Three-Axis Accelerometer Having Improved Magnet Configuration

This application is related to the following concurrently filed applications, which are incorporated herein by reference: (1) Shutt, "Three-Axis Accelerometer," U.S. patent application Ser. No. 292,460; (2) Shutt, "Three-Axis Accelerometer Having Dynamic Bias Compensation," U.S. patent application Ser. No. 292,545, now U.S. Pat. No. 4,372,162; (3) Shutt, "Electromagnet Configuration For Three-Axis Accelerometer," U.S. patent application Ser. No. 292,550; (4) Shutt, "Three-Axis Accelerometer Having Flexure Bearing With Overload Protection," U.S. patent application Ser. No. 292,543; and (5) Shutt, "Suspension for Three-Axis Accelerator," U.S. patent application Ser. No. 292,541, now U.S. Pat. No. 4,372,520. All of the applications listed above are assigned to Rockwell International Corporation, the assignee herein.

1. Field of the Invention

The present invention relates generally to accelerometers and more particularly pertains to accelerometers in which a proof mass is constrained by a combination of electromagnetic and elastic supports.

2. Description of the Prior Art

Electromagnetic force rebalance accelerometers are well known. In this type of accelerometer, a proof mass is constrained by force generated in a current-carrying conductor or coil located in a magnetic field. Such accelerometers have typically been built as single-degree-of-freedom instruments. Thus, three such accelerometers are required to be included in an inertial navigation system. Such a system obviously tends to be more costly and complex than would be one which performed its function using fewer instruments. Furthermore, in such a single-degree-of-freedom accelerometer, a structural member of substantial size and mass is typically required to center and maintain the alignment of the coil at the full rated acceleration of the instrument in two of the three directions. This structural member, however, tends to augment the null drift or bias uncertainty of the accelerometer, primarily because of dimensional changes which result from ambient temperature variations. In order to reduce this bias uncertainty, accelerometers intended for use in high-performance navigation systems are typically provided with temperature control elements for holding the temperature-sensitive portions of the instrument at a relatively constant temperature. The need for temperature control in accelerometers is another factor tending to increase the cost and complexity of inertial navigation systems.

It is an object of this invention to overcome the above-noted shortcomings of the prior art.

Another object of the invention is to provide an accelerometer in which bias uncertainty due to temperature variations is greatly reduced.

Still another object is to provide an accelerometer which can be used over a wide range of ambient temperature variations without a need for temperature control.

A further object is to provide an accelerometer capable of measuring acceleration simultaneously along the three orthogonal axes of a Cartesian coordinate system.

A still further object of the invention is to provide an accelerometer having high accuracy.

Another object is to provide an accelerometer which is inexpensive to fabricate.

Yet another object is to provide an accelerometer which is suitable for use in a strapdown inertial navigation system.

Still another object is to provide a single accelerometer which provides all of the accelerometer information needed for an inertial navigation system.

A further object is to provide an accelerometer having an improved and simplified electromagnetic forcing system for three degree-of-freedom constraint.

According to the present invention, the foregoing and other objects are attained in an accelerometer having a proof mass supported and constrained relative to the accelerometer case or housing by forces generated electromagnetically in each of three orthogonal directions. A magnet is disposed to establish a constant magnetic field across a gap. Coils for carrying electric current are disposed in the gap. When appropriate coils are selectively energized, sufficient force can be applied to the proof mass along each of the three axes of a set of Cartesian coordinates to keep the proof mass substantially centered at its null position. Each of three distinct currents in the coils is associated with and is a measure of the force applied along a corresponding distinct one of the orthogonal axes to maintain the proof mass centered. Thus, each current is also a measure of the acceleration along the corresponding axis.

The magnetic suspension described above provides constraint for the proof mass in three degrees of freedom. To provide constraint for three additional degrees of freedom, the proof mass is also constrained or balanced by an elastic suspension. The magnetic suspension is designed to supply the overwhelming preponderance of the force required to balance or confine the proof mass. Therefore, the elastic suspension is called upon to provide relatively very small forces. In the preferred embodiment, the elastic suspension is an array of very fine filaments preloaded in tension at a force equivalent to an acceleration significantly less than the acceleration required to be balanced by the magnetic suspension. The tendency of this elastic suspension to cause bias uncertainty in the accelerometer due to the dimensional changes resulting from variations in temperature or other causes is thus reduced over that in a prior art single-axis electromagnetic force balance accelerometer having the same range of operation. There is a potential reduction in bias uncertainty by a factor equal to the ratio of the larger load balanced by the magnetic suspension to the smaller load balanced by the elastic suspension.

For example, in one preferred embodiment, the magnetic suspension is capable of balancing the proof mass at linear input accelerations to .+-.15 g. In this case, the filaments need carry only small loads equivalent to 0.5 g. The force on the elastic suspension is a maximum of 400 dynes at 15 g's input acceleration as compared with 30,000 dynes of force required to be balanced by the magnetic suspension. Any tendency of this elastic suspension to cause bias uncertainty in the accelerometer due to variations in temperature or other causes is potentially reduced by a factor of thirty, the ratio of 15 g to 0.5 g, over that in a single-axis electromagnetic force balance accelerometer having the same range of operation.

This reduction in null drift or bias uncertainty in an accelerometer in accord with the invention makes it particularly suitable for use in strapdown navigation systems with gyroscopes having a similarly low temperature sensitivity.

The elastic suspension for the proof mass of an accelerometer in accord with the invention is an array of filaments connecting the proof mass to the accelerometer housing. In the preferred embodiment, the filaments are disposed in a plane perpendicular to the longitudinal axis of the proof mass. Such a filament array is relatively compliant in three degrees of freedom in that relatively small forces, unles balanced, can produce relatively large rotational deflections of the proof mass about its two cross axes and a relatively large translation deflection of the proof mass along its longitudinal axis. In the remaining three degrees of freedom, however, the elastic suspension is relatively stiff. Relatively large forces are required to produce only a small rotational deflection about the longitudinal axis of the proof mass and only small translational deflections of the proof mass along the two cross axes.

Pickoffs, preferably of the capacitive type, are provided in the accelerometer to sense deflection in the three compliant degrees of freedom of the elastic suspension. The pickoffs supply error signals to be fed to amplifiers which, in turn, supply current to the coils in a closed-loop force balance system.

An accelerometer in accord with this invention is inexpensive to fabricate because it has a relatively low part count per axis. This makes it simple to assemble. It is a three-axis sensor which is only about as complex as a single-axis unit. In addition, the dimensional tolerances and stabilities required for the individual elements of the structure are relatively relaxed since these factors are not as critical here as in prior-art devices.

In the embodiment of the accelerometer claimed herein, the magnetic suspension includes a magnetic structure or circuit formed to produce a magnetic field having a fixed or constant polarity across the gap in which the electromagnetic forcer coils are disposed. With this magnetic structure, a single helical electromagnetic forcer coil having a central axis substantially coincident with or in line with the longitudinal axis of the proof mass is used to apply force to the proof mass in the direction along the longitudinal axis.

FIG. 1 is a diagrammatic sketch of a proof mass for an accelerometer elastically suspended in accord with the invention.

FIG. 2 is a view in elevation of an assembled accelerometer.

FIG. 3 is a cross-section of the accelerometer of FIG. 2 taken along the line 3--3.

FIG. 4 is a portion of FIG. 3 enlarged to show more detail.

FIG. 5 is a view of electrodes for displacement pickoffs taken along the line 5--5 in FIG. 4 looking in the direction of the arrows.

FIG. 6 is a cross-section taken along the lines 6--6 of FIGS. 2 and 3 showing the disposition of the electromagnetic forcer coils.

FIG. 7 is a cross-section taken along the lines 7--7 of FIGS. 2, 3 and 4 showing filaments for an elastic suspension.

FIG. 8 is a view in elevation of the electromagnetic forcer coils.

FIG. 9 is a sketch showing the longitudinal axis electromagnetic forcer coils interconnected in a closed force-balance control loop.

FIG. 10 is a sketch showing a pair of cross-axis forcer coils interconnected in a closed force-balance control loop.

FIG. 11 is a cross-section of an accelerometer having an improved magnet configuration.

FIG. 12 is a view in elevation of the electromagnetic forcer coils for the embodiment of FIG. 11.

FIG. 13 is a sketch showing the longitudinal axis electromagnetic forcer coil for the embodiment of FIG. 11 interconnected in a closed force-balance control loop.

FIG. 14 is a cross-section taken along the lines 14--14 of FIG. 11 showing the disposition of the electromagnetic forcer coils.

FIG. 15 is a sketch showing a pair of cross-axis forcer coils for the embodiment of FIG. 11 interconnected in a closed force-balance control loop.

Referring now to FIG. 1, there is shown a simplified sketch of a proof mass 10 elastically suspended from a housing or base 12 for an accelerometer in accord with the invention. The elastic suspension connecting the proof mass 10 to the base 12 includes an array of four support filaments 14 disposed in a plane perpendicular to the longitudinal axis, the Z axis, of the proof mass 10. In the example of FIG. 1, the filaments 14 are spaced apart from each other at regular ninety-degree intervals in a plane near an end of the proof mass 10.

The support filaments 14 are preloaded in tension at a force equivalent to an acceleration load less than the rated acceleration load of the accelerometer by a factor of at least about fifty.

In an accelerometer according to the invention, the major proportion of the force required to constrain deflection of the proof mass 10 relative to the base 12 is provided by electromagnetic forcer coils not shown in FIG. 1. The forcer coils are shown in and discussed further in connection with FIGS. 3, 4, 6, 8, 9 and 10. The coils operate in an electromagnetic force balance system. They are capable of being selectively energized to provide a resultant force acting substantially through the center of mass of the proof mass 10 as indicated at 16. A component force can be applied along any one or any combination of the three axes, X, Y and Z, of a Cartesian coordinate system fixed to the proof mass 10. Z is the longitudinal axis of the proof mass 10, as noted above, while X and Y are a pair of cross axes. In FIG. 1, the cross axes X and Y are shown in alignment with corresponding pairs of the filaments 14 for convenience, but this alignment is not a requirement. Since the forcer coils constrain the proof mass 10 in only three degrees of freedom, the elastic suspension of filaments 14 is required to provide restraint in the remaining degrees of freedom and to establish a stable null position.

If the center of mass of the proof mass 10 and the center of action of the electromagnetic forcers are displaced, an additional elastic suspension force will be required to constrain the proof mass. For example, if the center of action and center of mass are displaced by 0.01 cm, an additional elastic suspension force of 200 dynes is required to support the proof mass 10 when there is a 10 g input acceleration normal to the Z axis.

Actually, the elastic suspension of filaments 14 constrains the proof mass 10 in all six degrees-of-freedom. It provides a relatively very stiff translation support along the cross axes X and Y and relatively very stiff rotational support about the longitudinal or Z axis. Thus, relatively large forces can produce only relatively small translational deflections .DELTA.x and .DELTA.y and a relatively small rotational deflection .theta..sub.z. The relatively small translational deflections .DELTA.x and .DELTA.y along the two cross axes are on the order of 3.8.times.10.sup.-8 centimeters per dyne at rated acceleration input. The relatively small rotational deflection .theta..sub.z is on the order of 6.times.10.sup.-7 radians per dyne-centimeter at rated acceleration input. In the remaining three degrees of freedom, the elastic suspension of filaments is relatively compliant. Thus, relatively small forces can produce relatively large rotational deflections .theta..sub.x and .theta..sub.y and a relatively large translational deflection .DELTA.z, along the longitudinal axis of the proof mass 10. The relatively large rotational deflections .theta..sub.x and .theta..sub.y about the two cross axes is on the order of 2.times.10.sup.-3 radians per dyne-centimeter at rated acceleration input. The relatively large translational deflection .DELTA.z along the longitudinal axis is on the order of 2.times.10.sup.-4 centimeters per dyne at rated acceleration input. Thus at rated acceleration, the translational deflection of the proof mass along the longitudinal axis is greater than the translational deflection along a cross axis by a factor of about 1.9.times.10.sup.-4. Similarly, the rotational deflection of the proof mass about a cross axis is greater than the rotational deflection about the longitudinal axis by a factor of about 3.times.10.sup.-4. In FIG. 1 the proof mass 10', depicted in phantom, is shown deflected from its null position to illustrate the discussion above. In actual operation of the accelerometer, the electromagnetic force balance system would operate to keep all such deflections negligibly small.

Referring now to FIG. 2, there is shown an assembled accelerometer 20 in accord with the invention. A housing or case 12 for the accelerometer 20 is fabricated from any suitable non-magnetic material such as, for example, aluminum or a ceramic such as beryllia.

The working parts of the accelerometer 20 are shown in FIGS. 3 and 4. A magnet ring 24 is mounted on the housing 12. Interior of the magnet 24, coaxial therewith and spaced apart therefrom, is a flux return ring 26 mounted on an inner pole piece mounting member 28. The magnet 24 establishes a constant or time-invariant magnetic field across a gap between it and the flux return ring 26. Disposed in the gap is the coil form 30 portion of a proof mass 10. An assembly of electromagnetic forcer coils 34 is disposed on the coil form 30 for applying forces to the proof mass 10 in three orthogonal directions. At an end of the proof mass 10, the left side thereof in FIGS. 3 and 4, the proof mass 10 is flared into a disk portion 36.

The proof mass 10 is suspended from the housing 12 by an array of filaments 14 disposed in a plane substantially perpendicular to the longitudinal axis 38 of the proof mass 10. The outward portion of each filament 14 is clamped between the inner surfaces of a clamping ring 40 and a housing cap 42. The other surface of the clamping ring 40 is fastened to a housing member 43. Housing member 43 is part of the housing 12. Mating grooves in the clamping ring 40 and the housing cap 42 are provided to form a cavity 45 which is directed along a filament 14 and which permits the central portion of each filament 14 to be free of contact with the structure. The inward portion of each filament 14 is clamped between the inner surfaces of a clamping disk 44 and a cover ring 46. The other surface of the clamping disk 44 is fastened to the proof mass 10.

The filaments 14 are preferably formed of a material suitable not only for carrying the required load but a material which is also a good conductor of heat and electricity such as, for example, beryllium copper. Good electrical and thermal conductivity are desired so that the filaments 14 may also serve as conductors for supplying current to the forcer coils in forcer coil assembly 34.

The predominant sources of bias uncertainty in an accelerometer 20 according to the invention are related to a change in the forces exerted by the filaments 14 on the proof mass 10. In order to minimize any change in these forces as temperature variations occur, dimensions of the filaments 14 and the filament mounting parts 40, 42, 43, 44 and 46 and the materials used to form the parts are chosen so that thermal expansion and contraction of the filaments and filament mounting parts over a wide temperature range produces a negligible change, if any, in the tension preload on the filaments 14. The manner in which the filaments 14 are preloaded in tension is discussed below in connection with FIG. 7.

In order to achieve this stability of the preload on the filaments 14 over a wide temperature range, the filament mounting parts 40, 42, 43, 44 and 46 are preferably made of materials that have a high degree of dimensional stability with variations in temperature. Clamping ring 40, housing cap 42 and housing member 43 are preferably made of a ceramic material such as, for example, beryllia. Clamping disk 44 and cover ring 46 are preferably made of a material having only a negligible change in dimensions with changes in temperature such as, for example, Cer-Vit.

In addition, in order to keep the preload on the filaments 14 stable over a wide temperature range, the nominal length of a cavity 45 formed by grooves in the clamping ring 40 and housing cap 42 is selected so that expansion or contraction of the filaments 14 tending to lessen or increase their preload tension is compensated by expansion or contraction of the length of a cavity 45. A cavity 45 expands or contracts due to thermal expansion or contraction in the clamping ring 40 and housing cap 42. As a cavity 45 lengthens or shortens due to changes in temperature, tht point at which the outward portion of a filament 14 is clamped between clamping ring 40 and housing cap 42 moves away from or closer to the point at which the inward end of a filament 14 is clamped between clamping disk 44 and cover ring 46. The latter point exhibits negligible change, of course, since clamping disk 44 and cover ring 46 are of Cer-Vit or the like.

An example of thermally caused changes in dimension will be given here for the filament shape shown in FIG. 7. In this example, the nominal length of the unclamped portion of a filament 14 extending through a cavity 45 is 0.40 cm. A line extending from the longitudinal axis 38 to the point at which the outward portion of a filament 14 is clamped between clamping ring 40 and housing cap 42 has a length of 0.73 cm. The angle between said line and said filament is 18 degrees. See the discussion of FIG. 7 for a further explanation of this angle. For a temperature variation from -55.degree. C. to 70.degree. C., the change in the length of the unclamped portion of a filament 14 is 0.0044.times.10.sup.-6 centimeters per degree Celsius. For a filament 14 having a square cross-section of 0.0015 cm on a side, the change in tension is less than four dynes. Since the nominal preload tension is 200 dynes, this change in tension is less than two percent over the temperature range.

When the preload tension in the filaments 14 changes, the accelerometer biases change also. For example, if the filaments 14 are out of plane alignment by 0.001 cm, then the X or Y axis bias uncertainty changes by less than 0.1.times.10.sup.-6 g per degree Celsius and the Z axis bias uncertainty changes by less than 0.5.times.10.sup.-6 g per degree Celsius.

The disk portion 36 of the proof mass 10 serves as a movable plate or electrode for a plurality of capacitor pickoffs for sensing translation deflection along the longitudinal or Z axis of the proof mass 10. The body of the proof mass 10 is excited with an alternating electric potential of, for example, five volts at a frequency of, for example, twenty kilohertz. Pickoff electrodes forming the fixed or immovable plates of sensor capacitors are disposed, preferably by plating, on surfaces of clamping ring 40 and housing member 43 adjacent to the proof mass disk 36. Those are seen more distinctly in FIG. 4 than in FIG. 3. A pair of ring-shaped electrodes 48, one on the clamping ring 40 and one on the housing member 43, form the two fixed electrodes of a capacitor pickoff element for sensing translational deflection along the longitudinal or Z axis of the proof mass 10. Another pair of electrodes 50 is disposed, diametrically opposed to each other, on the clamping ring 40. The electrodes 50 are the two fixed electrodes of a capacitor pickoff element for sensing rotational deflection about a cross axis perpendicular to the plane of the drawing, in this case the Y axis.

FIG. 5 is a plan view of the pickoff electrodes formed on the rear surface of clamping ring 40. One of the two electrode rings 48 for sensing translational deflection of the proof mass 10 is shown. The other ring 48 is on housing member 43 as mentioned above. The pair of sector-shaped electrodes 50 for sensing rotational deflection about the Y cross axis is shown interposed between an additional pair of sector-shaped electrodes 52. The electrodes 52 are for sensing rotational deflection about the X cross axis. Each of the electrode trodes 48, 50 and 52 is spaced apart from the others and is therefore insulated from the others. Each pair of electrodes 48, 50 and 52, respectively, is connected into a bridge circuit, well known to those skilled in the art, for generating a signal proportional to the respective deflection.

It should be noted that, in this accelerometer, the mount for the filaments 14 relative to the pickoff electrodes 48, 50 and 52 has been designed and constructed for maximum stability in the face of temperature variations. This is accomplished by suspending the filaments 14 from the front surface of clamping ring 40 while the majority of the pickoff electrodes are formed on the rear surface of the same single-piece, temperature-stable, ceramic part, i.e., clamping ring 40.

FIG. 7 shows the array of support filaments 14 in more detail. In this embodiment eight support filaments 14 are used. An individual support filament 14 has an outward portion 80, an inward portion 82 and an intermediate portion 84. The outward portion 80 is disposed on the clamping ring 40. The inward portion 82 is disposed on the clamping disk 44. The intermediate portion 84 is the very fine unclamped part of the filament intended to be disposed in the cavity 45 formed by the mating grooves in the clamping ring 40 and housing cap 42.

As is apparent in FIG. 7, the eight support filaments 14 of this embodiment are disposed as four pairs, a pair consisting of each two filaments which are closer to each other than to the remaining filaments. Furthermore, a filament 14 does not extend radially but is directed at an angle relative to a radial line which intersects the filament at the point where the intermediate portion 84 and the outward portion 80 meet, the point at which the filament is clamped between clamping ring 40 and housing cap 42. In this embodiment, the angle between this radial line and each filament 14 is 18 degrees.

The support filaments 14 may be formed from a single sheet of beryllium copper, preferably about 0.0015 cm thick. At an elevated temperature of, for example, 100.degree. C., the outer portion of the beryllium copper sheet is cemented to the beryllia clamping ring 40. The cement is then cured. At a reduced temperature of, for example, 95.42.degree. C., the inner portion of the beryllium copper sheet is then cemented to the Cer-Vit clamping disk 44. After curing the new cement, the beryllium copper sheet is etched to form the pattern of filaments 14 shown in FIG. 7. Each filament intermediate portion 84 may be etched to have, for example, a 0.0015 cm square cross-section. Cer-Vit cover ring 46, as shown in FIGS. 3 and 4, is then cemented over the inner portion of the filaments 14. The new cement is cured as before. This procedure sets up a tension preload in each filament 14. In this example, the tension preload is about 200 dynes. This preload tension will change no more than about 2% as the temperature varies in the range from -55.degree. C. to 70.degree. C.

An electrical conductor 86 is shown connected to an outward portion 80 of a support filament 14 for carrying coil current. Another conductor 88 for carrying coil current is shown connected to an inward portion 82 of a different support filament 14. The conductor 88 extends through the center aperture 90 of clamping disk 44 for connection to a forcer coil.

FIG. 9 shows forcer coils 100, 102, 104 and 106 interconnected in a closed-loop force balance system which provides a resultant force substantially at the center of mass of the proof mass 10, wherein the force is directed along the longitudinal or Z axis. These four coils are connected in series and are disposed circumferentially on the coil form portion 30 of the proof mass 10. As shown in FIG. 7, only one circumferentially-extending leg of each of substantially flat coils 100, 102, 104 and 106 is interposed directly in the gap between the magnet 24 and the flux return ring 26. The remaining circumferentially-extending leg of these coils is displaced from the gap. Thus, the first-mentioned leg of each coil provides the bulk of the force induced when the coil carries current.

Furthermore, the polarity of the radial magnetic field alternates in space from one coil to the next adjacent coil. For example, as indicated in FIG. 9 by the arrows marked B, the magnetic field may be directed positive radially outward at coils 100 and 104. In this case, it is directed positive radially inward at coils 102 and 106. To accommodate this alternating polarity of the field, the coils 100, 102, 104 and 106 are so connected in series that the current is directed oppositely in adjacent coils. Thus, when current is flowing counterclockwise in coils 100 and 104, for example, it is flowing clockwise in coils 102 and 106.

A signal from the pair of fixed pickoff electrode rings 48 for sensing translational deflection is fed to Z axis control amplifier 108. A forcing current to constrain longitudinal deflection of the proof mass 10 is output by the control amplifier 108. The forcing current is carried by a conductor 110 and by an elastic suspension filament 14 and a conductor 111 to forcing coils 100, 102, 104 and 106. The circuit is completed through a conductor 113 and another elastic suspension filament 14, a conductor 112, and an output circuit 114. The signal output 116 of circuit 114 is preferably in digital format.

FIG. 10 shows substantially flat forcer coils 118 and 120 interconnected in a force balance system to provide electromagnetic forcing and constraint along the Y cross axis of the proof mass 10. These two coils are connected in series and are so disposed opposite each other along the X axis on the coil form portion 30 of the proof mass 10 as to provide a resultant force directed along the Y axis acting substantially at the center of mass of the proof mass 10. As shown in FIG. 6, each of the longitudinally-extending legs of each of coils 118 and 120 is interposed directly between the magnet 24 and the flux return ring 26. However, the polarity of the radial magnetic field alternates in space from one longitudinally-extending leg to the other of each of coils 118 and 120. As a result, current flowing in the coils 118 and 120 produces both a force along the Y axis and, since the center of mass of the proof mass 10 is displaced from the point at which it is elastically suspended, a torque about the X axis.

A signal from the pair of fixed, sector-shaped pickoff electrodes 52 for sensing rotational deflection about the X axis is fed to control amplifier 122. A forcing current proportional to the X axis rotational deflection of the proof mass 10 is output by the control amplifier 122. The forcing current is carried by a conductor 124, by an elastic suspension filament 14 and by a conductor 125 to forcing coils 118 and 120. The circuit is completed through conductor 127, another elastic suspension filament 14, a conductor 126, and an output circuit 128. The signal output 130 of circuit 128 is preferably in digital format.

An additional pair of substantially flat forcer coils, displaced about the Z axis by ninety degrees from coils 118 and 120 is disposed on the coil form portion 30 of the proof mass 10. These coils are interconnected in another force balance system similar to the one shown in FIG. 10 to provide electromagnetic forcing along the X cross axis. This additional pair of forcer coils is not shown in FIG. 10.

Returning now to FIG. 6, the full assembly of electromagnetic forcer coils 34 is shown in cross-section disposed on the coil form portion 30 of the proof mass 10. Shown are portions of the Z axis forcer coils 100, 102, 104 and 106, the Y axis forcer coils 118 and 120, and a pair of X axis forcer coils 132 and 134. The coil assembly is disposed in the space between the four-pole magnet ring 24 and the flux return ring 26. As indicated by the polarity markings N on opposing poles 136 and 138 of the magnet ring 24 and by the polarity markings S on opposing poles 140 and 142, magnet ring 24 is so magnetized that the polarity of the radial magnetic field in the gaps between adjacent poles of magnet ring 24 and flux return ring 26 alternates in space. This was mentioned above in the discussion of FIGS. 9 and 10. Each of the cross-axis forcing coils 118, 120, 132 and 134 has one longitudinally-extending leg in the gap between a north pole and the flux return ring 26 and the other longitudinally-extending leg in the gap between a south pole and the flux return ring 26. Each of the Z axis forcing coils 100, 102, 104 and 106 has only one circumferentially-extending leg in the gap between either a north pole or a south pole and the flux return ring 26. This disposition of the coils was mentioned previously in the discussion of FIGS. 9 and 10.

The magnet ring 24 is shunt compensated for temperature variations in a way well known to those skilled in the art. A Carpenter 30 alloy, for example, may be used for this purpose.

FIG. 8 is another view of the electromagnetic forcer coil assembly 34. The Z axis forcer coils 100, 102 and 106 are shown, each with one circumferentially-extending leg directly under a pole of magnet ring 24 and the other circumferentially extending leg displaced from the poles so as to provide a force directed longitudinally with this type of magnet ring 24.

The cross-axis forcer coils 118 and 134 in FIG. 8 each have one longitudinally-extending leg under a north pole and one under a south pole so as to provide a force directed radially with this type of magnet ring 24.

In the discussion of FIG. 7, it was indicated that the support filaments 14 might be fabricated to have a square cross section. Actually, it is preferable that the filaments be made relatively wide and thin. A minimum for the cross-sectional area of a filament is determined by the amount of electric current required to be carried and the permissible electrical loss in the filament. Of course, the filaments 14 must each also have sufficient cross-sectional area and thickness to support the expected tensile loading and to give the suspension a required stiffness. However, for a given cross-sectional area, the smaller the filament thickness is made, the smaller will be the filament spring rates in bending and torsion. Reducing the bending and torsion spring rates is desirable in order to reduce the contributions to bias uncertainty or null drift due to such effects as material creep and the like.

The elastic suspensions for the accelerometer embodiments shown in FIGS. 1-10 each have either four support filaments or four pairs of support filaments 14. This number was chosen by way of example only. When four or more support filaments or support filament pairs are included in an elastic suspension, the suspension provides redundant constraint. The constraint is redundant because the suspension will still provide support for the proof mass 10 if a filament or a filament pair is fractured.

However, it is not necessarily advantageous to provide a redundant-constraint elastic suspension. If the procedure for attaching the support filaments 14 between the proof mass 10 and the base 12 is not sufficiently precise and leaves some slack in a filament or a filament pair, then the null position for the elastic suspension will not have a satisfactory degree of stability. Due to the extreme degree of care required to attach the filaments so that a satisfactory degree of null position stability is achieved in a redundant constraint elastic suspension, it is preferable to design the elastic suspension to use only three support filaments 14. Where no more than three support filaments 14 are used, there can be no slack. Therefore, the null position is relatively moe stable. By using only three support filaments 14 in the elastic suspension, the accelerometer may be fabricated with greater ease and with larger tolerances for filament attachment. It may therefore be fabricated at lower cost.

The electromagnetic forcing system of the accelerometer embodiment discussed above and described in detail in the discussions of FIGS. 6, 8, 9 and 10 suffers from certain disadvantages. The most significant of these disadvantages arise from the irregularly shaped and nonuniformly magnetized permanent magnet ring 24. Magnet ring 24 is designed to provide a radial magnetic field having a polarity which alternates in space in the gap between magnet ring 24 and flux return ring 26. The magnetic flux in each quadrant of a plane normal to the Z axis has a polarity opposite to the flux in adjacent quadrants. Such an irregularly shaped, nonuniformly magnetized permanent magnet is relatively difficult to fabricate and therefore is relatively costly. In addition, magnetomotive force of such a magnet tends to be vulnerable to external demagnetizing influences such as, for example, the earth's magnetic field and therefore is relatively unstable over an extended period of time.

In order to provide an embodiment of an accelerometer in accord with the invention wherein the above-noted disadvantages are overcome, the alternative embodiment of FIGS. 11-15 is presented hereinafter. The permanent magnet of the alternative embodiment is regularly shaped and uniformly magnetized. It is therefore easier and less costly to fabricate. To provide a flux return path for a magnetic structure which accommodates such a magnet, the case or housing for this improved accelerometer is fabricated of magnetic material. This feature of the design also provides a shield for reducing the effect of external demagnetizing influences on the magnet thereby enhancing the stability of the system. This is an additional advantage.

A smaller number of electromagnetic forcer coils is required in this alternative embodiment. This is an additional factor helping to make the system easier and less costly to fabricate.

A minor disadvantage of this alternative embodiment results from a somewhat reduced efficiency of the cross-axis forcer coils. That is to say that the forcing effect for a given amount of current is reduced.

Referring now to FIG. 11, there is shown, in cross section, the working parts of an accelerometer 250 in accord with the invention. A base, housing or case 252 for the accelerometer 250 is fabricated from any suitable magnetic material such as, for example, 4750 alloy.

A proof mass 10 is suspended from the base or housing 252 by an array of support filaments 14A-D and a complementary array of compliant filaments 300A-D. These filaments are disposed in a plane substantially perpendicular to the longitudinal axis 38 of the proof mass 10. The outward portion of each of support filaments 14A-D is attached to a mounting frame 254 which, in turn, is attached to a ceramic cap 256 for the housing 252. Of the filaments mentioned, only support filament 14A and compliant filament 300C is apparent in FIG. 11. The structure and function of these filaments and their mounting is explained more fully in Shutt, "Three-Axis Accelerometer Having Flexure Bearing With Overload Protection," U.S. patent application Ser. No. 292,543 and in Shutt, "Suspension For Three-Axis Accelerometer," U.S. Pat. No. 4,372,520, both of which have been incorporated herein by reference. The portion of FIG. 11 depicting the elastic suspension for the proof mass 10 reappears in FIG. 15 of each of these incorporated applications.

The inward portion of each filament is attached to a tubular collar 258. A portion of the collar 258 extends through a central opening in housing cap 256 to the interior of the base 252 where the collar 258 is attached to the proof mass 10 at the center of the proof mass disk portion 36. As discussed above, the disk portion 36 of the proof mass 10 serves as a movable plate or electrode for the plurality of capacitor pickoffs used for sensing rotational and translational deflection of the proof mass 10. The remaining elements of the capacitor pickoffs are not shown in FIG. 11. See FIGS. 3, 4 and 5.

A cylindrically-shaped inner pole piece 250 is disposed to extend along longitudinal axis 38 into a central or interior cavity of the proof mass 10. Inner pole piece 260 is spaced apart from the inner surface of proof mass 10. An outer pole piece or ring 262 is mounted on the housing 252 surrounding, coaxial with and spaced apart from both the proof mass 10 and inner pole piece 260. The coil form 30 portion of proof mass 10 is disposed in the gap between the inner and outer pole pieces 260 and 262. An assembly of electromagnetic forcer coils 263 is mounted on the coil form 30 for applying forces to the proof mass 10 in three orthogonal directions.

A cylindrical magnet 264, uniformly magnetized along its central axis, is inserted between a flared outward end of inner pole piece 260 and the housing or case 252. The central axis of the magnet 264 is aligned with the longitudinal axis 38 of the proof mass 10. As shown in FIG. 11, the north pole of the magnet 264 may be disposed facing the flared end of inner pole piece 260. In this case, the magnetic flux established in the gap between inner pole piece 260 and outer pole piece 262 is directed radially away from longitudinal axis 38. The polarity of the flux remains constant or fixed circumferentially around the gap between inner and outer pole pieces 260 and 262. However, if the magnet 264 is reversed to have its south pole disposed facing the flared end of inner pole piece 260, the magnetic flux in the gap would be directed radially inward. As before, the latter polarity would remain constant and fixed circumferentially around the gap.

The magnet 264 is shunt compensated for temperature variation in a way well known to those skilled in the art. A Carpenter 30 alloy, for example, may be used for this purpose.

FIG. 12 shows details of the electromagnetic forcer coil assembly 263 mounted on the coil form portion 30 of the proof mass 10 for the alternative magnetic structure. Coil assembly 263 differs from the electromagnetic forcer coil assembly 34 as shown in FIG. 8. In the embodiment of FIG. 8, the four substantially flat coils 100, 102, 104 and 106 are disposed and interconnected to provide forcing along the longitudinal axis 38 of the proof mass 10. However, in the embodiment of FIG. 12 a single helical coil 266 wound circumferentially on the coil form 30 is used to provide longitudinal axis forcing. Single helical coil 266 replaces the four coils 100, 102, 104 and 106. The use of such a helical coil is made possible in the latter embodiment by the establishment of the magnetic field to have the same, fixed polarity in the radial direction around the periphery of the coil, as discussed above.

Cross-axis forcing is provided in the alternative magnetic structure of FIG. 12 by substantially flat cross-axis forcer coils 118, 120, 132 and 134 which are the same coils used in the embodiment shown in FIGS. 6, 8 and 10. In FIG. 12, cross-axis forcer coils 118 and 134 are shown disposed over helical coil 266, the latter being disposed directly on coil form 30. This is a matter of convenience, the reverse disposition also being suitable.

FIG. 13 shows helical forcer coil 266 interconnected in a closed-loop force balance system which provides a force directed along the longitudinal or Z axis of the proof mass 10. Since the magnetic flux is all directed either radially outward or radially inward relative to coil 266, each circumferentially wound portion of the coil contributes a component to the resultant force in the longitudinal direction.

A signal from the pair of fixed pickoff electrode rings 48 for sensing translational deflection is fed to Z axis control amplifier 108. A forcing current to constrain or restrain longitudinal deflection of the proof mass 10 is output by the control amplifier 108. The forcing current is carried by a conductor 110 and by an elastic suspension filament 14 and a conductor 111 to forcing coil 266. The circuit is completed through a conductor 113 and another elastic suspension filament 14, a conductor 112, and an output circuit 114. The signal output 116 of circuit 114 is preferably in digital format. As is apparent, this force balance system of FIG. 13 corresponds to the one shown in FIG. 9.

Referring now to FIG. 14, the full assembly of electromagnetic forcer coils 263 is shown in cross-section disposed on the coil form portion 30 of the proof mass 10. Shown are the Z-axis forcer coil 266 and the cross-axis forcer coils 118, 120, 132 and 134. The coil assembly 263 is disposed in the space or gap between inner pole piece 260 and outer pole piece 262. Outer pole piece 262 is shaped to include four protrusions 268 which narrow the gap and thereby concentrate the magnetic flux at the longitudinally-extending sides or legs of cross-axis forcer coils 118, 120, 132 and 134. Three of the protrusions 268 are shown also in FIG. 12.

In FIG. 14, the X axis passes through the center of coils 118 and 120. The Y axis passes through the center of coils 132 and 134. With the reversal or alternation of flux of the scheme of FIGS. 6, 8, 9 and 10, cross-axis forcer coil pair 118 and 120 provides forcing along the Y axis while cross-axis forcer coil pair 132 and 134 provides forcing along the X axis. However, with the scheme of FIGS. 11-15 wherein the flux has the same constant or fixed polarity in the radial direction around the gap, cross-axis forcer coil pair 118 and 120 provides forcing along the X axis while forcer coil pair 132 and 134 provides forcing along the Y axis. Thus, the axis association of the forcer coil pairs is reversed in the embodiment of FIGS. 11-15.

If each circumferentially-extending leg or side of a cross-axis forcer coil were positioned precisely midway between the two cross axes, the tangentially directed force thereon would have equal components directed along the two cross axes. Each cross-axis forcer coil pair would then be equally effficient for forcing along one or the other cross axis depending on the magnetic flux distribution scheme chosen. However, it is more practical to space the sides of a coil less than a full quadrant apart from each other so as to provide space for the bulk of the bundles of wires and for the disposition of all of the coils without overlapping. It is this reduction in spacing between the sides of the coils to less than a quadrant that makes cross-axis forcer coil pair 118 and 120 somewhat less efficient for forcing along the X axis in the alternative embodiment of FIGS. 11-15 than for forcing along the Y axis in the embodiment of FIGS. 6, 8, 9 and 10. Similarly, the cross-axis forcer coil pair 132 and 134 is somewhat less efficient for forcing along the Y axis than for forcing along the X axis. The reduction in efficiency occurs because the projections of the tangential force on each coil side on the two cross axes are not equal in the practical case and because the embodiment of FIGS. 11-15 uses the smaller projections or components of the tangential force.

FIG. 15 shows substantially flat forcer coils 118 and 120 interconnected in a force balance system to provide electromagnetic forcing and constraint along the X cross axis of the proof mass 10 rather than along the Y cross axis as was shown in FIG. 10. Otherwise, FIGS. 10 and 15 are very similar. The two coils 118 and 120 are connected in series and are so disposed opposite each other along the X axis on the coil form portion 30 of the proof mass 10 as to provide a resultant force directed along the X axis acting substantially at the center of mass of the proof mass 10. As shown in FIG. 14, each of the longitudinally-extending legs or sides of each of coils 118 and 120 is interposed directly between the inner pole piece 260 and the outer pole piece 262. The radial magnetic field has the same fixed or constant direction or polarity at all of the coil sides of coils 118 and 120. As a result, current flowing in the coils 118 and 120 produces both a resultant force along the X axis and, since the center of mass of the proof mass 10 is displaced from the point at which it is elastically suspended, a resultant torque about the Y axis.

A signal from the pair of fixed sector-shaped pickoff electrodes 50 for sensing rotational deflection about the Y axis is fed to control amplifier 122. A forcing current proportional to the Y-axis rotational deflection of the proof mass 10 is output by the control amplifier 122. The forcing current is carried by a conductor 124, by an elastic suspension filament 14 and by a conductor 125 to forcing coils 118 and 120. The circuit is completed through conductor 127, another elastic suspension filament 14, a conductor 126, and an output circuit 128. The signal output 130 of circuit 128 is preferably in digital format.

The sector-shaped pickoff electrodes 50 shown in FIG. 15 are not the same ones shown in FIG. 10. The electrodes 52 of FIG. 10 shown connected to coils 118 and 120 are the ones used to sense rotational deflection about the X axis. The electrodes 50 of FIG. 15 shown connected to coils 118 and 120 are the ones used to sense rotational deflection about the Y axis. This is the primary difference between FIGS. 10 and 15.

Although not shown in FIG. 15, it is apparent that cross-axis forcer coils 132 and 134 are disposed on the coil form portion 30 of the proof mass 10 displaced about the Z axis by ninety degrees from coils 118 and 120. These coils are interconnected in another force balance system similar to the one shown in FIG. 15 to provide electromagnetic forcing along the Y axis.

While the invention has been described with respect to the preferred embodiment thereof, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as set forth in the following claims.