Patent EP0084704A2 successfully refreshed from Google Patents.
EP0084704A2
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Angular rate sensor apparatus
Assignee: WATSON INDUSTRIES Inc
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Filing: 1982-11-17
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Granted: —
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Expires: 2002-11-17
Abstract
Abstract An angular rate sensor structure displaying high immunity to noise and feedback vibration is disclosed. Mounting means (15, 31A) supports by one end each of a pair of vibratory elements (10, 30) in symmetrical alignment about a nodal axis (20). The vibratory elements (10, 30) are driven in a first mode of movement, in direct opposition to one another about the nodal axis (20). Sensing means detect movement of the vibratory elements (10, 30) in directions other than in the first mode of movement resulting from application of external angular rate forces applied to the vibratory elements (10, 30). in one illustrated embodiment the vibratory elements (10) each comprise a pair of rectangular piezoelectric bender crystals (10A, 10B) joined end to end but rotated 90° from one another, whilst in another embodiment the vibratory elements (30A, 30B) are driven electromagnetically in the first mode of movement, and their vibration in other directions is sensed by electromagnetic sensing means (38, 39).
Inventors
- 👤 William S. Watson
Bibliographic Details
Application Number
—
Jurisdiction
EP
Data Source
google_patents
Last Synchronized
2026-10-26 06:37
CPC Classifications
G; G01; G01C; G01C19/00; G01C19/56; G01C19/5607
Claims Analysis
Total Claims: 34
Claim 1
Independent Claim
128 words
Angular rate sensor apparatus, comprising: (a) a pair of vibratory angular rate sensor elements; (b) means for mounting said pair of angular rate sensor elements for physical vibration in direct opposition to one another about a nodal axis; (c) means operatively connected with said sensor elements for energizing said sensor elements in a first mode of operation for opposing motion relative to one another about said nodal axis; whereby vibrational forces from said pair of elements cancel along said nodal axis such that transmission thereof through said mounting means is negligible; and (d) sensing means operatively connected with at r least one of said sensor elements for producing a sensed output signal in response to a change by said sensor element from its first vibrational mode of operation.
Claim 2
Dependent Claim
128 words
Angular rate sensor apparatus, comprising: (a) a pair of vibratory angular rate sensor elements; (b) means for mounting said pair of angular rate sensor elements for physical vibration in direct opposition to one another about a nodal axis; (c) means operatively connected with said sensor elements for energizing said sensor elements in a first mode of operation for opposing motion relative to one another about said nodal axis; whereby vibrational forces from said pair of elements cancel along said nodal axis such that transmission thereof through said mounting means is negligible; and (d) sensing means operatively connected with at r least one of said sensor elements for producing a sensed output signal in response to a change by said sensor element from its first vibrational mode of operation.
Claim 3
Dependent Claim
31 words
Angular rate sensor apparatus as recited in Claim 1 wherein said pair of vibratory angular rate sensor elements are physically and operatively identical to one another within acceptable operative tolerance limits.
Claim 4
Dependent Claim
35 words
.3. Angular rate sensor apparatus as recited in Claim 1 wherein said pair of sensor elements are respectively symmetrically longitudinally disposed about first and second sense axes which are coplanar and parallel to one another.
Claim 5
Dependent Claim
25 words
Angular rate sensor apparatus as recited in Claim 3 wherein said sensor-elements are mounted such that said sense axes are parallel to said nodal axis.
Claim 6
Dependent Claim
19 words
Angular rate sensor apparatus as recited in Claim 1, wherein said pair of sensor elements comprise piezoelectric crystal members.
Claim 7
Dependent Claim
75 words
Angular rate sensor apparatus as recited in Claim 5, wherein said pair of piezoelectric crystal members are respectively longitudinally disposed along first and second parallel sense axes; wherein each of said piezoelectric crystal members comprises a drive crystal element and a sense crystal element and means for interconnecting said drive and said sense crystal elements in butted end to end configuration along said sense axis but oriented at 90° angles with respect to one another.
Claim 8
Dependent Claim
51 words
Angular rate sensor apparatus as recited in Claim 6, wherein said energization means comprises in part said drive crystal elements; wherein said drive crystal elements when energized respectively cause said sense crystal elements to oscillate in an oscillation plane in directions respectively directly opposed to one another about said nodal axis.
Claim 9
Dependent Claim
27 words
r 8. Angular rate sensor -apparatus as recited in Claim 6, wherein said sensing means includes means for electrically connecting said piezoelectric sense crystal elements in parallel.
Claim 10
Dependent Claim
25 words
Angular rate sensor apparatus as recited in Claim 6, wherein said sensing means includes means for electrically connecting said piezoelectric sense crystal elements in series.
Claim 11
Dependent Claim
34 words
Angular rate sensor apparatus as recited in Claims 8 or 9 wherein said electrical connection means includes a pair of fine wires soldered to opposing surfaces respectively of each of said sense crystal elements.
Claim 12
Dependent Claim
32 words
Angular rate sensor apparatus as recited in Claim 5, wherein said mounting means comprises electrode means operatively connected with said piezoelectric crystal members for transmitting electrical current signals to said sensor elements.
Claim 13
Dependent Claim
52 words
Angular rate sensor apparatus as recited in Claim 6, wherein said mounting means comprises electrode means operatively connected to energize said pair of piezoelectric drive crystal elements; whereby when electrically energized said driver crystal elements cause said pair of sense crystal elements to move in opposing vibrational motion relative to one another.
Claim 14
Dependent Claim
20 words
Angular rate sensor apparatus as recited in Claim 12, wherein said electrode means are soldered to said drive crystal elements.
Claim 15
Dependent Claim
27 words
Angular rate sensor apparatus as recited in Claims 1 or 5, wherein the vibrational stiffness of said mounting means equals or exceeds that of said sensor elements.
Claim 16
Dependent Claim
18 words
Angular rate sensor apparatus as recited in Claim 1, wherein said energizing means comprises an electromagnetic energizing source.
Claim 17
Dependent Claim
20 words
Angular rate sensor apparatus as recited in Claim 1 or 15, wherein said sensinq means comprises electro- magnetic sensing means.
Claim 18
Dependent Claim
38 words
Angular rate sensor apparatus as recited in Claim 15, wherein said pair of sensor elements comprises a pair of elongated vibratory magnetic elements mounted in extended cantilevered manner respectively symmetrically disposed along a pair of parallel sense axes.
Claim 19
Dependent Claim
21 words
Angular rate sensor apparatus as recited in Claim 17, wherein said sense axes are disposed generally parallel to said nodal axis.
Claim 20
Dependent Claim
117 words
An improved angular rate sensor apparatus comprising: (a) a support surface; (b) a pair of vibratory elements having substantially identical vibrational response characteristics; (c) mounting means operatively connected with said vibratory elements for supporting said vibratory elements in cantilevered manner overlying said support surface in symmetrical orientation about a common nodal axis; and (d) drive means operatively connected with said pair of vibratory elements for causing and maintaining movement of said vibratory elements in a first vibrational mode such that said pair of vibratory elements simultaneously move in direct opposition to one another about said nodal axis; wherein vibrational forces transmitted from said pair of moving vibratory elements to said mounting means cancel along said nodal axis.
Claim 21
Dependent Claim
117 words
An improved angular rate sensor apparatus comprising: (a) a support surface; (b) a pair of vibratory elements having substantially identical vibrational response characteristics; (c) mounting means operatively connected with said vibratory elements for supporting said vibratory elements in cantilevered manner overlying said support surface in symmetrical orientation about a common nodal axis; and (d) drive means operatively connected with said pair of vibratory elements for causing and maintaining movement of said vibratory elements in a first vibrational mode such that said pair of vibratory elements simultaneously move in direct opposition to one another about said nodal axis; wherein vibrational forces transmitted from said pair of moving vibratory elements to said mounting means cancel along said nodal axis.
Claim 22
Dependent Claim
39 words
Improved angular rate sensor apparatus as recited in Claim 19, wherein said mounting means includes one or more base members. for securing said mounting means to said support surface, said base members being symmetrically disposed about said nodal axis.
Claim 23
Dependent Claim
40 words
Improved angular rate sensor apparatus as recited in Claim 19, wherein said vibratory elements comprise piezoelectric bender crystal elements; and wherein said mounting means comprises first and second electrodes configured to cooperatively supportively engage opposite surfaces of said crystal elements.
Claim 24
Dependent Claim
33 words
Improved angular sensor apparatus as recited in Claim 21, wherein said drive means comprises in part, said first and second electrodes; and further including soldered connections between said electrodes and said crystal elements.
Claim 25
Dependent Claim
54 words
Improved angular sensor apparatus as recited in Claim 21, wherein said first electrode includes a U-shaped receptor portion; and wherein said second electrode is configured to cooperatively mate with the U-shaped receptor member in a manner sandwiching said crystal elements between said second electrode and the opposing side wall portions of said U-shaped receptor.
Claim 26
Dependent Claim
44 words
Improved angular sensor apparatus as recited in Claim 19, including sensor means for detecting motion of at least one of said vibratory elements in a direction normal to the plane in which said one vibratory element moves during said first vibrational mode of operaticn.
Claim 27
Dependent Claim
27 words
Improved angular sensor apparatus as recited in Claim 24, wherein said sensor means comprises a piezoelectric bender crystal supported by and moving with said one vibratory element.
Claim 28
Dependent Claim
19 words
Improved angular sensor apparatus as recited in Claim 24, wherein said sensor means comprises an electromagnetically responsive sensor element.
Claim 29
Dependent Claim
32 words
Improved angular sensor apparatus as recited in Claim 19, wherein said pair of vibratory elements comprise a pair of magnetically responsive arms, and wherein said drive means comprises an electromagnetic drive structure.
Claim 30
Dependent Claim
44 words
Improved angular sensor apparatus as recited in Claim 27, including sensor means for detecting motion of at least one of said vibratory elements in a direction normal to the plane in which said one vibratory element moves during said first vibrational mode of operation.
Claim 31
Dependent Claim
84 words
Improved angular sensor apparatus as recited in Claim 28, wherein said one vibratory element extends from said mounting means to a free end; wherein said sensor means comprises an electromagnetic core sensor member defining a gap through which magnetic flux lines are normally established; and wherein said free end of said one vibratory element extends within said gap; whereby movement of said free end within the gap in a direction that disturbs the established magnetic flux lines is detected by said eletromagnetic core member.
Claim 32
Dependent Claim
29 words
Improved angular sensor apparatus as recited in Claim 19, wherein the vibratory stiffness of the material comprising said mounting means exceeds that of the material of said vibratory elements.
Claim 33
Dependent Claim
25 words
Improved annular sensor apparatus as recited in Claim 30, wherein the vibratory stiffness of said mounting means material substantially exceeds that of said vibratory elements.
Claim 34
Dependent Claim
40 words
Improved angular sensor apparatus as recited in Claim 29, wherein said electromagnetic core sensor member includes means for rotatably realigning the gap of the core member relative to the nodal axis to compensate for alignment errors between the vibrating elements.
References Cited (Backward Citations)
No citation records indexed.
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