WO1994011706A1 - Angular velocity detector circuit - Google Patents
Angular velocity detector circuit Download PDFInfo
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- WO1994011706A1 WO1994011706A1 PCT/JP1993/001668 JP9301668W WO9411706A1 WO 1994011706 A1 WO1994011706 A1 WO 1994011706A1 JP 9301668 W JP9301668 W JP 9301668W WO 9411706 A1 WO9411706 A1 WO 9411706A1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
- G01C19/56—Turn-sensitive devices using vibrating masses, e.g. vibratory angular rate sensors based on Coriolis forces
- G01C19/5607—Turn-sensitive devices using vibrating masses, e.g. vibratory angular rate sensors based on Coriolis forces using vibrating tuning forks
Definitions
- the present invention relates to a detection circuit for detecting a rotational angular velocity using an angular velocity sensor constituted by a vibrator, and more particularly to a rotational angular velocity detection circuit having high measurement accuracy and suitable for mass production.
- a vibrating angular velocity sensor that vibrates an object and detects the force of Coriolis from a detection element on the vibrating object has been put into practical use, and the mass of the gyroscope is kept constant. It is vibrated at the frequency of.
- a rotational force is applied to a mass, a Coriolis force is generated at the same frequency in a direction perpendicular to the vibration of the mass.
- the principle of the vibration type angular velocity sensor is to measure the angular velocity by detecting the vibration of the mass due to this force.
- a circuit for detecting an angular velocity using an angular velocity sensor based on the above principle is disclosed in, for example, Japanese Patent Application Laid-Open No. 3-172711.
- the vibrator described in this publication is a composite vibrator in which a vibrating unit in which a driving portion and a detecting portion are joined in an orthogonal manner is connected by a connecting block to form a tuning fork structure.
- the vibrator is made of a constant elastic metal such as an T-type piezoelectric ceramics are used.
- a constant elastic metal such as an T-type piezoelectric ceramics are used.
- an electrode is formed on the surface of the metal for driving and detection, a thin piezoelectric element is adhered on the electrode, and an electrode is formed thereon.
- the oscillation circuit that oscillates the oscillator is composed of an amplifier and a feedback circuit in principle.
- the amplification factor of the amplifier is ⁇
- the phase delay of the amplifier is ⁇ 1
- the transmissivity of the feedback circuit is 3
- the phase delay is 02
- the phase is delayed by 180 ° by an amplifier circuit to satisfy Equation (2) of the oscillation condition, and a phase shift circuit that combines multiple resistors and capacitors is used.
- a phase shift circuit that combines multiple resistors and capacitors is used.
- the conventional angular velocity detection circuit requires a phase shift circuit as described above, and further requires a phase shift shift by the resistance and the capacitance of the piezoelectric element itself. Therefore, the transmissivity of the feedback circuit; S and the phase shift delay 02 change due to the constant change of the phase shift circuit due to the temperature change, and the oscillation becomes unstable. Eventually, when a rotational force is applied, the vibration generated in the vibrator due to the Coriolis force becomes unstable, and the output of the detection circuit drifts, resulting in a problem that the accuracy is significantly deteriorated.
- the amplification factor ⁇ of the amplifier must be increased to satisfy Equation (1) of the above-mentioned oscillation conditions. It is necessary to provide an amplifier.
- a reference voltage generation circuit and the like are required, and the detection circuit becomes complicated.
- An object of the present invention is to provide a circuit for detecting a rotational angular velocity that has a high measurement accuracy and is suitable for mass production, provided with a ⁇ circuit that oscillates stably with a simple configuration.
- An angular velocity detection circuit includes a quartz resonator provided with a first electrode for exciting the resonator, and a second electrode provided in a direction perpendicular to the first electrode for extracting an electric field generated by rotation.
- An oscillator circuit having an inverting amplifier connected to the first electrode of the crystal unit as an input and the second electrode connected to an output, and a differential amplifier circuit connected to the input of the second electrode of the crystal unit. It has a detection circuit that receives the output of the dynamic amplification circuit as an input and uses the output of the oscillation circuit as a detection signal, and an output amplification circuit that receives the output of the detection circuit as an input.
- the angular velocity detection circuit of the present invention provides a first electrode on two parallel surfaces to excite the vibrator, and a second electrode in a direction perpendicular to the first electrode to extract an electric field generated by rotation.
- An oscillation circuit having an inverting amplifier connected to a part of a first electrode of the crystal resonator as an input and another part of the first electrode to an output, and a second element of the crystal resonator.
- a configuration comprising: a differential amplifier circuit in which the electrodes of the differential amplifier are connected to the input; a detection circuit in which the output of the differential amplifier circuit is used as an input; and an output of the oscillation circuit is used as a detection signal; It is.
- the angular velocity detection circuit of the present invention includes a first electrode for exciting the vibrator, a second electrode provided in a direction perpendicular to the first electrode, and a second electrode for extracting an electric field generated by rotation.
- a crystal oscillator having a third electrode provided on the same surface as a part of the crystal oscillator; an oscillation circuit having an inverting amplifier having a first electrode of the crystal oscillator connected to an input and a second electrode connected to an output;
- a differential amplifier circuit having the third electrode of the oscillator as an input, a detection circuit having the output of the differential amplifier as an input, and having the output of the oscillation circuit as a detection signal, and an output amplifier having the output of the detection circuit as an input; It has a configuration with
- the angular velocity detection circuit has a first configuration for exciting the vibrator. And a second electrode in a direction perpendicular to the first electrode, and on a surface opposite to the third electrode and the third electrode connected to the second electrode to extract an electric field generated by rotation.
- An oscillation circuit having an inverting amplifier with the second electrode connected to the input and the second electrode connected to the output; a differential amplifier circuit connecting the fifth and sixth electrodes of the crystal unit to the input;
- the configuration includes a detection circuit that uses the output of the amplification circuit as an input and the output of the oscillation circuit as a detection signal, and an output amplification circuit that receives the output of the detection circuit as an input.
- the angular velocity detection circuit of the present invention includes a first electrode for exciting the vibrator, a second electrode provided in a direction perpendicular to the first electrode, and a second electrode for extracting an electric field generated by rotation.
- a third electrode connected to the second electrode, a crystal oscillator having a fourth electrode and a fifth electrode provided on the opposite surface of the third electrode, and a second electrode
- An oscillation circuit having an inverting amplifier with its electrodes connected to the output, a differential amplifier circuit with its fourth and fifth electrodes connected to the input, and an output of the differential amplifier circuit as its input.
- the configuration includes a detection circuit that uses the output of the oscillation circuit as a detection signal, and an output amplification circuit that receives the output of the detection circuit as an input.
- the angular velocity detection circuit of the present invention is provided with a first electrode for exciting a vibrator, and a second electrode in a direction perpendicular to the first electrode, and for extracting an electric field generated by rotation.
- a third electrode connected to the second electrode; a fourth electrode perpendicular to the third electrode; a crystal resonator having a fifth electrode provided on a surface opposite to the fourth electrode; and a crystal.
- a configuration that includes a detection circuit that receives the output of the differential amplifier circuit as an input and uses the output of the oscillation circuit as a detection signal, and an output amplifier circuit that receives the output of the detection circuit as an input.
- the present invention is configured as described above using a crystal unit and an inverting amplifier.
- the gain 1 I of the feedback circuit is about 0.2 to 0.9, and the phase delay 02 is almost 1 80 °.
- the amplification factor of an inverting amplifier is generally 20 to 30 db or more, and at a frequency of about 30 KHz, the phase rotation of a general inverting amplifier is almost close to 180 °. And the oscillation conditions of Equation (2) are satisfied.
- the angular velocity detection circuit of the present invention does not require a phase shift circuit in the feedback section of the oscillation circuit, and does not decrease the transmissibility due to fluctuations in the characteristics of the phase shift circuit and fluctuations in the phase delay, so that highly stable oscillation is performed. It is. Moreover, the detection output is superimposed on the oscillation output to stably operate the differential amplifier circuit, thereby preventing a drift from occurring in the output of the detection circuit. it can. Furthermore, the circuit configuration is simple and suitable for mass production. BRIEF DESCRIPTION OF THE DRAWINGS
- FIG. 1 is a circuit diagram showing a detection circuit according to a first embodiment of the present invention
- FIG. 2 is a perspective view showing a crystal resonator according to the first embodiment of the present invention.
- FIG. 3 is a cross-sectional view showing an electrode of the crystal resonator according to the first embodiment of the present invention
- FIG. 4 is a circuit diagram showing a detection circuit according to the second embodiment of the present invention
- FIG. 5 is a perspective view showing a crystal resonator according to a second embodiment of the present invention
- FIG. 6 is a cross-sectional view showing electrodes of the crystal resonator according to the second embodiment of the present invention.
- FIG. 7 is a circuit diagram showing a detection circuit according to the third embodiment of the present invention
- FIG. 8 is a perspective view showing a crystal resonator according to the third embodiment of the present invention.
- FIG. 9 is a sectional view showing the electrodes of the vibrator according to the third embodiment of the present invention, and FIG. Put to the fourth embodiment That a cross section 6 of an electrode of a crystal oscillator, the first 1 drawing is a sectional view showing an electrode of the quartz resonator of the fifth embodiment of the present invention, the first Fig. 2, the second of the present invention
- FIG. 13 is a front view of the crystal unit according to the fifth embodiment
- FIG. 13 is a rear view of the crystal unit according to the fifth embodiment of the present invention
- FIG. FIG. 15 is a cross-sectional view showing an electrode of a crystal unit according to a sixth embodiment
- FIG. 15 is a front view of the crystal unit according to a sixth embodiment of the present invention;
- FIG. 17 is a rear view of the crystal unit according to the sixth embodiment of the present invention.
- FIG. 17 is a sectional view showing electrodes of the crystal unit according to the seventh embodiment of the present invention.
- FIG. 19 is a front view of a crystal unit according to a seventh embodiment of the present invention.
- FIG. 19 is a side view of the crystal unit according to the seventh embodiment of the present invention.
- FIG. 12 is a rear view of the crystal unit according to the seventh embodiment of the present invention.
- FIG. 21 is a cross-sectional view showing electrodes of the crystal unit according to the eighth embodiment of the present invention.
- FIG. 22 is a front view of the crystal unit according to the eighth embodiment of the present invention, and
- FIG. 23 is a rear view of the crystal unit according to the eighth embodiment of the present invention.
- FIG. 1 is a circuit diagram showing a detection circuit according to a first embodiment of the present invention
- FIG. 2 is a perspective view showing a vibrator according to the first embodiment
- FIG. 3 is a diagram showing the arrangement and interconnection of electrodes of the vibrator.
- the crystal unit shown in Fig. 2 rotates the XY plane by 0 to 10 ° with respect to the X axis (electric axis), cuts the crystal at the XY 'plane that is the Y axis (the mechanical axis), and cuts the crystal.
- the crystal unit is a tuning fork type consisting of branches 19, 20 and a base 21. It is formed integrally from the plate by photoengraving and etching technology, or wire-to-saw processing technology.
- the electrode 1 is provided on one of the surfaces parallel to the Y'Z 'plane of one of the branches 19 of the tuning fork, and the electrode 2 is provided on the opposite surface.
- An electrode 7 is provided on one of the surfaces parallel to the Y'Z 'plane of the other branch portion 20 of the tuning fork, and an electrode 8 is provided on the opposite surface.
- electrodes 1 and 2 and electrodes 7 and 8 are connected to each other in the crystal unit, and terminals 16 and 15 are provided, respectively, and a surface parallel to the XY 'plane of branch 19 is provided. Electrodes 3 and 4 are provided on one of them. Electrodes 5 and 6 are provided on the opposite surface.
- electrodes 9 and 10 are provided on one of the surfaces parallel to the XY 'plane of the branch portion 20, and the electrodes 11 and 12 are provided on the opposite surfaces. ⁇ Then, the electrodes 3 and 6 and the electrode 4 are provided. And electrode 5, electrode 9 and electrode 12, electrode 10 and electrode 11 are connected to each other in the vibrator, and terminals 17, 18, 18, 13 and 14 are provided respectively.
- These electrodes 1 to 12 are formed of a metal film such as chrome and gold (Au) by a vacuum evaporation method.
- the terminals 13 to 18 of the crystal oscillator 30 are connected to the oscillation circuit 40. That is, the terminals 13 and 14 are connected to the output of the inverter 46, which is an inverting amplifier composed of CMOS transistors (complementary field-effect transistors), through the resistors 44 and 43 of the oscillation circuit 40. And terminal 15 to the input of inverter 46. Then, the terminal 16 is connected to the output of the inverter 46. Also connect terminals 17 and 18 to the input of inverter 46 via resistors 41 and 42.
- the resistors 41 and 42 may be provided as thin film resistors, for example, on the base 21 of the crystal unit shown in FIG.
- an inverter consisting of a CMOS transistor is shown as an example of an inverting amplifier, but any amplifier having a high input resistance may be used.
- the resistor 45 is a feedback resistor R f
- the capacitors 47 and 48 are an input capacitance C in and an output capacitance C out t, respectively, and form a feedback circuit together with the crystal oscillator 30.
- the Coriolis force Fc is correspondingly applied to both branches 19, 20 of the tuning fork in a plane parallel to the VZ' plane. Occur in opposite directions within each other.
- the differential amplifier circuit 50 also serves as a phase shift circuit.
- the output voltage of the differential amplifier circuit 50 and the output voltage of the oscillation circuit 40 are in phase.
- a phase shift circuit may be provided after the oscillation circuit 40 or the differential amplifier circuit 50.
- the output voltage of the oscillation circuit 40 superimposed on the detection output and applied to the input terminal of the differential amplifier circuit 50 is sufficiently large, so that the differential amplifier circuit 50 operates stably and the drift generated at the output is reduced. It becomes very small.
- the output of the differential amplifier circuit 50 is connected to the input terminal of the detection circuit 60, and the output of the oscillation circuit 40 is detected as a detection signal.
- the output of the detection circuit 60 is
- the output of the output amplifying circuit 70 is connected to the input terminal of an output amplifying circuit 70 including a smoothing circuit, and the output of the output amplifying circuit 70 is a DC voltage proportional to the rotational angular velocity.
- the angular velocity can be known from the magnitude of this value, and an angular velocity detector (gyroscope) can be realized.
- FIG. 4 is a circuit diagram showing a detection circuit in the second embodiment
- FIG. 5 is a perspective view showing a quartz oscillator in the second embodiment
- FIG. 6 shows the arrangement and interconnection of the electrodes of the oscillator. It is sectional drawing.
- the crystal resonator shown in FIG. 5 is an X-cut crystal resonator similar to the first embodiment.
- the crystal unit includes branches 19 and 20 and a base 21, and electrodes are formed on the branches 19 and 20.
- the electrode 1 is provided on one of the surfaces parallel to the Y'Z 'plane of one branch 19 of the tuning fork, and the electrode 2 is provided on the opposite surface.
- an electrode 26 is provided on one of the surfaces parallel to the XY 'plane, and an electrode 27 is provided on the opposite surface.
- the other branch 20 is provided with electrodes 7, 8, 9, 10, 11, 12 similarly to the first embodiment of FIG.
- the electrodes 1 and 2, the electrodes 26 and 27, the electrodes 7 and 8 are connected to each other in the vibrator, and the terminals 16 and 25 are provided. Further, as in the first embodiment, a terminal 13 connected to the electrode 9 and the electrode 12 and a terminal 14 connected to the electrode 10 and the electrode 11 1. are provided.o
- the terminals 13, 14, 16, and 25 of the crystal unit 30 are connected to the oscillation circuit 40. That is, terminals 13 and 14 are connected to the output of inverter 46 via resistors 43 and 44 of oscillation circuit 40. Terminal 16 is connected to the output of inverter 46 and terminals 25 To the input of the Inverter 46. As a result, the excitation voltage of the oscillation circuit 40 is applied only to the branch 19 of the crystal resonator shown in FIG. 5, thereby increasing the stability of oscillation.
- the terminals 13 and 14 of the crystal unit 30 are connected to the input of the differential amplifier circuit 50.
- Differential amplifier circuit 50 and detector circuit 60 The circuit configuration and operation of the power amplifier circuit 70 are the same as in the first embodiment.
- FIG. 7 is a circuit diagram showing a detection circuit in the third embodiment
- FIG. 8 is a perspective view showing a vibrator in the third embodiment
- FIG. 9 is a sectional view showing electrode arrangement and interconnection of the vibrator. It is.
- the crystal unit shown in Fig. 8 rotates the XY plane by 2 to 10 ° and the YZ plane by 50 to 60 ° with respect to the X axis (electric axis), and supports the X, Y, and Z axes.
- the X-axis, Y'-axis, and Z'-axis are the axes to be cut, and the crystal is cut along the Z'Y 'plane, and the electrode arrangement that causes expansion and contraction in the Z' direction to the neutral plane 81 of the vibration.
- This is a so-called NT-cut crystal resonator.
- the crystal unit consists of branches 1.9, 20 and base 21. Electrodes are formed on the branches 19 and 20.
- the electrode 1 is provided on one of the surfaces parallel to the X'Y 'plane of one branch 19 of the tuning fork, and the electrode 2 is provided on the opposite surface.
- An electrode 7 is provided on one of the surfaces parallel to the X'Y 'plane of the other branch portion 20 of the tuning fork, and an electrode 8 is provided on the opposite surface.
- electrodes 1 and 2 and electrodes 7 and 8 are connected to each other in the crystal unit, and terminals 16 and 15 are provided, respectively.
- the electrodes 3 and 4 are provided on one of the surfaces parallel to the Z'Y 'plane of the branch 19, and the electrodes 5 and 6 are provided on the opposite surfaces.
- the electrodes 9 and 10 are provided on one of the surfaces parallel to the Z'Y 'plane of the branch portion 20, and the electrodes 11 and 12 are provided on the opposite surface. Then, the electrodes 3, 6, 6, 10, and 11, the electrodes 4, 5, 5, 12, and 9 are connected to each other in the vibrator, and the terminals 14, 13 are provided.
- terminals 13 and 14 of the crystal unit 30 are connected to the oscillation circuit 40. That is, terminal 13 is connected to the output of inverter 46, and terminal 14 is connected to the input of inverter 46. Terminals 15 and 16 are connected to the input of differential amplifier circuit 50.
- FIG. 10 is a sectional view showing the electrode arrangement and interconnection of the vibrator.
- the crystal resonator according to this embodiment is an NT pump crystal resonator similar to the third embodiment.
- an electrode 1 is provided on one of the surfaces parallel to the X'Y 'plane of one branch 19 of the tuning fork, and an electrode 2 is provided on the opposite surface.
- An electrode 7 is provided on one of the surfaces parallel to the X'Y 'plane of the other branch portion 20 of the tuning fork, and an electrode 8 is provided on the opposite surface. Then, electrodes 1 and 2 and electrodes 7 and 8 are connected to each other in the crystal unit, and terminals 16 and 15 are provided, respectively.
- electrodes 3 and 4 are provided on one of the surfaces parallel to the Z'Y 'plane of branch 19, and electrode 27 is provided on the opposite surface.
- electrodes 9 and 10 are provided on one of the surfaces parallel to the 0'Y 'plane of the branch portion 20, and the electrode 2.4 is provided on the opposite surface. Then, the electrodes 3 and 10 and the electrodes 4 and 9 are connected to each other in the vibrator, and terminals 14 and 13 are provided, respectively.
- the electrodes 24 and 27 are connected to each other.
- terminals 13 and 14 of the crystal unit 30 are connected to the oscillation circuit 40. That is, terminal 13 is connected to the output of inverter 46, and terminal 14 is connected to the input of inverter 46. Also, terminals 15 and 16 are connected to the inputs of the differential amplifier circuit 50.
- the circuit configurations and operations of the differential amplifier circuit 50, the detection circuit 60, and the output amplifier circuit 70 are the same as those in the above-described embodiments.
- Fig. 11 shows the electrode arrangement and interconnection of the transducer in the fifth embodiment.
- Fig. 12 and Fig. 13 are plan views showing the electrode arrangement of the resonator.
- Fig. 12 is a front view of the crystal resonator.
- Fig. 13 is a rear view of the crystal resonator. It is.
- the crystal resonator of this embodiment is an X-cut crystal resonator.
- the crystal unit is composed of branches 19 and 20 and a base 21. The end of the base 21 is fixed by a member 22. Electrodes are formed on the branches 19, 20 and the base 21 as shown in FIGS. As shown in Fig. 11, the electrode 1 is provided on one of the surfaces parallel to the Y'Z 'plane of one branch 19 of the tuning fork, and the electrode 3 is provided on one of the planes parallel to the XY' plane. And an electrode 5 is provided on the opposite surface.
- the electrode 8 is provided on one of the surfaces parallel to the ⁇ ' ⁇ 'plane of the other branch portion 20, the electrodes 9 and 10 are provided on one of the surfaces parallel to the XY' plane, and the electrode 1 is provided on the opposite surface. 1, 1 and 2 are provided. Then, the electrode 1, the electrode 10, and the electrode 12, and the electrode 3, the electrode 5, and the electrode 8 are connected to each other in the crystal resonator, and terminals 13 and 14 are provided, respectively. These electrodes 1, 3, 5, 8, 10, and 12 are electrodes for exciting the crystal resonator. Also, a terminal 16 is provided on the electrode 9 and a terminal 15 is provided on the electrode 11. These electrodes 9 and 11 are electrodes for extracting the generated electric field.
- terminals 13 and 14 of the crystal unit 30 are connected to the oscillation circuit 40. That is, terminal 13 is connected to the output of inverter 46, and terminal 14 is connected to the input of inverter 46. Also, terminals 15 and 16 are connected to the input of the differential amplifier circuit 50.
- FIG. 14 is a cross-sectional view showing the electrode arrangement and interconnection of the vibrator in the sixth embodiment
- FIGS. 15 and 16 are plan views showing the electrode arrangement of the vibrator.
- the figure is a front view of the crystal unit
- FIG. 16 is a rear view of the crystal unit.
- the crystal resonator of this embodiment is an X-cut crystal resonator.
- the crystal unit is composed of branches 19, 20 and a base 21.
- the end of the base 21 is a fixed part 23, and terminals for external connection are formed. Have been. Electrodes are formed on the branches 19 and 20 and the base 21 as shown in FIGS.
- an electrode 1 is provided on one of the surfaces parallel to the Y'Z 'plane of one branch 19 of the tuning fork, and an electrode 2 is provided on the opposite surface.
- an electrode 26 is provided on one of the surfaces parallel to the X ⁇ 'plane, and an electrode 27 is provided on the opposite surface.
- electrodes 9 and 10 are provided on one of the surfaces parallel to the XY ′ plane of the other branch portion 20, and electrodes 11 and 12 are provided on the opposite surface. Then, electrodes 1 and 2 are connected to each other, and electrodes 26 and 27 are connected to each other in the crystal unit, and terminals 13 and 14 are provided, respectively.
- These electrodes 1, 2, 26, and 27 are electrodes for exciting the crystal resonator.
- the electrode 9, the electrode 11 and the electrode 2 are connected to each other in the vibrator.
- the terminal 13 to which these electrodes 2, 9, and 11 are connected is connected to the output of the oscillation circuit 40 shown in FIG. Therefore, the electrodes 9 and 11 show the same potential as the output voltage of the oscillation circuit.
- a terminal 15 is provided on the electrode 10 and a terminal 16 is provided on the electrode 12.
- These electrodes 10 and 12 are electrodes for extracting an electric field generated by rotation.
- the terminals 15 and 16 have an output in which the generated electric field is superimposed on the output of the oscillation circuit 40. Is obtained.
- the present embodiment is established even if the electrode arrangement of the branch portion 19 is rotated 90 ° left and right. PT / JP9301668
- terminals 13 and 14 of the crystal 1 element 30 are connected to the oscillation circuit 40. That is, terminal 13 is connected to the output of inverter 46, and terminal 14 is connected to the input of inverter 46. Also, terminals 15 and 16 are connected to the input of the differential amplifier circuit 50.
- the output of the differential amplifier circuit 50 is purely dependent on the electric field generated by the angular velocity ⁇ , since the output of the oscillation circuit 40 is subtracted.
- the circuit configurations and operations of the differential amplifier circuit 50, the detection circuit 60, and the output amplifier circuit 70 are the same as those in the above-described embodiments.
- FIG. 17 is a cross-sectional view showing the electrode arrangement and interconnection of the vibrator according to the seventh embodiment
- FIGS. 18, 19 and 20 are plan views showing the electrode arrangement of the vibrator.
- FIG. 18 is a front view of the crystal unit
- FIG. 19 is a side view
- FIG. 20 is a rear view.
- the crystal resonator of this embodiment is an X-cut crystal resonator, and includes branch portions 19 and 20, a base portion 21 and a fixed portion 23 as shown in FIG. Electrodes are formed on the branches 19, 20 and the base 21 as shown in FIG. 18, FIG. 19, and FIG.
- the electrode 1 is provided on one of the surfaces parallel to the ⁇ ′ ⁇ ′ plane of the branch 19 of the tuning fork, the electrode 2 is provided on the opposite surface, and further parallel to the XY ′ plane.
- the electrode 26 is provided on one of the surfaces, and the electrode 27 is provided on the opposite surface.
- the electrode 7 is provided on one of the surfaces parallel to the ⁇ ' ⁇ 'plane of the other branch portion 20.
- the electrodes 28 and 29 are provided on the opposite surface.
- electrode 1 and electrode 2, electrode 2 6 and the electrode 2 7 respectively provided terminals 1 4 1 3 connected to 1 have within the crystal oscillator to.
- the electrodes 1, 2, 26, and 27 are electrodes for exciting the crystal resonator.
- the electrode 7 is connected to the electrodes 26 and 27.
- the terminal 13 to which these electrodes 26, 27 and 7 are connected is connected to the output of the oscillation circuit 40 in FIG. 7, as described later. Therefore, the electrode 7 has the same potential as the output voltage of the oscillation circuit 40. Also, a terminal 15 is provided on the electrode 28, and a terminal 16 is provided on the electrode 29. These electrodes 28 29 are electrodes for extracting the electric field generated by rotation. As described above, since the electrode 7 has the same potential as the output of the oscillation circuit 40, an output in which the generated electric field is superimposed on the output of the oscillation circuit 30 is obtained at the terminals 15 and 16. In addition, in FIG. 17, the present embodiment is satisfied even if the electrode arrangement of the branch portion 19 is rotated 90 ° left and right.
- terminals 13 and 14 of the crystal unit 30 are connected to the oscillation circuit 40. That is, terminal 13 is connected to the output of inverter 46, and terminal 14 is connected to the input of inverter 46. Also, terminals 15 and 16 are connected to the inputs of the differential amplifier circuit 50.
- the circuit configurations and operations of the differential amplifier circuit 50, the detection circuit 60, and the output amplifier circuit 70 are the same as those in the above-described embodiments.
- FIG. 21 is a cross-sectional view showing the arrangement and connection of the electrodes of the vibrator in the eighth embodiment
- FIGS. 22 and 23 are plan views showing the arrangement of the electrodes of the vibrator. Is a front view of the crystal unit
- FIG. 23 is a rear view.
- the crystal resonator of this embodiment is an X-cut crystal resonator, and includes branch portions 19 and 20, a base portion 21 and a fixed portion 23 as shown in FIG. Electrodes are formed on the branches 19 and 20 and the base 21 as shown in FIGS.
- an electrode 1 is provided on one of the parallel surfaces on the Y'Z 'plane of one branch 19 of the tuning fork, and an electrode 2 is provided on the opposite surface.
- an electrode 26 is provided on one of the surfaces parallel to the XY 'plane, and an electrode 27 is provided on the opposite surface.
- the electrode is placed on one of the surfaces parallel to the XY 'plane of the other branch 20.
- the electrode 12 is provided on the opposite surface, and the electrode 7 is provided on a surface parallel to the Y′Z ′ plane. Then, the electrodes 1 and 2 and the electrodes 26 and 27 are connected to each other in the crystal unit, and terminals 14 and 13 are provided, respectively. These electrodes 1, 2, 26, and 27 are electrodes for exciting the crystal resonator.
- the electrode 7 is connected to the electrodes 26 and 27.
- the terminal 13 to which these electrodes 26, 27, and 7 are connected is connected to the output of the oscillation circuit 40 in FIG. 7 as described later. Therefore, the electrode 7 has the same potential as the output voltage of the oscillation circuit 40. Also, a terminal 15 is provided on the electrode 10 and a terminal 16 is provided on the electrode 12.
- These electrodes 10 and 12 are electrodes for extracting an electric field generated by rotation. As described above, since the electrode 7 has the same potential as the output of the oscillation circuit 40, an output in which the generated electric field is superimposed on the output of the oscillation circuit 40 is obtained at the terminals 15 and 16. In addition, in FIG. 21, the present embodiment is established even if the electrode arrangement of the branch portion 19 is rotated 90 ° left and right.
- terminals 13 and 14 of the crystal unit 30 are connected to the oscillation circuit 40. That is, terminal 13 is connected to the output of inverter 46, and terminal 14 is connected to the input of inverter 46. Also, terminals 15 and 16 are connected to the inputs of the differential amplifier circuit 50.
- the circuit configuration and operation of the differential amplifier circuit 50, the detection circuit 60, and the output amplifier circuit 70 are the same as those in the above-described embodiments.
- an inverter is configured by a CM0S transistor as an inverting amplifier, but all other circuits may be configured by a CMOS transistor. It is.
- the example of the crystal oscillator whose oscillation frequency is around 32 KHz is shown.However, even if the oscillator has a higher frequency band, the oscillation circuit can be oscillated with the same configuration by selecting the frequency. It is.
- the substrate material of the resonator was quartz
- a single crystal of lithium tantalate, a single crystal of lithium niobate, and a single crystal of lithium borate were used.
- a material having piezoelectricity such as a crystal may be used, and a vibrator may be formed by applying or bonding a piezoelectric material to a silicon substrate.
- a tuning fork type vibrator has been described as an example, the present invention can be applied to a vibrating piece that performs bending vibration.
- Example 1 and Example 2 are based on Claim 1.
- Embodiment 3 and Embodiment 4 are based on claim 2.
- Embodiment 5 is based on claim 3.
- Example 6 is based on claim 4.
- Embodiment ⁇ is based on claim 5.
- Embodiment 8 is based on claim 6.
- each embodiment is intended to illustrate the invention and not to limit the invention.
- INDUSTRIAL APPLICABILITY As described above, the angular velocity detection circuit of the present invention can be used in an inertial navigation system of an airplane or a ship, or a virtual reality head-mount display, a mouse of a personal computer, or a video camera. It can be suitably used for hand-held devices and small devices such as small robots.
Description
Claims
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
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DE69316745T DE69316745T2 (de) | 1992-11-17 | 1993-11-15 | Drehgeschwindigkeitsdetektorschaltung |
JP51193094A JP3421720B2 (ja) | 1992-11-17 | 1993-11-15 | 角速度検出回路 |
EP93924822A EP0636860B1 (en) | 1992-11-17 | 1993-11-15 | Angular velocity detector circuit |
Applications Claiming Priority (6)
Application Number | Priority Date | Filing Date | Title |
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JP32992892 | 1992-11-17 | ||
JP4/329928 | 1992-11-17 | ||
JP23551493 | 1993-08-27 | ||
JP5/235514 | 1993-08-27 | ||
JP5/253604 | 1993-09-17 | ||
JP25360493 | 1993-09-17 |
Publications (1)
Publication Number | Publication Date |
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WO1994011706A1 true WO1994011706A1 (en) | 1994-05-26 |
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Application Number | Title | Priority Date | Filing Date |
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PCT/JP1993/001668 WO1994011706A1 (en) | 1992-11-17 | 1993-11-15 | Angular velocity detector circuit |
Country Status (5)
Country | Link |
---|---|
US (1) | US5420548A (ja) |
EP (1) | EP0636860B1 (ja) |
JP (1) | JP3421720B2 (ja) |
DE (1) | DE69316745T2 (ja) |
WO (1) | WO1994011706A1 (ja) |
Cited By (1)
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JPWO2006038675A1 (ja) * | 2004-10-07 | 2008-05-15 | 松下電器産業株式会社 | 角速度センサ |
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JP3392959B2 (ja) * | 1994-11-01 | 2003-03-31 | 富士通株式会社 | 音叉形振動ジャイロ及びこれを用いたセンサシステム |
US5861705A (en) * | 1994-11-01 | 1999-01-19 | Fujitsu Limited | Tuning-fork vibratory gyro and sensor system using the same |
US5719460A (en) * | 1994-11-28 | 1998-02-17 | Nippondenso Co., Ltd | Angular velocity sensor |
JP3061864B2 (ja) * | 1995-05-31 | 2000-07-10 | リテフ ゲゼルシャフト ミット ベシュレンクテル ハフツング | マイクロメカニカル回転速度センサ |
FR2736153B1 (fr) * | 1995-06-29 | 1997-08-22 | Asulab Sa | Dispositif de mesure d'une vitesse angulaire |
JP3369033B2 (ja) * | 1995-08-31 | 2003-01-20 | アルプス電気株式会社 | 振動型ジャイロスコープ |
US5970793A (en) | 1996-07-08 | 1999-10-26 | Citizen Watch Co., Ltd. | Angular velocity sensor and angular velocity sensing system |
JP3050130B2 (ja) * | 1996-07-31 | 2000-06-12 | 日本電気株式会社 | 圧電トランスおよびその異常動作検出保護装置 |
JPH10197255A (ja) * | 1997-01-10 | 1998-07-31 | Sony Corp | 角速度センサー |
US6281619B1 (en) * | 1997-05-09 | 2001-08-28 | Citizen Watch Co., Ltd. | Vibration gyro |
IL133024A (en) | 1997-05-29 | 2003-11-23 | Sun Microsystems Inc | Method and apparatus for signing and sealing objects |
JP3336451B2 (ja) * | 1997-08-22 | 2002-10-21 | 富士通株式会社 | 音叉型振動ジャイロ |
US5939631A (en) * | 1998-03-13 | 1999-08-17 | Bei Technologies Inc. | Low impedance single-ended tuning fork and method |
JP3335122B2 (ja) * | 1998-05-06 | 2002-10-15 | 松下電器産業株式会社 | 角速度センサ |
JP2000009469A (ja) * | 1998-06-18 | 2000-01-14 | Fujitsu Ltd | 圧電ジャイロおよびその駆動方法 |
JP3520821B2 (ja) * | 1999-10-29 | 2004-04-19 | 株式会社村田製作所 | 振動ジャイロ用自己診断回路 |
JP3778809B2 (ja) * | 2001-04-13 | 2006-05-24 | 富士通メディアデバイス株式会社 | 音叉型振動ジャイロ及びその電極トリミング方法 |
US7138288B2 (en) * | 2003-03-28 | 2006-11-21 | Citizen Watch Co., Ltd. | Method for manufacturing small crystal resonator |
JP4258466B2 (ja) * | 2004-12-16 | 2009-04-30 | セイコーエプソン株式会社 | 圧電ジャイロ素子及び圧電ジャイロスコープ |
JP2009014584A (ja) * | 2007-07-06 | 2009-01-22 | Epson Toyocom Corp | 振動ジャイロ |
JP4640459B2 (ja) * | 2008-07-04 | 2011-03-02 | ソニー株式会社 | 角速度センサ |
CA2740107A1 (en) * | 2008-10-10 | 2010-04-15 | Purdue Research Foundation | Compounds for treatment of alzheimer's disease |
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JPS61191917A (ja) * | 1985-02-20 | 1986-08-26 | Tadashi Konno | 音叉型振動ジヤイロ |
JPS62106315A (ja) * | 1985-11-01 | 1987-05-16 | Tokyo Koku Keiki Kk | 振動ジヤイロ |
US4930351A (en) * | 1988-03-24 | 1990-06-05 | Wjm Corporation | Vibratory linear acceleration and angular rate sensing system |
JPH03172714A (ja) * | 1989-11-30 | 1991-07-26 | Murata Mfg Co Ltd | 検出回路 |
JPH04102013A (ja) * | 1990-08-21 | 1992-04-03 | Nec Home Electron Ltd | 振動ジャイロおよびその駆動方法 |
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US4674331A (en) * | 1984-07-27 | 1987-06-23 | Watson Industries Inc. | Angular rate sensor |
JPS6177712A (ja) * | 1984-09-25 | 1986-04-21 | Nippon Denso Co Ltd | 角速度センサ |
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JPS61240115A (ja) * | 1985-04-18 | 1986-10-25 | Matsushita Electric Ind Co Ltd | 角速度センサ |
US5349857A (en) * | 1988-08-12 | 1994-09-27 | Murata Manufacturing Co., Ltd. | Vibratory gyroscope |
JP2541375B2 (ja) * | 1990-12-11 | 1996-10-09 | 株式会社村田製作所 | 検知回路 |
JPH04297874A (ja) * | 1991-01-22 | 1992-10-21 | Matsushita Electric Ind Co Ltd | 角速度センサ駆動装置 |
DE69213976T2 (de) * | 1991-03-12 | 1997-04-03 | New Sd Inc | Stimmgabelinertialsensor mit einem Ende und Verfahren |
DE69225505T2 (de) * | 1991-06-07 | 1998-09-10 | Mitsubishi Electric Corp | Schwingungssteuerungsgerät |
-
1993
- 1993-11-15 WO PCT/JP1993/001668 patent/WO1994011706A1/ja active IP Right Grant
- 1993-11-15 DE DE69316745T patent/DE69316745T2/de not_active Expired - Lifetime
- 1993-11-15 EP EP93924822A patent/EP0636860B1/en not_active Expired - Lifetime
- 1993-11-15 JP JP51193094A patent/JP3421720B2/ja not_active Expired - Fee Related
-
1994
- 1994-07-12 US US08/256,443 patent/US5420548A/en not_active Expired - Lifetime
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
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JPS61191917A (ja) * | 1985-02-20 | 1986-08-26 | Tadashi Konno | 音叉型振動ジヤイロ |
JPS62106315A (ja) * | 1985-11-01 | 1987-05-16 | Tokyo Koku Keiki Kk | 振動ジヤイロ |
US4930351A (en) * | 1988-03-24 | 1990-06-05 | Wjm Corporation | Vibratory linear acceleration and angular rate sensing system |
JPH03172714A (ja) * | 1989-11-30 | 1991-07-26 | Murata Mfg Co Ltd | 検出回路 |
JPH04102013A (ja) * | 1990-08-21 | 1992-04-03 | Nec Home Electron Ltd | 振動ジャイロおよびその駆動方法 |
JPH04118515A (ja) * | 1990-09-10 | 1992-04-20 | Aisin Seiki Co Ltd | 角速度検出器および加速度検出器 |
Non-Patent Citations (1)
Title |
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See also references of EP0636860A4 * |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPWO2006038675A1 (ja) * | 2004-10-07 | 2008-05-15 | 松下電器産業株式会社 | 角速度センサ |
JP4980063B2 (ja) * | 2004-10-07 | 2012-07-18 | パナソニック株式会社 | 角速度センサ |
Also Published As
Publication number | Publication date |
---|---|
DE69316745D1 (de) | 1998-03-05 |
EP0636860A4 (en) | 1994-10-20 |
US5420548A (en) | 1995-05-30 |
EP0636860B1 (en) | 1998-01-28 |
EP0636860A1 (en) | 1995-02-01 |
JP3421720B2 (ja) | 2003-06-30 |
DE69316745T2 (de) | 1998-07-16 |
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