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Keywords: Micro-Electro-Mechanical Systems (MEMS) gyroscopes are inertial sensors for the measurement of angular rates.
MEMS They have a variety of applications from consumer electronics to drones and the need of stability against en-
Gyroscope vironmental fluctuations, such as temperature, is a key factor in order to avoid expensive calibration procedures.
Frequency-modulated (FM) Frequency Modulation (FM) has been recently proposed as an innovative working principle for MEMS gy-
Mechanical design
roscopes and as the desired solution in terms of stability against environmental fluctuations.
In this paper, the FM working principle is formalized for the three-axial case for the first time and the gov-
erning equations are derived both in the idealized case of a point-mass gyroscope and in the real case of a
distributed-mass gyroscope. Moreover, the mechanical structure of the first three-axial MEMS FM gyroscope is
proposed and studied. Preliminary experimental measurements prove the validity of both the model and the
simulations results employed during the design process. The proposed structure overcomes lots of the constraints
of the surface micromachining fabrication processes and represents an important step towards the development
of a new class of MEMS gyroscopes.
1. Introduction the working principle of a Coriolis based yaw gyroscope is shown: the
mass is kept in oscillation in the x-direction and a Coriolis force acts in
MEMS gyroscopes are micro-devices able to measure the external the y-direction as a consequence of the external angular rate Ωz .
angular rate through the exploitation of different physical phenomena Depending on the actuation/detection schemes employed, it is
among which the Coriolis force is the most common one (see Corigliano possible to distinguish between different kinds of MEMS gyroscopes.
et al. (2018)). Depending on the component of the external angular Amplitude Modulated (AM) MEMS gyroscopes (see e.g. Acar and Shkel
velocity that is measured, it is possible to distinguish between yaw, (2009) and Vigna (2011)) rely on controlling the driving motion of the
pitch and roll gyroscopes, see Fig. 1a. A three-axial gyroscope is able to mass through a close-loop circuit and measuring the displacement in-
measure all the three components of the external angular velocity si- duced by the Coriolis force. Almost all the MEMS gyroscopes available
multaneously. so far are based on this working principle and, despite a lot of work has
A generic three-axes Coriolis based gyroscope can be modeled as a been done in order to optimize the design of such devices in terms of
three degrees of freedom mass spring damper system that is observed in sensitivity (see e.g. Esmaeili et al. (2014), linearity (see e.g. Wu et al.
a rotating reference frame as shown in Fig. 1b for the case of a yaw (2017) and Taheri-Tehrani et al. (2016), bandwidth (see e.g.
gyroscope. The gyroscope proof mass is, in fact, contained inside a box Sonmezoglu et al. (2014)), quadrature reduction (see e.g. Tatar et al.
(the MEMS box) and is required to be free to oscillate in all the three (2012) and Sonmezoglu et al. (2015)) and stability (see e.g. Tatar et al.
orthogonal directions. The Coriolis force, that arises because of the (2017) and Kline et al. (2013a)), there is still the need to calibrate each
external angular velocity, couples the degrees of freedom allowing the device with consequent high costs for the MEMS industry.
motion in a direction which is orthogonal to both the driving one and Recently, Frequency Modulated (FM) gyroscopes have been pro-
the one of the angular velocity. By measuring the effect of the Coriolis posed (see e.g. Eminoglu et al. (2016)) as a possible solution toward the
force on the system, the external angular velocity is detected. In Fig. 1c, measurements stability against environmental fluctuations as
∗
Corresponding author.
E-mail address: alberto.corigliano@polimi.it (A. Corigliano).
https://doi.org/10.1016/j.euromechsol.2018.02.005
Received 1 December 2017; Received in revised form 3 February 2018; Accepted 5 February 2018
Available online 14 February 2018
0997-7538/ © 2018 Elsevier Masson SAS. All rights reserved.
V. Zega et al. European Journal of Mechanics / A Solids 70 (2018) 203–212
Fig. 2. Reference system and notation for a) a point mass representing an idealized gy-
roscope and b) a 3D distributed-mass representing a real gyroscope.
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V. Zega et al. European Journal of Mechanics / A Solids 70 (2018) 203–212
m x¨ + mΩ˙ ∧ x + 2mΩ ∧ x˙ + mΩ ∧ v0+ actuated by on board actuators in a real gyroscope (see Section 5) and
+ ma 0 + mΩ ∧ Ω ∧ x + kx = F − bx˙ (3) uT (t ) = [u x (t ), u y (t ), uz (t )] is the time evolution of the system's re-
sponse with u x , u y and uz the amplitudes of the three modes. Note that,
where a 0 = v̇0 is the external acceleration. rotational degrees of freedom will not be included in the present for-
In the following, we will consider the external velocity v0 and ac- mulation. This simplification is justified by the assumption that a
celeration a 0 small enough to make the terms mΩ ∧ v0 and ma 0 neg- proper mechanical design would allow to obtain rotational modes at
ligible in equation (3). For later use, one can also re-write the equations very high frequencies with respect to those of the translational modes.
of motion (3) in the form: Denoting by ρ the density of the distributed mass with volume V, the
m x¨ + bx˙ + kx + m (α x Ω̇x + α yΩ̇ y + α z Ω̇z ) x+ kinetic and potential energy of the real gyroscope read:
+ 2m (α x Ωx + α yΩ y + α z Ωz ) x˙ + m (β xx Ω2x + β yyΩ2y+ 1
T= 2
∫ ρ v⋅vdV with v = v0 + s˙ + Ω ∧ (s + x 0),
+ β zz Ω2z + (β xy + β yx )Ωx Ω y + (β xz + β zx )Ωx Ωz + V
1
+ (β yz + β zy )Ω y Ωz ) x = F, (4) V = 2 s (x)⋅k eqs (x) + Vext , (10)
where the matrices αi and β ij have components: where k eq is the non-diagonal equivalent stiffness matrix. The vector of
i
αhk = −εihk , (5) the generalized forces Q is constituted by the damping forces − beq s˙ (x)
with beq equivalent damping matrix that takes into account the fabri-
and cation imperfections through extra-diagonal terms.
ij Neglecting again contributions coming from the external velocity
βhk = δih δjk − δij δhk , (6)
and acceleration, by substituting equation (10) into (2), the equations
with δhk the Kronecker delta and εihk the Levi-Civita symbol defined as: of motion of a real three-axial gyroscope are derived. They read:
x
⎡ φ (x , y, z ) u x (t ) ⎤
s (x , y, z , t ) = φ y (x , y, z ) u y (t ) ⎥ = φ (x) u (t ),
⎢ 3. Phasor analysis
⎢ z ⎥
⎣ φ (x , y, z ) uz (t ) ⎦ (9)
The equations of motion presented in the previous section are, here,
where φ (x) is the diagonal matrix containing the three nondimensional solved through the phasor method (see Kline et al. (2013b)) both for the
modal shape functions φ x , φ y , φ z describing the three main modes case of an ideal point-mass gyroscope and for a real gyroscope.
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3.1. Ideal gyroscope complex equations are obtained. By nulling both the real and the
imaginary parts, it is possible to obtain an expression for Ȧx , Ȧy , Ȧz , ωx2 ,
Accounting for relations (5)–(6), the vectorial equation (4) can be ωy2 and ωz2 .
written in the scalar form: The expressions for Ȧx , Ȧy and Ȧz are reported in Appendix A since
they will not be used in the following, while the expressions for ωx2 , ωy2
mx¨ + bx x˙ − 2mΩz y˙ + 2mΩ y z˙ + k x x − m (Ω2z + Ω2y ) x +
and ωz2 under the assumption A˙ i ≪ Ai ωi for i = x , y, z read:
+ m (Ωx Ω y − Ω̇z ) y + m (Ω̇ y + Ωx Ωz ) z = Fx ,
ωx2 = ωox
2
+ βxz Ω2z + βxy Ω2y +
my¨ + by y˙ − 2mΩx z˙ + 2mΩz x˙ + k y y − m (Ω2z + Ω2x ) y+
Ay A
+ m (Ωx Ω y + Ω̇z ) x + m (Ωz Ω y − Ω̇x ) z = Fy , + βxyxy Ωx Ω y A cos(Δϕxy ) + βxzxz Ωx Ωz Az cos(Δϕxz )+
x x
Ay
mz¨ + bz z˙ − 2mΩ y x˙ + 2mΩx y˙ + k z z − m (Ω2x + Ω2y ) z+ z
+ 2α xy Ωz ωy A sin(Δϕxy ) + 2α xzy Ω y ωz Az sin(Δϕxz ),
A
x x (17)
+ m (Ωx Ωz − Ω̇ y ) x + m (Ω̇x + Ω y Ωz ) y = Fz . (14)
ωy2 = ωoy
2
+ βyx Ω2x + βyz Ω2z +
In order to make clearer the link between the results for the ideal A A
i
gyroscope and those for a real one, we keep here the notation with αhk + βyxyx Ωx Ω y Ax cos(Δϕxy ) + βyzyz Ω y Ωz Az cos(Δϕyz )+
y y
ij
and βhk , without substituting their values given in (5)–(6). Equation z A A
− 2α yx Ωz ωx Ax sin(Δϕxy ) + 2α yzx Ωx ωz Az sin(Δϕyz ),
(14) will hence be written in the form: y y (18)
z
mx¨ + bx x˙ + 2mα xy Ωz y˙ + 2mα xzy Ω y z˙ + k x x + m (βxz Ω2z + βxy Ω2y ) x + ωz2 = ωoz
2
+ βzx Ω2x + βzy Ω2y +
Ay A
+ m ⎜⎛βxyxy Ωx Ω y + α xy
z
Ω̇z ⎟⎞ y + m (βxzxz Ωx Ωz + α xzy Ω̇ y ) z = Fx , + βzyzy Ω y Ωz A cos(Δϕyz ) + βzxzx Ωx Ωz Ax cos(Δϕxz )+
z z
⎝ ⎠ A Ay
− 2αzxy Ω y ωx Ax sin(Δϕxz ) − 2αzyx Ωx ω y A sin(Δϕyz ).
z z (19)
my¨ + by y˙ + 2mα yzx Ωx z˙ + z
2mα yx Ωz x˙ + k y y + m ⎜⎛βyz Ω2z + βyx Ω2x ⎟⎞ y+
⎝ ⎠ By defining the velocity amplitudes as vi = Ai ωi for i = x , y, z and
solving the second order equation (17) with respect to ωx , the following
+ m ⎜⎛βyxyx Ωx Ω y + α yx
z
Ω̇z ⎟⎞ x + m ⎜⎛βyzyz Ωz Ω y + α yzx Ω̇x ⎟⎞ z = Fy , expression is found:
⎝ ⎠ ⎝ ⎠
xy
mz¨ + bz z˙ + 2mαzxy Ω y x˙ + 2mαzyx Ωx y˙ + k z z + m (βzx Ω2x + βzy Ω2y ) z+ ωx =
βxy vy
Ωx Ω y v cos(Δϕxy )+
2ωoy x
where the double identical index has been substituted by a single one
where
for the sake of clarity.
In order to compensate for losses and to sustain the oscillation of the βxy vy
xy
Dx = βxz Ω2z + βxy Ω2y + ⎜⎛ 2ω Ωx Ω y v cos ⎜⎛Δϕxy ⎟⎞+
gyroscope proof mass according to the three translational modes of oy x
⎝ ⎝ ⎠
interest, the excitation forces can be written in the form xz
βxz vy
v z
FT = [(iFx ) e iϕx , (iFy ) e iϕy , (iFzs ) e iϕz ] with i imaginary unit, since at re- + 2ωoz
Ωx Ωz vz cos(Δϕxz ) + α xy Ωz v sin(Δϕxy )+
x x
sonance, the force needed to sustain the oscillation is in quadrature 2
+ α xzy Ω y vz sin(Δϕxz) ⎟⎞ .
v
with the displacement. Moreover, in the control circuit, the phase of the
x
forcers are derived directly from the phase of the gyroscope output, so it ⎠ (21)
is possible to say that, supposing a high quality factor Q for all the three By proceeding in the same way for the other two axes and by noting
resonators, the complex solution of (15) can be constituted by three that ωoi2 ≫ Di for i = x , y, z , the instantaneous frequencies of oscillation
sinusoidal oscillations near to the mechanical resonant frequency of along the x-, y- and z-axis are derived:
each axis, of the form:
xy
βxy vy
ωx = ωox + Ωx Ω y v cos(Δϕxy )+
u Ax e iϕx 2ωoy x
⎡ x⎤ ⎡ ⎤ xz
u = ⎢u y ⎥ = ⎢ Ay e iϕy ⎥ , +
βxz v
Ω Ω z cos(Δϕxz )+
⎢ u 2ωoz x z v x
⎣ z⎥ ⎦ iϕ
⎣ Az e z ⎦ (16)
+ z
α xy
vy v
Ωz v sin(Δϕxy ) + α xzy Ω y vz sin(Δϕxz ),
t t t x x (22)
where Ax , Ay , Az , ϕx = ∫0 ωx (τ )dτ , ϕy = ∫0 ωy (τ )dτ and ϕz = ∫0 ωz (τ )dτ
yx
represent the system unknowns. Ax , Ay , Az are the real, time dependent βyx v
ωy = ωoy + Ωx Ω y vx cos(Δϕxy )+
amplitudes of the displacements of the proof mass along the three di- 2ωox y
yz
rections x , y and z, while ωx , ω y and ωz are the actual resonant fre- βyz v
+ Ω Ω z cos(Δϕyz )+
2ωoz y z v y
quencies of the three translational modes along the x − ,y− and z-di-
v v
rections. If no external angular rate is applied, ωi = ωoi with ωoi natural + α yzx Ωx vz sin(Δϕyz ) − α yx
z
Ωz vx sin(Δϕxy ),
y y (23)
frequency of the i−mode and ϕi = ωoi t + ψi . In the following we in-
troduce the notation Δϕij = ϕi − ϕj with i = x , y, z . zx
βzx v
ωz = ωoz + Ωx Ωz vx cos(Δϕxz )+
Note that Ax , Ay , Az , ωx , ω y and ωz are slowly varying relatively to 2ωox z
zy
the mechanical resonant frequencies of the system, as a consequence, in βzy vy
+ 2ωoy
Ω y Ωz v cos(Δϕyz )+
the acceleration expression, the terms containing Äx , Äy , Äz , ω̇x , ω̇ y and z
v vy
ω̇z can be neglected, as they are negligible if compared to ωx Ȧx , ωy Ȧy , − αzxy Ω y vx sin(Δϕxz ) − αzyx Ωx v sin(Δϕyz ).
z z (24)
ωz Ȧz , ωx2 , ωy2 and ωz2 , respectively. Moreover, it is reasonable to assume
that the angular rate and the displacement amplitudes are slowly
varying with respect to the resonance frequency. 3.2. Real gyroscope
Under these hypotheses, by substituting equation (16) into (15) and
dividing the three equations for e iϕx , e iϕy and e iϕz respectively, three By applying the same procedure to the equation of motion (11) of a
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real gyroscope, the following expressions are obtained: external angular rate are usually negligible with respect to the other
xy terms:
kxy βˆxy vy
ωx = ωox + ⎛⎜ 2ω m + Ωx Ω y ⎟⎞ v cos(Δϕxy )+ z
oy x 2ωoy mx x ωx = ωox + α xy Ωz sin(Δϕxy ) + α xzy Ω y sin(Δϕxz ),
⎝ ⎠
k
xz
βˆxz v
ωy = ωoy + α yzx Ωx sin(Δϕyz ) − α yx
z
Ωz sin(Δϕxy ),
+ ⎛ 2ω xzm +
⎜ Ω Ω ⎞ z cos(Δϕxz )+
2ωoz mx x z v x
⎟
+ ( bxy
2mx
+ z
α xy Ωz ) vy
vx
sin(Δϕxy ⎞⎟+
⎠
Equations (30) state that the components of the external angular
rate Ωx , Ω y and Ωz modulate the frequencies of the three modes of the
i
gyroscope through the factor αhk with i, h, k = x , y, z .
+ ( bxz
2mx
+ α xzy Ω y ) vz
vx
sin(Δϕxz ⎞⎟,
⎠ (25)
The scale factors or sensitivities of a FM gyroscope are defined as the
variation of the resonance frequency induced by the external angular
kyx
yx
βˆyx rate and, for the ideal case, can be computed as:
ωy = ωoy + ⎛⎜ 2ω m + Ωx Ω y ⎞⎟ vx cos(Δϕxy )+
v
ox y 2my ωox y ∂ωΣ
⎝ ⎠
∂Ωx
= +α yzx sin(Δϕyz ) − αzyx sin(Δϕyz ),
yz
kyz βˆyz
+ ⎛⎜ 2ω m + Ω Ω ⎞⎟ z cos(Δϕyz )+
v ∂ωΣ
oz y 2my ωoz y z v y ∂Ω y
= −αzxy sin(Δϕxz ) + α xzy sin(Δϕxz ),
⎝ ⎠
∂ωΣ z z
= +α xy sin(Δϕxy ) − α yx sin(Δϕxy ),
+( b yz
2my
+ α yzx Ωx ) vz
vy
sin(Δϕyz )+ ∂Ωz (31)
where ωΣ = ωx + ω y + ωz .
−( Ω)
bxy z vx
2my
+ α yx z vy
sin(Δϕxy ),
(26) A properly designed electronic circuit (see Minotti et al. (2017) for
zx
more details) manipulates the output signals to obtain a measure of the
k βˆzx v external angular rate. Each of the signals is multiplied by sin(Δϕyz ) ,
ωz = ωoz + ⎛ 2ω zxm + ⎜
2mz ωox
Ωx Ωz ⎞ vx cos(Δϕxz )+
⎟
while the expressions describing the variation of the motion amplitudes From equation (32) it is evident that there is a high frequency
are reported in Appendix A for the sake of completeness. component and a stationary component in the resultant signal, a low-
Equations (25)-(27) and equations (A.4)-(A.6) describe the dy- pass filter is then applied to extract the signal, which is proportional to
namics of a generic Coriolis based three-axial MEMS gyroscope and the angular rate through a certain sensitivity that reads:
depending on the constraints and on the chosen free variables, they can x −αx
αyz
∂ωΣ zy
refer to both the AM and the FM working principle (see Kline et al. ∂Ωx
= 2
,
(2013b) for more details). ∂ωΣ
y
−αzx y
+ α xz
∂Ω y
= 2
,
z − αz
4. FM working principle ∂ωΣ
=
α xy yx
.
∂Ωz 2 (33)
The FM working principle is based on the control of the velocities of If the relation (5) is now substituted into equation (33), the unit
the proof mass along three orthogonal directions through an electronic scale factors of an ideal gyroscope are obtained as expected:
circuit and on the measurement of the frequency variations of the three
∂ωΣ
modes of interest induced by the Coriolis forces. = −1,
∂Ωx
In a three-axial FM gyroscope, there are therefore three driven di- ∂ωΣ
rections and the ’velocity amplitude relationship’ reads: ∂Ω y
= 1,
vx = vy = vz . ∂ωΣ
(28) = −1.
∂Ωz (34)
If the natural frequencies of the three translational modes of the FM
Equation (33) also give the scale factor for a distributed-mass gy-
gyroscope are different one from the others by design (i.e. there is a
roscope if the angular gains defined by equation (13) are used instead of
mismatch between the modes in the MEMS language), when no external
those defined by equation (5). However, if imperfections are taken into
angular rate is applied to the device, the mass oscillates according to:
account through non-diagonal stiffness and damping matrices, the full
u x = Ax cos(ωox t + ψx ), equations (25)-(27) must be considered instead of equation (30). The
u y = Ay cos(ωoy t + ψy ), natural frequencies variations then depend on other terms strictly re-
uz = Az cos(ωoz t + ψz ). lated to fabrication imperfections, in particular the extra-diagonal
(29)
terms of the damping matrix represent an in-phase component called
The trajectory described through equation (29) is known as 3D offset in the MEMS language, while the extra-diagonal terms of the
Lissajous trajectory and for this reason, these devices are referred as stiffness matrix are responsible of the quadrature signal since they are
LFM three-axial gyroscopes. 90° phase shifted with respect to the signal of interest. These latter
In order to make the equations describing the frequency modulation contributions must be avoided or at least reduced by design, since they
working principle easier to read and understand, the expressions are much bigger than the terms proportional to the product of the two
(22)–(24) describing the dynamic behavior of an ideal gyroscope are components of the external angular rate that can be usually neglected in
considered. The ratios between the velocity amplitudes are equal to one both ideal and real gyroscopes. The out-of-diagonal terms of the stiff-
under the hypothesis of FM working principle (see the relation (28)) ness matrix are usually very complex to predict by simulation: they
and the terms proportional to the product of two components of the strongly depend on the fabrication imperfections that can vary device
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5. Mechanical design
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V. Zega et al. European Journal of Mechanics / A Solids 70 (2018) 203–212
Fig. 6. Schematic in-plane view of both the in-plane (IPx and IPy) and out-of-plane (OP) Fig. 8. Experimental frequency response of the fabricated three-axial FM gyroscope
electrodes for the three-axial FM gyroscope shown in Fig. 4. shown in Fig. 7.
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Appendix A
The expressions for the variation of the amplitudes of motion for an ideal gyroscope read:
b Ay Az ωy ωz Fx
A˙ x = − x Ax + βxyxy Ωx Ω y sin(Δϕxy ) + βxzxz Ωx Ωz z
sin(Δϕxz ) − α xy Ωz Ay cos(Δϕxy ) − α xzy Ω y Az cos(Δϕxz ) + ,
2m 2ωx 2ωx ωx ωx 2mωx (A.1)
by Ax Az ω ωz Fy
A˙ y = − Ay − βyxyx Ωx Ω y sin(Δϕxy ) + βyzyz Ω y Ωz z
sin(Δϕyz ) − α yx Ωz x Ax cos(Δϕxy ) − α yzx Ωx Az cos(Δϕyz ) + ,
2m 2ω y 2ω y ωy ωy 2mω y (A.2)
bz A Ay ω ωy Fz
A˙ z = − Az − βzxzx Ωx Ωz x sin(Δϕxz ) − βzyzy Ω y Ωz sin(Δϕyz ) − αzxy Ω y x Ax cos(Δϕxz ) − αzyx Ωx Ay cos(Δϕyz ) + ,
2m 2ωz 2ωz ωz ωz 2mωz (A.3)
while for a real gyroscope, they read:
k xy k xz bxy ωy bxz ωz
A˙ x = (A˙ x )ideal + Ay sin(Δϕxy ) + Az sin(Δϕxz ) − Ay cos(Δϕxy ) − Az cos(Δϕxz ),
2ωx m x 2ωx m x 2m x ωx 2m x ωx (A.4)
k yx k yz byx ωx byz ωz
A˙ y = (A˙ y )ideal − Ax sin(Δϕxy ) + Az sin(Δϕyz ) − Ax cos(Δϕxy ) − Az cos(Δϕyz ),
2ω y m y 2ωy m y 2m y ωy 2m y ωy (A.5)
k zy k zx bzx ωx bzy ωy
A˙ z = (A˙ z )ideal − Ay sin(Δϕyz ) − Ax sin(Δϕxz ) − Ax cos(Δϕxz ) − Ay cos(Δϕyz ),
2ωz mz 2ωz mz 2mz ωz 2mz ωz (A.6)
where (A˙ i )ideal are given by equations (A.1)-(A.3) with mi instead of m. Note that the forcing terms Fi are fundamental to guarantee the control on the
velocities amplitudes (28) required by the FM working principle.
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