of square shape and the masses 2.1, 2.2 of square annular shape are placed on either side of the frame 6.

(33) The masses 2.1, 2,2 therefore have frame shapes with merged axes of symmetry possessing identical natural frequencies. Preferably, the masses of the frames 2.1, 2.2 are identical and the means for suspending the masses 2.1, 2.2 have identical stiffnesses. This makes it possible to comply with the assumptions of the dynamic-modelling equations presented above.

(34) Of course, the invention is not limited to the embodiments described but encompasses any variant entering the field of the invention such as defined by the claims.

(35) It is possible to have electrostatic springs slaved to all the masses 2 or to all the masses 2 except one.

(36) The effect of the unbalance measured may be a load applied by the frame 6 to the support 1, an acceleration of the frame 6 with respect to the support 1, a speed of the frame 6 with respect to the support 1, a displacement of the frame 6 with respect to the support 1 or other.

(37) The sensor can have a different shape from that described. The masses and the frame can have, in the plane of the sensor, polygonal or at least partially curved shapes, that may be described by four 90 rotations of a pattern representing a quarter of the geometry.

(38) The actuator and the detector may be mounted between one of the masses and the frame or between one of the masses and the support.

(39) At least one electrostatic actuator and at least one electrostatic detector may be placed between the frame 6 and the support 1 so as to achieve active damping, known per se, of the suspension 7 of the frame 6.

(40) The invention also relates to a sensor whose masses would be suspended in a frame and which would be devoid of the active balancing means described in conjunction with the embodiment represented in the figures.