Method and circuit for regulating the driving motion of a gyroscope

Abstract

This invention relates to an adjustment circuit, integrated circuit, gyroscope device, and method for adjusting the driving motion of a gyroscope, comprising: a phase adjustment loop for adjusting the frequency of the driving motion of the gyroscope; an amplitude adjustment loop for adjusting the amplitude of the driving motion of the gyroscope; and a digital control unit for manipulating the phase adjustment loop and the amplitude adjustment loop, wherein the phase adjustment loop and / or the amplitude adjustment loop includes a time-discrete analog filter, the time-discrete analog filter including at least one integrated operational amplifier, the integrated operational amplifier being turned on by the digital control unit during a sampling phase and turned off by the digital control unit during a reset phase, wherein the duty cycle between the duration of the sampling phase and the duration of the reset phase can be configured by the digital control unit of the adjustment circuit to adjust target parameters according to the target specifications of the adjustment circuit.

Description

Technical Field

[0001] This invention relates to a method and circuit for adjusting the driving motion of a gyroscope (especially a MEMS gyroscope). Background Technology

[0002] A MEMS gyroscope (Micro-Electro-Mechanical System Gyroscope) is a miniaturized device used to measure the angular velocity of an object. It is based on the Coriolis effect. Here, when the system rotates, a vibrating mass inside the gyroscope shifts due to the Coriolis force. This shift is measured by a sensor and converted into an electrical signal to determine the rotational speed about one or more axes. MEMS gyroscopes are small, lightweight, and used in devices such as smartphones, vehicles, and drones.

[0003] DE102020208469A1 describes a readout circuit for a capacitive sensor, which compensates for interference affecting the signal of a digital baseband-limited sensor, and is therefore suitable for use in MEMS gyroscopes.

[0004] Despite progress in reducing the typical current consumption of active gyroscopes, traditional gyroscopes still consistently consume relatively high current in consumer applications, particularly in portable and IoT devices. To address this, traditional gyroscopes are typically turned off when not in use. However, this results in a long and undesirable startup time when the gyroscope restarts. Therefore, traditional gyroscopes mostly only shut down the measurement display during current consumption, while the gyroscope's drive system continues to operate. Summary of the Invention

[0005] According to a first aspect, the present invention provides an adjustment circuit for adjusting the drive motion of a gyroscope, the adjustment circuit comprising: A phase adjustment loop for adjusting the frequency of the gyroscope's drive motion, an amplitude adjustment loop for adjusting the amplitude of the gyroscope's drive motion; and a digital control unit for manipulating the phase adjustment loop and the amplitude adjustment loop, wherein the phase adjustment loop and / or the amplitude adjustment loop includes a time-discrete analog filter, the time-discrete analog filter including at least one integrated operational amplifier, the integrated operational amplifier being turned on by the digital control unit during a sampling phase and turned off by the digital control unit during a reset phase, wherein the duty cycle between the duration of the sampling phase and the duration of the reset phase can be configured by the digital control unit of the adjustment circuit to adjust target parameters according to the target specifications of the adjustment circuit.

[0006] In the regulating circuit according to the present invention, the operating characteristics or performance of the regulating circuit can be optimized for one or more objectives, particularly for current consumption, during gyroscope operation.

[0007] In one possible embodiment of the adjustment circuit for adjusting the drive motion of a gyroscope according to the present invention, the objectives include: minimizing the current consumption of the adjustment circuit, maximizing the achievable measurement accuracy, or minimizing the noise within the adjustment circuit.

[0008] In one possible embodiment of the adjustment circuit for adjusting the drive motion of a gyroscope according to the present invention, the gyroscope includes a MEMS gyroscope.

[0009] In one possible embodiment of the adjustment circuit for adjusting the drive motion of a gyroscope according to the present invention, the motion of the gyroscope is sensed and detected by a corresponding change in capacitance.

[0010] In one possible embodiment of the regulating circuit for regulating the driving motion of a gyroscope according to the present invention, the capacitance change caused by the motion of the gyroscope is converted into a voltage signal by a converter.

[0011] In one possible embodiment of the adjustment circuit for adjusting the drive motion of a gyroscope according to the present invention, a voltage signal generated by the converter is applied to the signal input terminal of the phase adjustment loop and the signal input terminal of the amplitude adjustment loop.

[0012] In one possible embodiment of the adjustment circuit for adjusting the drive motion of a gyroscope according to the present invention, the phase adjustment loop includes a phase detector and a time-discrete phase adjuster. The phase detector compares a voltage signal applied to the signal input of the phase adjustment loop with an oscillation signal fed back from an oscillator to generate a continuous phase difference signal. The time-discrete phase adjuster discretizes the continuous phase difference signal generated by the phase detector into a control signal to manipulate the oscillator, thereby adjusting the frequency of the oscillation signal generated by the oscillator and fed back to the phase detector to minimize the phase difference signal.

[0013] In one possible embodiment of the adjustment circuit for adjusting the drive motion of a gyroscope according to the invention, the phase adjustment loop includes a clock divider that divides the frequency of the oscillation signal fed back to the phase detector by a specific factor.

[0014] The frequency divider includes a factor of N, meaning that the oscillator's output signal is divided by a factor of N before it is fed back to the phase detector. The purpose of the frequency divider is to increase the oscillator's frequency so that the oscillator actually operates at several times the input signal frequency. In other words, the signal fed back to the phase detector is a frequency that is 1 / N of the oscillator frequency.

[0015] In one possible embodiment of the adjustment circuit for adjusting the drive motion of a gyroscope according to the invention, the time-discrete phase adjuster of the phase adjustment loop includes a time-discrete analog filter, which includes at least one integrated signal amplifier, which is turned on by the digital control unit of the adjustment circuit during the sampling phase and turned off by the digital control unit of the adjustment circuit during the reset phase.

[0016] In one possible embodiment of the adjustment circuit for adjusting the drive motion of a gyroscope according to the present invention, the amplitude adjustment loop includes an amplitude detector that continuously detects the amplitude of a voltage signal applied to the signal input terminal of the amplitude adjustment loop and outputs a signal proportional to the signal level of the voltage signal to a time-discrete amplitude modulator of the amplitude adjustment loop. The time-discrete amplitude modulator performs time-discrete processing on the signal obtained from the amplitude detector to generate an operating signal to adjust the amplitude of the drive motion of the gyroscope.

[0017] In one possible embodiment of the adjustment circuit for adjusting the drive motion of a gyroscope according to the invention, the time-discrete amplitude adjuster of the amplitude adjustment loop includes a time-discrete analog filter, which includes at least one integrated signal amplifier, which is turned on by the digital control unit of the adjustment circuit during the sampling phase and turned off by the digital control unit of the adjustment circuit during the reset phase.

[0018] In one possible embodiment of the adjustment circuit for adjusting the drive motion of a gyroscope according to the present invention, the time-discrete analog filter of the time-discrete phase adjuster and the time-discrete analog filter of the time-discrete amplitude adjuster include multiple filter stages, each filter stage including an integrator with a switchable signal amplifier and a compensation filter with a switchable capacitor.

[0019] According to another aspect, the present invention also provides an integrated circuit, particularly an application-specific integrated circuit (ASIC), which includes an adjustment circuit for adjusting the drive motion of a gyroscope, said adjustment circuit comprising: A phase adjustment loop for adjusting the frequency of the gyroscope's driving motion, an amplitude adjustment loop for adjusting the amplitude of the gyroscope's driving motion, and a digital control unit for manipulating the phase adjustment loop and the amplitude adjustment loop, wherein the phase adjustment loop and / or the amplitude adjustment loop includes a time-discrete analog filter, the filter including at least one integrated operational amplifier, the integrated operational amplifier being turned on by the digital control unit during a sampling phase and turned off by the digital control unit during a reset phase, wherein the duty cycle between the duration of the sampling phase and the duration of the reset phase can be configured by the digital control unit of the adjustment circuit to adjust target parameters according to the target specifications of the adjustment circuit.

[0020] According to another aspect, the present invention also provides a gyroscope including an adjustment circuit for adjusting the driving motion of the gyroscope, the adjustment circuit including: a phase adjustment loop for adjusting the frequency of the driving motion of the gyroscope, an amplitude adjustment loop for adjusting the amplitude of the driving motion of the gyroscope, and a digital control unit for manipulating the phase adjustment loop and the amplitude adjustment loop, wherein the phase adjustment loop and / or the amplitude adjustment loop includes a time-discrete analog filter, the time-discrete analog filter including at least one integrated operational amplifier, the integrated operational amplifier being turned on by the digital control unit during a sampling phase and turned off by the digital control unit during a reset phase, wherein the duty cycle between the duration of the sampling phase and the duration of the reset phase can be configured by the digital control unit of the adjustment circuit to adjust target parameters according to the target specifications of the adjustment circuit.

[0021] According to another aspect, the present invention also provides a method for adjusting the driving motion of a gyroscope, the method comprising: adjusting the frequency of the driving motion of the gyroscope in a phase adjustment loop, and adjusting the amplitude of the driving motion of the gyroscope in an amplitude adjustment loop; wherein the phase adjustment loop and / or the amplitude adjustment loop includes a time-discrete analog filter, the time-discrete analog filter including at least one integrated operational amplifier, the integrated operational amplifier being turned on in a sampling phase and turned off in a reset phase, wherein the duty cycle between the duration of the sampling phase and the duration of the reset phase is configured to adjust target parameters according to target specifications.

[0022] The above-described embodiments and extensions—wherever meaningful—can be combined arbitrarily. Other possible configurations, extensions, and implementations of the invention include combinations of features of the invention described above or below with reference to the embodiments, not explicitly mentioned. Those skilled in the art will, in particular, add various aspects as improvements or additions to the corresponding basic forms of the invention. Attached Figure Description

[0023] The following will describe in detail, with reference to the accompanying drawings, possible embodiments of the adjustment circuit and the method according to the invention.

[0024] Figure 1 A block diagram illustrating one possible implementation of the adjustment circuit according to the present invention; Figure 2 A circuit diagram illustrating one possible implementation of a filter stage with a switchable signal amplifier; Figure 3 For explanation Figure 2 The signal diagram shown illustrates the working principle of the filter stage.

[0025] The accompanying drawings are intended to aid in a further understanding of embodiments of the invention. They illustrate embodiments and serve to explain the principles and concepts of the invention in conjunction with the description. Other embodiments and many of the advantages described above become apparent from the accompanying drawings. Elements in the drawings are not necessarily shown to scale.

[0026] In the accompanying drawings, unless otherwise specified, identical, functional, and operational elements, features, and components are given the same reference numerals. Detailed Implementation

[0027] According to a first aspect, the present invention provides an adjustment circuit 1 for adjusting the drive motion of a gyroscope. Figure 1 A block diagram illustrating one possible implementation of the adjustment circuit 1 is shown. The adjustment circuit 1 includes a phase adjustment loop 3 for adjusting the frequency of the gyroscope's drive motion and an amplitude adjustment loop 4 for adjusting the amplitude of the gyroscope's drive motion. Furthermore, the adjustment circuit 1 includes a digital control unit 5 for manipulating the phase adjustment loop 3 and the amplitude adjustment loop 4. The phase adjustment loop 3 and / or the amplitude adjustment loop 4 include a time-discrete analog filter comprising at least one integrated signal amplifier, which is turned on (Tein) by the digital control unit 5 during a sampling phase PHI1 and turned off (Taus) during a reset phase PHI2. The duty cycle (Tein / Taus) between the duration of the sampling phase PHI1 and the reset phase PHI2 can be configured by the digital control unit 5 of the adjustment circuit 1 to adjust target parameters according to the target specification ZV of the adjustment circuit 1. According to the invention, this configuration is a passive configuration for the design phase, selectively including possible adaptations for the testing phase.

[0028] In one possible embodiment of the adjustment circuit 1 for adjusting the drive motion of the gyroscope 2 according to the present invention, the objective ZV includes: minimizing the current consumption of the adjustment circuit 1, maximizing the achievable measurement accuracy, or minimizing the noise inside the adjustment circuit 1.

[0029] In one possible embodiment of the adjustment circuit 1 for adjusting the drive motion of the gyroscope according to the present invention, the gyroscope 2 is a MEMS gyroscope.

[0030] In one possible embodiment of the adjustment circuit 1 for adjusting the drive motion of a gyroscope according to the present invention, the motion of the gyroscope 2 is sensed and detected by a corresponding change in capacitance. The capacitance change caused by the motion of the gyroscope is converted into a voltage signal V(t) by a converter 6. Figure 1 As shown, the voltage signal V(t) generated by converter 6 is applied to the signal input terminal of phase adjustment loop 3 and the signal input terminal of amplitude adjustment loop 4.

[0031] In one possible embodiment of the adjustment circuit 1 for adjusting the drive motion of the gyroscope 2 according to the present invention, the phase adjustment loop 3 includes a phase detector 3A that compares a sinusoidal voltage signal V(t) applied to the signal input terminal of the phase adjustment loop 3 with an oscillation signal fed back by the oscillator 3C to generate a continuous phase difference signal. The phase adjustment loop 3 also includes a time-discrete phase adjuster 3B that time-discretely processes the continuous phase difference signal generated by the phase detector 3A into an internal control signal to manipulate the oscillator 3C, thereby adjusting the frequency f of the oscillation signal generated by the oscillator 3C and fed back to the phase detector 3A to minimize the phase difference signal. In one possible embodiment, the phase adjustment loop 3 also includes a clock divider 3D that divides the frequency f of the oscillation signal fed back to the phase detector 3A by a specific factor N.

[0032] In one possible embodiment of the adjustment circuit 1 for adjusting the drive motion of the gyroscope 2 according to the present invention, the time-discrete phase adjuster 3B of the phase adjustment loop 3 includes a time-discrete analog filter, which includes at least one integrated signal amplifier (in particular an operational amplifier OPAmp), said signal amplifier being turned on by the digital control unit 5 of the adjustment circuit 1 during the sampling phase PHI1, and said signal amplifier being turned off by the digital control unit 5 of the adjustment circuit 1 during the reset phase PHI2.

[0033] In one possible embodiment of the adjustment circuit 1 for adjusting the drive motion of the gyroscope 2 according to the present invention, the amplitude adjustment loop 4 includes an amplitude detector 4A that continuously detects the amplitude of the voltage signal V(t) applied to the signal input terminal of the amplitude adjustment loop 4, and outputs a signal proportional to the signal level of the voltage signal to the time-discrete amplitude modulator 4B of the amplitude adjustment loop 4. The amplitude modulator 4B performs time-discrete processing on the signal obtained from the amplitude detector 4A to generate an operating signal or actuator signal AKT to adjust the amplitude of the drive motion of the gyroscope 2.

[0034] In one possible implementation, the time-discrete amplitude modulator 4B of the amplitude adjustment loop 4 includes a time-discrete analog filter, which includes at least one integrated signal amplifier (in particular an operational amplifier OpAmp), which is turned on by the digital control unit 5 of the adjustment circuit 1 during the sampling phase PHI1 and turned off by the digital control unit 5 of the adjustment circuit 1 during the reset phase PHI2.

[0035] In one possible implementation, the time-discrete analog filter of the time-discrete phase modulator 3B and the time-discrete analog filter of the time-discrete amplitude modulator 4B include multiple filter stages, each of which includes an integrator with a switchable signal amplifier and a compensation filter with a switchable capacitor.

[0036] Figure 2 A circuit diagram is shown to represent one possible implementation of a filter stage. This filter stage includes a switchable signal amplifier (particularly an operational amplifier with a feedback capacitor CFB) and a switchable capacitor CIN.

[0037] A filter stage includes an operational amplifier and switchable capacitors. During the sampling phase PHI2 and the reset phase PHI2, the corresponding controllable switches of the filter stage are configured according to... Figure 3 The switching is performed as shown in the signal diagram. Figure 2 The logic high signal level of the control signal shown indicates that the switch controlled by it is in the closed state. Figure 3 The DC current Idc and average current are also shown. Figure 3 This is a timing diagram that shows the current consumption during the sampling and reset phases within one cycle.

[0038] The loop functions of the two regulation loops 3 and 4 do not always require continuous time processing of the demodulated signal; therefore, the control function can also be implemented in a time-discrete manner in the analog domain. Time-discrete analog filters (especially compensated filters with switched capacitors) are suitable for this purpose because they are area-efficient and can obtain accurate transfer function coefficients through mutually matched capacitor ratios.

[0039] One of the most important drivers of innovation in the field of entertainment electronics is the reduction of current consumption. In the adjustment circuit 1 and method according to the invention, a power-duty-cycling technique is used in the time-discrete analog filter used for compensation of the drive loop of the gyroscope 2. This is achieved by turning off the signal amplifiers or operational amplifiers in the filter stages of the time-discrete analog filter at the end of the sampling phase of the corresponding stage. This reduces current consumption in the drive loop. The signal amplifiers (especially operational amplifiers) included in the time-discrete analog filter are turned off during their reset state. Since a time-discrete system is involved and the signal has already been sampled at this time, this has no negative impact on system performance.

[0040] The drive loop or adjustment circuit 1 of gyroscope 2 consists of a readout circuit that measures the MEMS position and feeds back an operation signal AKT (Actuation Signal). The measured MEMS position is a sinusoidal signal that includes the MEMS resonant frequency. This information is used by the phase adjuster and amplitude adjuster.

[0041] The phase-locked loop (PLL) 3 is a closed-loop control loop that tracks the phase and frequency of the input signal. The PLL 3 consists of the following components: a phase detector 3A, a regulator 3B (typically including an integrator and pole / zero compensation filters), an oscillator 3C, and a clock divider feedback 3D with a factor of 1 / N. The regulator function can be implemented entirely or partially in a time-discrete manner.

[0042] Amplitude adjustment loop 4 reads the MEMS position and provides a control signal or operation signal AKT to maintain a constant amplitude of MEMS motion. The MEMS position changes over time at the resonant frequency of the drive, exhibiting sinusoidal motion.

[0043] The AGC (Automatic Gain Control) adjustment loop 3 ensures that external disturbances or environmental changes do not cause large fluctuations in the output signal of gyroscope 2. This is especially important in applications requiring accurate and stable measurements, such as navigation or aerospace technology.

[0044] PLL loop 3 ensures that gyroscope 2 operates at a constant rotational frequency (rotational speed). This PLL loop synchronizes the output signal with a reference frequency to minimize phase deviation. AGC loop 4 adapts the drive gain to ensure constant signal amplitude and compensates for external interference or fluctuations in drive voltage / environment to maintain signal stability. The two regulation loops 3 and 4 of regulation circuit 1 work together to stabilize the drive of gyroscope 2 in terms of frequency (via PLL loop 3) and amplitude (via AGC loop 4). This is crucial for achieving accurate measurement of the rotational rate of gyroscope 2, as both frequency and amplitude variations affect the accuracy of sensor measurements.

[0045] The digital control unit 5 can independently control the two regulation loops 3 and 4 according to the configuration. Based on the preset target ZV (e.g., minimizing current consumption) and the operating mode of the equipment, the digital control unit 5 can adjust the first sampling ratio (Tein / Taus) in the PLL regulation loop 3 and the second sampling ratio (Tein / Taus) in the AGC regulation loop 4.

[0046] The capacitance change detected by the gyroscope 2 is converted into a voltage V by the C / V converter 6. The C / V output is then demodulated to obtain amplitude information. This amplitude information is processed by an analog regulator (typically a proportional-integral (PI) controller), which adjusts the loop to the setpoint and ensures loop stability. The regulator function can be implemented entirely or partially in a time-discrete manner. In the time-discrete part of the regulator, the switching state of the signal amplifier is controlled by the digital control unit 5 according to the duty cycle.

[0047] The digital control unit 5 can be part of the device's PMU (Power Management Unit). A PMU is a control unit that handles both measurements and gain adaptation. It operates digitally and uses algorithms to control the gain based on values ​​provided by an amplitude detector. The PMU can be constructed as a microcontroller, a digital signal processor (DSP), or a field-programmable gate array (FPGA).

[0048] In implementing the time-discrete filter, the signal processing stage includes a sampling phase PHI1 and a reset phase PHI2. During the sampling phase (Tein), the analog signal amplifier is actively used and kept on by the digital control unit 5, while it is turned off by the digital control unit 5 during the reset phase (Taus), in which the corresponding signals used by the oscillator and MEMS are kept in a held state.

[0049] In the time-discrete circuit section of regulators 3B and 4B, the switching state of the signal amplifiers included in the time-discrete analog filters of regulators 3B and 4B is controlled by digital control unit 5 according to the duty cycle (Tein / Taus). This duty cycle can preferably be adjusted by digital control unit 5. In one possible implementation, the adjustment or configuration of the duty cycle can be changed during the design phase and / or during the testing phase, particularly according to the current target specification ZV for regulator circuit 1.

[0050] The sampling / reset state (Tein / Taus) includes the repetition period T: T = Tein + Taus The repetition period T is synchronized with the MEMS resonant frequency of gyroscope 2 based on a digital clock generated by the PLL. According to the performance targets ZV (noise, accuracy, current consumption) of the gyroscope drive control system, the ratio (Tein / Taus) between the sampling time (Tein) and reset time (Taus) can be configured independently for the two adjustment loops 3 and 4. The power duty cycle can also be used only for amplitude adjustment loop 4 or only for phase adjustment loop 3.

[0051] According to another aspect, the present invention also provides an integrated circuit, particularly an application-specific integrated circuit (ASIC), which includes an adjustment circuit 1 integrated therein for adjusting the driving motion of a gyroscope 2. The adjustment circuit 1 includes: a phase adjustment loop 3 for adjusting the frequency of the driving motion of the gyroscope 2, an amplitude adjustment loop 3 for adjusting the amplitude of the driving motion of the gyroscope 2, and a digital control unit 5 for manipulating the phase adjustment loop 3 and the amplitude adjustment loop 4. The phase adjustment loop 3 and / or the amplitude adjustment loop 4 include a time-discrete analog filter, which includes at least one integrated signal amplifier. The signal amplifier is turned on by the digital control unit 5 during a sampling phase PHI1 and turned off by the digital control unit 5 during a reset phase PHI2. The duty cycle between the duration of the sampling phase and the duration of the reset phase can be configured by the digital control unit 5 of the adjustment circuit 1 to adjust a target parameter ZV according to the target specification ZV of the adjustment circuit 1.

[0052] According to another aspect, the present invention also provides a device or apparatus comprising an adjustment circuit 1 for adjusting the driving motion of a gyroscope 2, the adjustment circuit 1 comprising: a phase adjustment loop 3 for adjusting the frequency of the driving motion of the gyroscope 2, an amplitude adjustment loop for adjusting the amplitude of the driving motion of the gyroscope 2, and a digital control unit 5 for manipulating the phase adjustment loop 3 and the amplitude adjustment loop 4, wherein the phase adjustment loop 3 and / or the amplitude adjustment loop 4 comprises a time-discrete analog filter, the time-discrete analog filter comprising at least one integrated signal amplifier, the signal amplifier being turned on by the digital control unit 5 during a sampling phase and turned off by the digital control unit 5 during a reset phase, wherein the duty cycle between the duration of the sampling phase PHI1 and the duration of the reset phase PHI2 can be configured by the digital control unit 5 of the adjustment circuit 1 to adjust a target parameter ZV according to a target specification ZV of the adjustment circuit 1.

[0053] The two loops 3 and 4 of the regulating circuit 1 operate continuously and include different main functions.

[0054] The frequency of the drive motion of the gyroscope 2 is adjusted in the phase adjustment loop 3.

[0055] In addition, the amplitude of the driving motion of the gyroscope 2 is adjusted in the amplitude adjustment loop 4.

[0056] Phase adjustment loop 3 and / or amplitude adjustment loop 4 include at least one time-discrete analog filter, which includes at least one integrated signal amplifier that is turned on during the sampling phase PHI1 and turned off during the reset phase PHI2.

[0057] Furthermore, the duty cycle between the duration of the sampling phase PHI1 and the reset phase PHI2 is configured to adjust the target parameter according to the target specification ZV. This is preferably performed during the design phase, with optional adaptations included in subsequent testing phases. The target specification ZV may include: minimizing the current consumption of the regulation circuit, maximizing achievable measurement accuracy, or minimizing internal noise within the regulation circuit. In one possible implementation, the digital control unit 5 obtains the target specification ZV from a higher-level controller or through the user interface of the device or apparatus.

[0058] Figure 1 The MEMS gyroscope 2 shown measures angular velocity, which is the rate at which an object rotates around one or more axes. Its working principle is based on the Coriolis effect, which occurs when a mass moves in a rotating reference frame. MEMS gyroscopes are widely used in devices such as smartphones, drones, vehicles, and game consoles due to their small size, light weight, and high energy efficiency.

[0059] The MEMS gyroscope 2 includes a movable mass M (Proof Mass). This is a mechanical structure, typically in the form of a movable mass, mounted inside the gyroscope 2. An electrostatic actuator of the gyroscope 2 generates the controlled motion of the mass M. A capacitive sensor measures the displacement of the mass M due to external influences (such as Coriolis forces).

[0060] A gyroscope device includes a drive and detection system, namely circuitry 1, for manipulating and regulating the vibrating motion and detecting the rotational rate. A movable mass M is placed in periodic vibrating motion by an electrostatic actuator or other mechanical device. This vibration typically occurs along a fixed direction (e.g., along the X-axis). It is regulated so that it remains constant at a specific frequency f (typically close to the resonant frequency). When the system rotates (e.g., along the Z-axis), a Coriolis force acts on the vibrating mass M. This force is proportional to the rotational rate and causes the mass M to deflect laterally from the original vibration direction. For example, if the mass M vibrates along the X-axis and the system rotates about the Z-axis, this results in a displacement along the Y-axis. The Coriolis effect occurs because the movable mass M experiences additional inertial forces in a rotating reference frame.

[0061] A capacitive sensor monitors the displacement of the mass M caused by the Coriolis force. This displacement is directly proportional to the angular velocity of the system. The capacitance change measured by the sensor is converted into a corresponding voltage signal V(t) by a C / V converter 6. This voltage signal is applied to the signal input of the phase adjustment loop 3 to adjust the frequency f of the drive motion of the gyroscope 2, and to the signal input of the amplitude adjustment loop 4 to adjust the amplitude of the drive motion of the gyroscope 2. The adjustment circuit 1 of the gyroscope 2 maintains the stability of the vibration of the movable mass M to achieve consistent and accurate measurements. In a closed-loop gyroscope, additional feedback can be provided to compensate for the displacement caused by the Coriolis force. This adjustment method enables even more accurate measurements.

[0062] The device according to the invention, with its included MEMS gyroscope 2 and adjustment circuit 1, can be applied to a variety of devices, such as smartphones for screen rotation and motion control, or drones for stabilization and control. Furthermore, the device according to the invention with its MEMS gyroscope 2 and adjustment circuit 1 can be used in the automotive industry, for example, in stability control systems (ESP) or driver assistance systems.

[0063] Although the present invention has been fully described with reference to preferred embodiments, the present invention is not limited to these embodiments, but can be modified in various ways.

Claims

1. A regulating circuit (1) for regulating the drive motion of a gyroscope (2), comprising: A phase adjustment loop (3) for adjusting the frequency of the drive motion of the gyroscope (2); An amplitude adjustment loop (4) is used to adjust the amplitude of the driving motion of the gyroscope (2). as well as Digital control unit (5) for controlling the phase adjustment loop (3) and the amplitude adjustment loop (4). The phase adjustment loop (3) and / or the amplitude adjustment loop (4) include a time-discrete analog filter, which includes at least one integrated signal amplifier. The integrated signal amplifier is turned on by the digital control unit (5) during the sampling phase and turned off by the digital control unit (5) during the reset phase. The duty cycle between the duration of the sampling phase and the duration of the reset phase can be configured by the digital control unit (5) of the adjustment circuit (1) to adjust the target parameters according to the target specifications of the adjustment circuit (1).

2. The adjustment circuit for adjusting the drive motion of a gyroscope according to claim 1, wherein, The objectives include: minimizing the current consumption of the regulation circuit (1), maximizing the achievable measurement accuracy, or minimizing the noise inside the regulation circuit (1).

3. The adjustment circuit for adjusting the drive motion of a gyroscope according to claim 1 or 2, wherein, The gyroscope (2) includes a MEMS gyroscope.

4. The adjustment circuit for adjusting the drive motion of a gyroscope according to any one of claims 1 to 3, wherein, The motion of the gyroscope (2) is detected by sensing the corresponding capacitance change.

5. The adjustment circuit for adjusting the drive motion of a gyroscope according to claim 4, wherein, The capacitance change caused by the motion of the gyroscope (2) is converted into a voltage signal (V) by the converter (6).

6. The adjustment circuit for adjusting the drive motion of a gyroscope according to claim 5, wherein, The voltage signal (V) generated by the converter (6) is applied to the signal input terminal of the phase adjustment loop (3) and the signal input terminal of the amplitude adjustment loop (4).

7. The adjustment circuit for adjusting the drive motion of a gyroscope according to claim 6, wherein, The phase adjustment loop (3) includes a phase detector (3A) and a time-discrete phase adjuster (3B). The phase detector compares the voltage signal (V) applied to the signal input terminal of the phase adjustment loop (3) with the oscillation signal fed back by the oscillator (3C) to generate a continuous phase difference signal. The time-discrete phase adjuster discretizes the continuous phase difference signal generated by the phase detector (3A) into an internal control signal to manipulate the oscillator (3C) so as to adjust the frequency of the oscillation signal generated by the oscillator (3C) and fed back to the phase detector (3A) to minimize the phase difference signal.

8. The adjustment circuit for adjusting the drive motion of a gyroscope according to claim 7, wherein, The phase adjustment loop (3) includes a clock divider (3D) that divides the frequency of the oscillation signal fed back to the phase detector (3A) by a specific factor (N).

9. The adjustment circuit for adjusting the drive motion of a gyroscope according to claim 7 or 8, wherein, The time-discrete phase adjuster (3B) of the phase adjustment loop (3) includes a time-discrete analog filter, which includes at least one integrated signal amplifier, which is turned on by the digital control unit (5) of the adjustment circuit (1) during the sampling phase and turned off by the digital control unit (5) of the adjustment circuit (1) during the reset phase.

10. The adjustment circuit for adjusting the drive motion of a gyroscope according to claim 6, wherein, The amplitude adjustment loop (4) includes an amplitude detector (4A), which continuously detects the amplitude of the voltage signal (V) applied to the signal input terminal of the amplitude adjustment loop (4) and outputs a signal proportional to the signal level of the voltage signal to the time discrete amplitude regulator (4B) of the amplitude adjustment loop (4). The time discrete amplitude regulator (4B) performs time discrete processing on the signal obtained from the amplitude detector (4A) to generate an operating signal (AKT) to adjust the amplitude of the driving motion of the gyroscope (2).

11. The adjustment circuit for adjusting the drive motion of a gyroscope according to claim 10, wherein, The time-discrete amplitude modulator (4B) of the amplitude adjustment loop (4) includes a time-discrete analog filter, which includes at least one integrated signal amplifier, which is turned on by the digital control unit (5) of the adjustment circuit (1) during the sampling phase and turned off by the digital control unit (5) of the adjustment circuit (1) during the reset phase.

12. The adjustment circuit for adjusting the drive motion of a gyroscope according to claim 9 or 11, wherein, The time-discrete analog filter of the time-discrete phase modulator (3B) and the time-discrete analog filter of the time-discrete amplitude modulator (4B) include multiple filter stages, each of which includes a signal amplifier and a switchable capacitor.

13. An integrated circuit, particularly an ASIC, comprising an adjustment circuit (1) according to any one of claims 1 to 12.

14. A gyroscope device comprising an adjustment circuit (1) for adjusting the drive motion of the gyroscope (2) according to any one of claims 1 to 13.

15. A method for adjusting the drive motion of a gyroscope (2), comprising the following steps: The frequency of the driving motion of the gyroscope (2) is adjusted in the phase adjustment loop (3), and the amplitude of the driving motion of the gyroscope (2) is adjusted in the amplitude adjustment loop (4), wherein the phase adjustment loop (3) and / or the amplitude adjustment loop (4) includes a time discrete analog filter, the time discrete analog filter includes at least one integrated operational amplifier, the integrated operational amplifier is turned on during the sampling phase (PHI1) and turned off during the reset phase (PHI2); and a configurable duty cycle between the duration of the sampling phase (PHI1) and the duration of the reset phase (PHI2) is controlled to adjust the target parameters according to the target specification.

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