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Huiliang Cao1, Hongsheng Li1,*, Xia Sheng1, Shourong Wang1, Bo Yang1 and Libin Huang1
1 School of Instrument Science and Engineering, Key Laboratory of Micro Inertial Instrument and Advanced
Navigation Technology of Ministry of Education, Southeast University, Nanjing, People's Republic of China
* Corresponding author E-mail: hsli@seu.edu.cn
DOI: 10.5772/56759
© 2013 Cao et al.; licensee InTech. This is an open access article distributed under the terms of the Creative
Commons Attribution License (http://creativecommons.org/licenses/by/3.0), which permits unrestricted use,
distribution, and reproduction in any medium, provided the original work is properly cited.
Abstract This paper investigates temperature the bias’s tempco from 103.89º/h/°C (100.78º/h/°C) to
compensation methods used for the scale factor and bias of
9.70º/h/°C (12º/h/°C) improving it by 90.7% (88%). Repeat
the MEMS gyroscope within the temperature range from -
tests are performed based on two specimens to prove the
40°C to 60°C. The structure and periphery monitor circuit
repeatability and reproducibility of the methods.
are introduced. Then the determinant elements of the
MEMS gyroscope’s scale factor are analysed and the results Keywords Temperature Compensation, Scale Factor, Bias,
indicate that scale factor is directly proportional to drive MEMS Gyroscope
amplitude and sense loop gain and is inversely
proportional to the frequency gap between two modes.
After that, the compensation methods are proposed, the 1. Introduction
thermal resistor’s positive temperature coefficient (tempco)
is utilized to calibrate the scale factor’s tempco through MEMS gyroscope is a silicon-based sensor which can detect
regulating the drive mode amplitude and the sense loop input angular rate information through the Coriolis
gain, and each method is applied respectively and the acceleration. Due to the advantages of its low cost and low
results are contrasted. The test results of the two power consumption, micro volume, tiny weight and
specimens express that the most effective compensation excellent shock survival capability, the MEMS gyroscope
method could decrease the scale factor’s tempco from has been applied in many areas, such as: angular velocity
693ppm/°C (640ppm/°C) to 250ppm/°C (257ppm/°C), measuring systems, micro inertial navigation systems,
improving it by 63.9% (59.8%). Finally, a method of automobile security systems, consumer electronics and robot
declining bias’s tempco is investigated and implemented control systems (Fei et al. [1]-[2]). The architecture of the
after scale factor compensation. A summator with a MEMS gyroscope is fabricated with silicon, which is a high
thermal resistor is utilized at the output level and decreases temperature-sensitive material and its physical
x + cx x + k x x = Fd = AF sin(ωd t )
mx
Figure 2. Schematic diagram of the whole structure of the (1)
gyroscope m y y + c y y + k y y = −2m y Ω z x
Glass basement Silicon structure where mx, my, cx, cy, kx and ky are the equivalent masses,
effective damping and stiffness of the drive and sense
modes; x and y are the displacement of the drive and
sense frames; Fd is the drive force with amplitude AF and
angular frequency ωd; mp is the Coriolis mass; Ωz is the
kx
angular rate around the z axis. Define: ωnx =
mx
,
ky mxωnx myωny as the drive and
Metal electrode ωny = Qx = Qy =
my cx cy
, ,
Figure 3. Photo of the structure of the gyroscope sense modes’ resonant angular frequencies and quality
factors, usually let ωd=ωnx in order to achieve the largest
The two masses are symmetrical and stimulated along the amplitude of the drive mode, and assuming my≈mp, then x
x axis by the electrostatic force from the drive comb and y can be written as:
electrodes. The amplitude of the drive frame is measured
π AF Qx π
by the drive sense comb electrodes and the displacement x = Ax sin(ωd t − 2 ) = m ω 2 sin(ωd t − 2 ) (2)
caused by the Coriolis force on the y axis is detected by x d
the sense comb electrodes. The two masses vibrate in the y = A sin(ω t − ϕ )
y d y
www.intechopen.com Huiliang Cao, Hongsheng Li, Xia Sheng, Shourong Wang, Bo Yang and Libin Huang: 3
A Novel Temperature Compensation Method for a MEMS Gyroscope Oriented on a Periphery Circuit
Figure 5. Schematic of the periphery circuit and signal
ωnx2
where Rt is the thermal resistance, t is the ambient −(aωnx + a )sin(ωnxt + ϕ ) − aϕω
nx cos(ωnxt + ϕ )
temperature. Qx (16)
∂Cd
= −4 VDC K XVD KDA RVdI (t )aωnx sin(ωnxt + ϕ )
3. Scale factor compensation ∂x
Scale factor indicates the proportion between the output Input (13) to (16) and separate the parameters, we then get:
signal and the input angular rate, and it is analysed based
on Figure 5 before the compensation. ωnx ∂Cd
a = −a sin2 (ωnxt + ϕ) − 4 VDC KXVD KDA RVdI (t )a sin2 (ωnxt + ϕ) (17)
Qx ∂x
As mentioned in the last section, double side push-pull
stimulating technology is implemented in the drive mode ωnx ∂Cd
ϕ = − sin(2ωnxt + 2ϕ ) − 2 VDC K XVD KDA RVdI (t )sin(2ωnxt + 2ϕ ) (18)
2Qx ∂x
along the x axis and the drive force can be expressed as:
www.intechopen.com Huiliang Cao, Hongsheng Li, Xia Sheng, Shourong Wang, Bo Yang and Libin Huang: 5
A Novel Temperature Compensation Method for a MEMS Gyroscope Oriented on a Periphery Circuit
By substituting (14) to (10) and applying the average After the LPF the high frequency’s component is
method, considering the average value in one period eliminated, before the compensation the output signal is:
(T=2π/ωnx) of (9), (10), (17) and (18):
Ax Ω z KYVS K SAVdACA cos ϕ y (32)
Vo = Vso ≈
1 T (19) 2 ωny − ωd
VdI (t ) = G (V f − VdACA )dt
T 0
So, the scale factor can be expressed as:
1 T
VdACA = K XVD K DA Ra(t )ωnx sin(ωnxt + ϕ (t )) α d − λdVdACA (t )dt (20)
T 0
Vo Ax KYVS K SAVdACA cos ϕ y (33)
KS = ≈
1 ω ∂C Ωz 2 ωny − ωd
a = −a( nx + 4 d VDC K XVD KDA RVdI (t ))sin 2 (ωnxt + ϕ )dt (21)
T
T 0 Qx ∂x
When the drive circuit works at its stable status,
1 T ω ∂C
ϕ = −( nx + 2 d VDC K XVD KDA RVdI (t ))sin(2ωnxt + 2ϕ )dt (22) substituting AX with a0 in (28) and letting VdACA=Vf,
T 0 2Qx ∂x
ωd=ωnx then:
then:
πλdV f2 KYVS K SA cos ϕ y (34)
KS ≈
4ωd K DA Rα d K XVD (ωny − ωd )
VdI (t ) = G (V f − VdACA ) (23)
VdACA0 = V f (27) This paper would like to clarify that two specimens with
the same structure and circuit are tested in this paper’s
πλdVdACA work, and the results are reproducible. So, in order to
a0 = (28)
2ωnx K DA Rα d K XVD make the paper simpler to read and understand, this
paper only displays the tests curves of specimen A (quite
similar to that of specimen B), and the test results of
∂xωnx (29)
VdI 0 = − specimen B are listed at the end of the paper.
4∂Cd QxVDC K XVD K DA R
So, the drive close system only has this one stable status.
Under these conditions, the drive frame’s vibrating
amplitude a is governed by the drive mode’s resonant
frequency, reference voltage and drive loop gain.
Just like the process steps mentioned in Figure 1, the scale appropriate values of the resistances so as to make KDA
factor values under different temperatures are tested have the same tempco as the scale factor and the
before the compensation and these are shown in Figure 7. temperature test results are shown in Figure 9. The scale
Three repetitive experiments prove its repeatability and factor’s tempco is reduced to 257ppm/°C and three
the average value is calculated using the data which repetitive tests are utilized to verify the reliability of this
indicates that the scale factor’s tempco is 693ppm/°C. The compensation method.
red line is a linear fit (using the least square method) of
the average data, which is considered to be the scale
factor’s temperature drift line:
The parameter names of the pre-amplifier in drive loop 3.2 Compensation through sense loop gain
gain do not have dotted boxes above the components (RSt
does not exist in the drive loop, so it is considered as a The sense loop gain KSA is proved to influence the scale
short cut here) and the transfer function of this modular factor in (34), so the tempco of the scale factor can be
can be expressed as: declined by changing KSA’s value. Since the scale factor
has a negative tempco, KSA is expected to have a positive
Vsd ( RD1 + RD 2 ) RD 3 (36) one to compensate it. The circuit in this modular (“SB” in
K DA = =
Vsdr RD1 ( RD 3 + RD 4 + RDt ) Figure 5) is the same as the pre-amplifier in the drive
circuit as shown in Figure 8. The parameter names have
where, RDt is the thermal resistance mentioned in (6); RD1- dotted boxes under the components (RDt is considered
RD4 are low tempco constant resistances. Configure the short cut here). So, KSA is governed by the equation:
www.intechopen.com Huiliang Cao, Hongsheng Li, Xia Sheng, Shourong Wang, Bo Yang and Libin Huang: 7
A Novel Temperature Compensation Method for a MEMS Gyroscope Oriented on a Periphery Circuit
VS ( RS 1 + RS 2 + RSt ) RS 3 (37) The least square method is utilized to evaluate the
K SA = =
VSS RS 1 ( RS 3 + RS 4 ) relationship between temperature and bias (before bias
compensation, the modular “B” does not exist):
where, RS1-RS4 are precise resistances with a constant
value and tiny tempco; RSt is the thermal resistance VO = VSO = K SO t + bSO (38)
satisfied with equation (6). Adjust the parameters so that
KSA has an appropriate tempco to compensate the scale where, Vo is the output bias; Vso is the output of the low
factor in Figure 7. Temperature experiments are done and pass filter; Kso=-5.801mV/°C and bso=751.19mV are the Vo’s
shown in Figure 8, the average data is calculated (the red tempco and 0°C value. Bias compensation is based on a
dot line), which shows that the scale factor tempco is summator with a thermal resister in the output module of
reduced to 250ppm/°C. the sense circuit (compensation point B in Figure 5), the
schematic is illustrated in Figure 12.
The results of these two compensation methods are nearly
the same, and this paper chooses the sense loop gain
compensation method (SB) to continue the bias compensation.
4. Bias compensation
Figure 11. Bias temperature curve before compensation Figure 13. Bias temperature curves after compensation
www.intechopen.com Huiliang Cao, Hongsheng Li, Xia Sheng, Shourong Wang, Bo Yang and Libin Huang: 9
A Novel Temperature Compensation Method for a MEMS Gyroscope Oriented on a Periphery Circuit
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