DUAL AND TRIPLE AXIS ACCELEROMETERS

Abstract

An accelerometer comprising: a frame; a first proof mass suspended from the frame by one or more flexures to move relative to the frame along a first axis; a first resonant element assembly fixed between the frame and the first proof mass, wherein movement of the proof mass along the first axis relative to the frame exerts a strain on the first resonant element that affects its resonant behaviour; a second proof mass suspended from the frame by one or more flexures to move relative to the frame along a second axis, a second resonant element assembly fixed between the frame and the second proof mass, wherein movement of the second proof mass along the second axis relative to the frame exerts a strain on the second resonant element that affects its resonant behaviour; wherein the second proof mass surrounds the first proof mass and the first resonant element assembly.

Claims

1. An accelerometer comprising: a frame; a first proof mass suspended from the frame by one or more flexures to move relative to the frame along a first axis; a first resonant element assembly fixed between the frame and the first proof mass, wherein movement of the proof mass along the first axis relative to the frame exerts a strain on the first resonant element that affects the resonant behaviour of the first resonant element assembly; a second proof mass suspended from the frame by one or more flexures to move relative to the frame along a second axis, a second resonant element assembly fixed between the frame and the second proof mass, wherein movement of the proof mass along the second axis relative to the frame exerts a strain on the second resonant element that affects the resonant behaviour of the second resonant element assembly; wherein the second proof mass surrounds the first proof mass and the first resonant element assembly.

2. An accelerometer according to claim 1, wherein a centre of mass of the first proof mass is substantially coincident with a centre of mass of the second proof mass.

3. An accelerometer according to claim 1 or 2, wherein the first proof mass and the second proof mass are coplanar and lie in a plane defined by first and second axes.

4. An accelerometer according to any one of the preceding claims, wherein the first and second axes are orthogonal to one another.

5. An accelerometer according to any one of the preceding claims, wherein the first proof mass and second proof mass are of substantially equal mass.

6. An accelerometer according to any one of the preceding claims, wherein the accelerometer is a micro electrical mechanical systems (MEMS) device.

7. An accelerometer according to any one of the preceding claims, wherein the frame, first proof mass, second proof mass and flexures are formed from a single piece of semiconductor material.

8. An accelerometer according to claim 7, wherein the resonant element assemblies are formed from the single piece of semiconductor material.

9. An accelerometer according to any one of the preceding claims, comprising a third resonant element assembly fixed between the frame and the first proof mass, wherein movement of the proof mass along the first axis relative to the frame exerts a strain on the third resonant element that affects the resonant behaviour of the third resonant element assembly.

10. An accelerometer according to claim 9, wherein the third resonant element assembly is substantially identical to the first resonant element assembly and is fixed on an opposite side of the first proof mass to the first resonant assembly in the direction of the first axis.

11. An accelerometer according to any one of the preceding claims, comprising a fourth resonant element assembly fixed between the frame and the second proof mass, wherein movement of the proof mass along the second axis relative to the frame exerts a strain on the fourth resonant element that affects the resonant behaviour of the fourth resonant element assembly.

12. An accelerometer according to claim 11, wherein the fourth resonant element assembly is substantially identical to the second resonant element assembly and is fixed on an opposite side of the second proof mass to the second resonant assembly in the direction of the second axis.

13. An accelerometer according to any one of the preceding claims, wherein one or more of the resonant element assemblies comprises a pair of coupled resonant elements.

14. An accelerometer according to any one of the receding claims, comprising one or more electrodes adjacent the first proof mass or second proof mass and spaced from the first proof mass or the second proof mass along a third axis orthogonal to the first axis and the second axis.

15. A gravimeter comprising an accelerometer according to any one of the preceding claims.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Embodiments of the present invention will now be described, by way of example only, with reference to the accompanying drawings, in which:

[0037] FIG. 1 is a schematic illustration of an accelerometer in accordance with an embodiment of the invention;

[0038] FIG. 2 is a schematic illustration of drive and sense electrodes in the embodiment of FIG. 1;

[0039] FIG. 3 is a schematic illustration of the basic elements and principle of operation of the embodiment of FIG. 1;

[0040] FIG. 4 illustrates a first example of a resonant element assembly that can be used in the embodiment of FIG. 1;

[0041] FIG. 5 is a schematic illustration of two possible mode shapes for the resonant element assembly of FIG. 4;

[0042] FIG. 6 illustrates drive and sense circuitry for the embodiment of FIG. 1;

[0043] FIG. 7 illustrates a second example of a resonant element assembly;

[0044] FIG. 8 is an exploded view of device layers of the embodiment of FIG. 1;

[0045] FIG. 9 illustrates an arrangement for detecting acceleration in a third axis; and

[0046] FIG. 10 illustrates a gravimeter down a bore hole.

DETAILED DESCRIPTION

[0047] FIG. 1 is a schematic illustration of a top view of an accelerometer in accordance with the present invention. The accelerometer is advantageously fabricated entirely from a single semiconductor wafer, such as a silicon-on-insulator (SOI) wafer.

[0048] The accelerometer comprises a first proof mass 10 and a second proof mass 20. The second proof mass 20 surrounds the first proof mass 10 on all sides. The center of mass of the first proof 10 is coincident with the centre of mass of the second proof mass 20. The first proof mass 10 and the second proof 20 mass have equal mass.

[0049] The first proof mass 10 and second proof mass 20 are coplanar and lie in a plane defining an X axis and a Y axis. The X and Y axes are shown in FIG. 1 and are orthogonal to one another. Orthogonal to both the X and Y axis is a Z axis. The Z axis is in a direction out of the page with respect to FIG. 1.

[0050] Flexures 14 couple the first proof mass 10 to fixed anchors 12 such that the first proof mass 10 is suspended from the fixed anchors 12. The fixed anchors are all part of the same frame.

[0051] A first resonator 16 of a first resonant assembly is connected between an anchor 8 on the frame and one side of the first proof mass 10 through amplifying levers 15. In operation, the first resonant element is driven to resonance by the application of an alternating current to a drive electrode 18 adjacent to the resonant element.

[0052] The second proof mass 20 is similarly suspended from fixed anchors 22 on the frame by flexures 24. A second resonator 26 of a second resonant element assembly is connected between the frame and one side of the second proof mass 20 through amplifying levers 25. In operation, the second resonant element is driven to resonance by the application of an alternating current to electrodes adjacent to the second resonant element.

[0053] FIG. 2 is an enlarged view of the second resonant element assembly of FIG. 1, including the drive and sense electrodes. The second resonator 26 is connected to the frame at anchor 8 and to the second proof mass 20 (not shown) through levers 25. The resonator is driven into resonance by the application of a voltage to drive electrode 28, which is adjacent to the resonator. The frequency or amplitude, or both the frequency and amplitude, of vibration of the second resonator 26 is detected by monitoring the voltage on readout electrode 27.

[0054] By providing both a first and a second proof mass 10 and 20, the accelerometer of FIG. 1 can provide a measure of acceleration in two axes, the X axis and the Y axis.

[0055] The accelerometer is sensitive to acceleration along the X axis as a result of acceleration of the first proof mass 10 along the X axis. The first resonant element experiences a force as a result of acceleration of the proof mass along the X axis. Amplifying levers 15, also referred to as a micro-levers, amplify the force applied to the first resonant element as a result of the displacement of the first proof mass along the X axis. In this way, any displacement of the proof mass along the X axis results in a strain on the first resonant element. The strain induced on the first resonant element results in a change in the resonant behaviour of the first resonant element.

[0056] The accelerometer is sensitive to acceleration along the Y axis as a result of displacement of the second proof mass 20 along the Y axis. The second resonant element experiences a force as a result of acceleration of the proof mass along the Y axis. Amplifying levers 25, also referred to as micro-levers, amplify the inertial force applied to the second resonant element as a result of the displacement of the second proof mass 20 along the Y axis. Any displacement of the proof mass along the Y axis results in a strain on the second resonant element. The strain induced on the second resonant element results in a change in the resonant behaviour of the second resonant element.

[0057] With the arrangement shown in FIG. 1, the first proof mass 10 is mechanically decoupled from the second proof mass 20. Therefore, cross talk between two axes of measurement is minimised.

[0058] In the embodiment illustrated in FIG. 1, identical resonator assemblies are attached at diametrically opposite sides of the first proof mass 10 along the X axis. In other words, a third resonator assembly 36 is positioned diametrically opposite the first resonator assembly and connected to the frame and to the first proof mass 10 through amplifying levers 35. Any motion of the first proof mass 10 consequently gets translated into an equal magnitude of strain on each of the oppositely positioned resonators, but of opposite polarity. By taking the difference between the output from the first resonant element assembly and the output from the third resonant element assembly, common mode effects can be rejected.

[0059] Similarly, identical resonator assemblies are attached at diametrically opposite sides of the second proof mass 20. In other words, a fourth resonator assembly 46 is positioned diametrically opposite the second resonator assembly and connected to the second proof mass 20 through amplifier levers 45. This again allows variations due to common mode effects to be rejected.

[0060] While the first and third resonator assemblies are advantageously identical to one another, the second resonant element assembly is advantageously different to the first resonator assembly. In particular the first and second resonant elements are designed to have significantly different resonant frequencies to one another. This reduces the potential for cross-talk between the outputs from the first and second resonant elements 16 and 26.

[0061] The flexures 12 and 22 that are used to suspend each of the first and second proof masses from the frame may be single beam flexures. These offer good cross-axis decoupling of the acceleration in the X axis or the Y axis respectively. However the stiffness of single beam flexures can exhibit early onset of mechanical nonlinearity (the spring hardening effect). This means that the displacement of the proof mass will not be linear with increasing acceleration at high acceleration levels and the inertial force on the resonant elements will be relatively reduced at large displacements. To improve the sensitivity of the accelerometer, folded flexure beams can be used. However, conventional folded beam designs provide limited cross-axis decoupling, making them undesirable for a single axis accelerometer. So, to improve sensitivity of the accelerometer, it is advantageous to use serpentine flexures 14, 24 to suspend the proof mass from the frame, as illustrated in FIG. 1. A serpentine shape can minimise the spring hardening effect but still maintain good cross-axis decoupling. Serpentine flexures are described in more detail in WO2018/197857.

[0062] As described, the accelerometer is advantageously fabricated entirely from a single semiconductor wafer, such as a silicon-on-insulator (SOI) wafer and can be fabricated using conventional MEMS fabrication techniques, such as surface micromachining and etching. By fabricating the accelerometer from a single piece of semiconductor material, the sensitive axes can be aligned at the chip level.

[0063] FIG. 3 is a schematic illustration of the basic elements and principle of operation of the accelerometer for measuring acceleration based on changes in the resonant frequency of a resonator element. The principle of operation is described with respect to the first proof mass 10 and for measuring an acceleration in the X axis, but equally applies for measuring an acceleration in the Y axis with the second proof mass based on changes in the resonant frequency of a resonator element.

[0064] An acceleration acts on the first proof mass 10 to generate an inertial force along the X axis. The inertial force is amplified by the levers 15 to act on the resonant element of the first and third resonant element assemblies. A frequency tracking oscillator, represented in FIG. 3 by amplifier 50 is used to maintain the resonant elements at a resonant frequency. Any change in resonant frequency is measured by frequency measurement unit 52 and processed using a data processing unit 54 to provide an output measured acceleration signal.

[0065] FIG. 4 illustrates an example of a resonant element that can be used in the accelerometer of FIG. 1. The resonant element of the resonant element assembly is a double-ended tuning fork (DETF) resonator and comprises first and second tines 60, 62 connected between a fixed anchor 66 on the frame and a floating anchor 68 which is connected to the first proof mass through the levers 15 (not shown in FIG. 4). Elements 67 are connections to the amplifying levers. First and second electrodes 63 and 64 are connected to the first second tines 60 and 62 and are used to drive and sense the motion of tines. As described above, the embodiment illustrated in FIG. 1 comprises identical resonator assemblies attached at diametrically opposite sides of the first proof mass 10 along the X axis and diametrically opposite sides of the second proof mass 20 along the Y axis. Any motion of the first proof mass 10 consequently gets translated into an equal magnitude of strain on each of the oppositely positioned resonators, but of opposite polarity. In other words, one resonator undergoes an axial tensile stress while the other undergoes an axial compressive stress. This arrangement allows for a differential measurement from the two diametrically opposed resonators which can then be used to provide for common mode cancellation.

[0066] In order to obtain the maximum common-mode rejection of the influence of temperature, residual stress, and cross-axis vibrations, it is advantageous for the resonant elements of the first and third (or second and fourth) resonant element assemblies to have identical geometry to one another. However, if both the first and third resonant elements are driven in the same mode of vibration, then problems can arise. In particular, manufacturing tolerances means that the two resonant elements will never have exactly the same resonant frequency for a given mode of vibration. The resulting currents signals from the two resonant elements have very similar but not identical frequencies. When used together in a differential output scheme this can lead to issues such as mode-shape distortion, injection locking and signal cross-talk because of unavoidable mechanical and electrical coupling effects in the accelerometer.

[0067] To address this issue, the accelerometer of FIG. 1 is configured to drive the resonant element of the first resonant element assembly in a different mode to the resonant element of the third resonant element assembly, the different modes having different resonant frequencies, but using the same electrode arrangement for both resonant elements. This preserves the symmetry of the mechanical structure and removes any restriction on which of the resonant elements should operate in which mode.

[0068] In one embodiment, one of the first and third resonant elements is driven to vibrate in a fundamental mode and the other of the first and third resonant elements is driven to vibrate in a second order mode. FIG. 5 illustrates in an exaggerated form, the shape of the fundamental mode of vibration 70 and a second order mode of vibration 72. The two modes have different resonant frequencies but both can be excited independently by a single pair of adjacent drive electrodes.

[0069] Modes other than the modes illustrated in FIG. 5 can be used, and different forms of resonant element can be used. However, there is an advantage to an arrangement which preserves the symmetry of the physical structure of the accelerometer. Different modes will give rise to different scale factors. In other words, for a given input acceleration the frequency shift of the resonant frequency will be greater for one mode than the other. The overall scale factor for the accelerometer along that axis will be the average of the two. The use of higher order modes can be advantageous because they will typically give rise to higher scale factors.

[0070] FIG. 6 illustrates in more detail the drive and sense circuitry used to produce output signals that are measures of acceleration along the X and Y axes. As described with reference to FIGS. 2 and 3, each resonant element is driven by a drive electrode and the vibratory response sensed by a sense electrode. A frequency tracking oscillator is used for each resonant element to provide feedback control in order to maintain each resonant element at resonance. The resonant frequency of each resonant element, which will vary depending on the strain experienced by that resonant element, and the amplitude of vibration of each resonant element is provided as an output from each frequency tracking oscillator. As shown in FIG. 5 the first resonant element 16 is driven by drive electrode 18, and the response sensed by sense electrode 17. The oscillator 50 maintains the first resonator in resonance and outputs the resonant frequency to the multi-axis processing circuit 59. An identical arrangement is used for the third resonator assembly 36, with the oscillator 51 maintaining the third resonator in resonance and outputting the resonant frequency to the multi-axis processing circuit 59. The multi-axis processing circuit 59 uses the difference between the output from the oscillator 50 and the output from the oscillator 51, having adjusted for any scale factor difference, to provide a measure of acceleration Ax along the X axis.

[0071] The same arrangement is used for second and fourth resonator assemblies. The second resonant element 26 is driven by drive electrode 28, and the response sensed by sense electrode 27. The oscillator 55 maintains the second resonator in resonance and outputs the resonant frequency to the multi-axis processing circuit 59. The oscillator 57 maintains the fourth resonator assembly 46 in resonance and outputs the resonant frequency to the multi-axis processing circuit 59. The multi-axis processing circuit 59 uses the difference between the output from the oscillator 55 and the output from the oscillator 57, having adjusted for any scale factor difference, to provide a measure of acceleration Ay along the Y axis.

[0072] A measure of acceleration in the Z-axis can also be obtained using an arrangement described below, with reference to FIG. 9. An output from the Z-axis electrode or electrodes can be provided to the multi-axis processing circuit 59.

[0073] FIG. 7 illustrates an alternative example of a resonant element assembly. Rather than relying on frequency shift of the resonant frequency to measure acceleration, the resonant element assembly of FIG. 7 exploits the phenomenon of mode localization in two weakly coupled resonant elements.

[0074] As described above, an acceleration acts on the first proof mass 10 to generate an inertial force along the X axis. However, in this arrangement, each resonant element assembly comprises two resonant elements. A first resonator element 80 is connected between a fixed anchor 86 on the frame and a floating anchor 88 which is connected to the first proof mass through the one of the levers 15 (not shown in FIG. 7). A second resonant element 82, identical to the first resonant element 80, is coupled to the first resonant element 80 by a mechanical coupling 84. The second resonant element is connected on one end to the fixed anchor 86 and at the other end to the other amplifying lever 15, identical to the other amplifying lever 15, but not to the proof mass. This provides structural symmetry between the first and second resonant elements.

[0075] In operation, the resonant elements 80, 82 are driven to resonance by the application of an alternating voltage to the drive electrodes. The mechanical coupling between the resonant elements in each pair is only a weak coupling. When two vibrating resonant elements are weakly coupled in this way, any change in stiffness of one resonant element relative to the other leads to significant changes in the relative amplitude of vibration of the two coupled resonators. By monitoring the ratio of the amplitude of vibration of the resonant elements 80, 82, a measure of acceleration of the proof mass can be obtained. This can be achieved either by measuring the amplitudes of both the resonant elements and comparing the two, or by controlling the amplitude of vibration of one of the resonant elements to be constant using feedback control, and measuring the amplitude of vibration of the other. This phenomenon is called mode localization and is explained in detail in WO2011/148137.

[0076] While FIG. 7 shows a mechanical coupling between the two vibrating resonant elements, the means for coupling may instead by an electrostatic coupling means.

[0077] As described, an accelerometer in accordance with the invention may advantageously be made from a single silicon wafer. FIG. 8 illustrates four layers of a silicon accelerometer having a layout as shown in FIG. 1. Each layer extends in the plane defined by the X and Y direction, as already described.

[0078] Base layer 100 forms the base of the accelerometer. This base layer comprises a frame 102 in which the fixed anchors 12 and 22 are defined.

[0079] Layers 110 and 120 are lower and upper intermediate layers of the accelerometer. The fixed anchors 12 and 22 are defined in both layer 110 and layer 120. The lower intermediate layer 110 has voids around the areas defining the first proof mass 10 and the second proof mass 20. Each of the proof masses is shaped around the fixed anchors. Furthermore, there are spaces provided to allow for movement of the flexures, resonant element assemblies and levers in the upper intermediate layer, as well as spaces allowing for displacement of the proof masses in response to acceleration in either the X direction or the Y direction.

[0080] The upper intermediate layer 120 provides the flexures, resonant element assemblies and levers, which are connected to the first and second proof masses 10 and 20. The flexures are connected to the proof masses at one end and to the fixed anchors at the other. The first and second proof masses can move relative to the frame. A comparison of the lower intermediate layer 110 with the upper intermediate layer 120 illustrates the relative thickness of the proof masses 10 and 20 compared to other features such as the flexures. This is so that the proof masses have as large a mass as possible within the confines of the device. Larger proof masses provide for greater device sensitivity.

[0081] The top layer 130 is a cap layer of the accelerometer and seals the moving parts from the environment.

[0082] FIG. 9 illustrates an arrangement for detecting acceleration in a third axis using the first or second proof mass of the embodiment of FIG. 1. FIG. 9 is a schematic cross-section through an accelerometer, showing the proof mass 140 suspended from a frame 150 by flexures 142. A Z-axis drive and sense electrode 144 is provided in the cap layer of the frame 150, above the proof mass 140. The proof mass is able to move along the Z-axis on the flexures 142, as illustrated by the dotted line in response to an applied acceleration along the z-axis. As the distance between the proof mass 140 and the electrode 144 varies, so will the capacitance between the proof mass 140 and the electrode 144.

[0083] In one arrangement, the value of the variable capacitance between the proof mass 140 and the electrode 144 is used as a measure of acceleration. In another embodiment, the electrode 144 may be used to drive the proof mass and flexure assembly into a resonant vibration along the z-axis by the application of a drive voltage. Any external acceleration in the Z-axis direction will result in an additional strain on the flexures 142, altering the resonant frequency of the proof mass and flexure assembly. As with the X and Y axis readouts, a frequency tracking oscillator can be used to provide an output signal to the multi-axis processing circuit 59, shown in FIG. 6. A measure of acceleration in the Z-axis direction can thus be obtained.

[0084] As well as providing a measure of acceleration in the Z-axis direction, one or more electrodes in the cap layer can be used to correct small tilts of the device relative to the gravity field. By applying electrostatic forces on the first and second proof masses, the accelerometer can be correctly aligned.

[0085] An accelerometer as described can be used for many applications. One example is as a gravimeter. A gravimeter can be used for surveying in oil or gas extraction. FIG. 10 illustrates a gravimeter down a bore hole. Measurements of the gravity field down a borehole can provide information about the density of the surrounding layers and so information about the presence of oil or gas reserves and their size and location. This requires measurement of gravitational filed in three dimensions. A shown in FIG. 10, an accelerometer 200 in accordance with the invention is positioned within a borehole tool 210. The borehole tool is placed in the bore, suspended from a suitable structure on the surface. Gravimeters of this sort can be used in other applications, such as carbon storage monitoring, monitoring groundwater depletion, discovery of underwater aquifers, monitoring other processes underpinning the hydrological cycle, early-warning systems for earthquake-prone zones or for areas impacted by volcanic activity.