EP1468248A1

EP1468248A1 - Rotational rate sensor

Info

Publication number: EP1468248A1
Application number: EP02774412A
Authority: EP
Inventors: Rainer Willig; Jochen Franz; Burkhard Kuhlmann; Joerg Hauer; Udo-Martin Gomez; Dieter Maurer; Christian Doering; Wolfram Bauer; Udo Bischof; Reinhard Neul; Johannes Classen; Christoph Lang; Jens Frey
Original assignee: Robert Bosch GmbH
Current assignee: Robert Bosch GmbH
Priority date: 2002-01-12
Filing date: 2002-09-25
Publication date: 2004-10-20
Also published as: WO2003058166A1; US20040123660A1; US7313958B2; JP2005514608A

Abstract

The invention relates to a rotational rate sensor comprising a substrate and a Coriolis element (2a, 2b), said Coriolis element (2a, 2b) being arranged over a surface of a substrate. According to the invention, stimulation means (12a, 13a, 12b, 13b) are provided for stimulating the Coriolis element (2a, 2b) in such a way that it oscillates parallel to a first axis (X); detection means (15a, 16a, 15b, 16b, 17) are provided for detecting a deviation of the Coriolis element (2a, 2b), caused by a Coriolis force in a second axis (Y) which is perpendicular to the first axis; the first and second axes (X, Y) are parallel to the surface of the substrate; sensor elements (1a, 1b, 2a, 2b, 3a, 3b) are provided which are at least partially mobile in relation to the substrate; and force-mediating means (19, 20) are provided for mediating a static force between the substrate and at least one of the sensor elements (1a, 1b, 2a, 2b, 3a, 3b).

Description

Yaw rate sensor

State of the art

The invention is based on a rotation rate sensor according to the preamble of the main claim.

Linear vibrating gyroscopes are generally known. With these rotation rate sensors, parts of the sensor structure are actively vibrated in one direction (primary vibration) in one direction, i.e. in a first axis (x-axis), which is oriented parallel to a substrate surface. With an external rate of rotation around an excellent sensitive axis, Coriolis forces are exerted on the vibrating parts. These Coriolis forces (which change periodically with the frequency of the primary oscillation) cause vibrations of parts of the sensor structure (secondary oscillation) likewise parallel to the substrate surface in a second direction or second axis (y-axis), which is oriented perpendicular to the x-axis. Detection means are attached to the sensor structure, which detect the secondary vibration (Coriolis measurement effect).

Advantages of the invention

When designing the rotation rate sensors, as described above, a design (by choosing suitable symmetries) is used excellent Cartesian coordinate system K = (x, y) for the primary and secondary vibration within the substrate plane. The mass and spring distributions are designed such that the main axis systems of the mass and spring stiffness tensor for the primary and secondary vibrations exactly match K.

When executing the detection means, care is also taken to ensure that the operation of the sensors in the primary vibration (without external rotation rate) does not produce any signals on the detection means for the Coriolis effect. For this purpose, the detection means are designed so that their excellent coordinate system KD also corresponds to the coordinate system of mechanics K, i.e. therefore also applies: KD = (x, y). With such ideal rotation rate sensors, there is therefore no overcoupling of the primary vibration into the detection device for the Coriolis effect. Such a coupling is called quadrature. Quadrature signals are thus signals on the detection means for the Coriolis effect, which are also present without a relative movement of the sensor with respect to an external inertial system, the sensor being operated in its primary oscillation.

The reason for the appearance of quadrature signals is that the coordinate system of the sensor element mechanics K = (x, y) does not coincide with the coordinate system of the detection means 2Ω. = (X ', y'), but both systems are slightly rotated by an angle theta ,

Typical causes for this twisting are asymmetries in the sensor structure due to imperfections in the manufacturing process. These can manifest themselves through asymmetrical mass distributions or asymmetrical spring stiffnesses. As a result, the main axis systems of the mass and spring stiffness tensor no longer match KD. The occurrence of quadrature is not specific for the silicon technology used in the rotation rate sensors described here with a sensor structure made of epitaxially grown polysilicon. Quadrature signals also occur in vibration gyroscopes made of single-crystal silicon material or quartz single crystals due to imperfections in the manufacturing process.

Quadrature interference signals in rotation rate sensors due to manufacturing imperfections are known and are found in rotation rate sensors of the most varied technologies. Different methods for reducing these interference signals are known according to the prior art.

A first method according to the prior art for suppressing the quadrature signals makes use of the different phase position of the rotation rate and quadrature signals. The Coriolis force is proportional to the speed of the primary vibration, whereas the quadrature is proportional to the deflection of the primary vibration. There is therefore a phase shift of 90 ° between the rotation rate and quadrature signals. Quadrature and rotation rate signals are detected on the detection means as signals that are amplitude-modulated with the frequency of the primary oscillation. Using the synchronous demodulation method, as described, for example, in DE 197 26 006 or also in US 5672949, the signals can first be demodulated back into the baseband. In addition, the quadrature signal can be suppressed by a suitable choice of the phase position of the reference signal for demodulation. With this method, the quadrature signal in the sensor element itself is not affected. Furthermore, the quadrature signal must also pass the primary signal conversion paths on the detection means; it can only be suppressed electronically relatively late in the signal path. With quadrature signals that are large compared to the rotation rate measuring range, this means drastically increased Requirements for the dynamic range of the first signal conversion stages and often leads to increased sensor noise.

A second method according to the prior art for reducing the quadrature signals is the physical balancing of the mechanical sensor structures. In contrast to the first method, reworking the sensor elements directly eliminates the cause of the quadrature, so that no quadrature signals occur on the detection means.

With precision mechanical rotation rate sensors, this is actively achieved by iterative mechanical material removal at different locations in the sensor element. This method modifies the main axis system of the mass or spring stiffness tensor for primary and secondary vibration in such a way that the initially existing rotation of the coordinate system of the sensor element mechanism K is reversed in relation to the coordinate system of the detection means KD.

In the case of rotation rate sensors made of single-crystal quartz material, material is removed at excellent locations in the sensor element by laser trimming. Here, too, the mass or spring stiffness tensor is modified in such a way that, in the end, the torsion of K relative to KD is essentially reversed.

Laser trimming on mass structures is also used for micromechanical rotation rate sensors made of single-crystal silicon (e.g. VSG or CRS-03 from Silicon Sensing Systems Ltd.). Furthermore, it is generally known that for general tuning fork rotation rate sensors, laser trimming on excellent spring structures within the sensor structure. With this method, the main axis system of the spring constant sensor can be modified in a targeted manner during operation of the sensor elements in the primary vibration until K and KD match and the quadrature signal is thus eliminated. The methods described here eliminate the quadrature in the sensor element itself and are therefore superior to the first method in terms of sensor performance. However, balancing is a complex and often iterative, lengthy and therefore very cost-intensive process.

According to a further generally known method according to the prior art, electronic quadrature compensation is carried out in capacitive micromechanical rotation rate sensors. The suppression of the quadrature signal is achieved by targeted injection of an electrical signal into the electronic converter unit on the detection means for the Coriolis effect. The size of the signal is selected so that it exactly compensates for the signal generated by the quadrature at the detection means.

With this method too (analogous to the first method according to the prior art) the mechanical cause for the quadrature signal itself is not eliminated. In contrast to the first method, however, the quadrature signal is suppressed before the primary signal conversion. This can reduce the dynamic range and noise requirements of the primary signal conversion.

A serious disadvantage of the method described, however, is that it is only suitable for a very special design of the sensor evaluation electronics. However, this evaluation method (baseband evaluation) has serious disadvantages in principle (electrical crosstalk, etc.) and can therefore not be used for the rotation rate sensors described in the present invention.

Another method according to the prior art for electronic quadrature compensation in capacitive micromechanical rotation rate sensors is discussed in US Pat. No. 6,067,858. Different electrical potentials are applied between movable comb fingers and fixed electrodes. The rotation rate sensor according to the invention with the features of the main claim has the advantage over the prior art that a reduction of the. By a special method based on the targeted action of static forces

Quadrature signals is reached. In this case, constant (static) electrostatic forces are exerted on the sensor structure by electrode structures attached to suitable parts of the sensor structure by targeted application of external electrical direct voltages. The suitable attachment of the electrode structures (quadrature compensation structures) ensures that the main axis system of the sensor element mechanism K is rotated by the external electrical voltage, the angle of rotation being able to be set by the magnitude of the voltage. As a result, the main axis system of the sensor element mechanism K can be brought into exact agreement with the main axis system of the detection means for the Coriolis effect and the quadrature can thus be suppressed. The invention thus represents a method for quadrature compensation by means of static forces. The forces are generated by electrode structures attached to excellent parts of the sensor structure, in such a way that an external electrical direct voltage is applied to electrodes fixed to the substrate relative to the movable sensor structure. By the appropriate attachment of these electrode structures

(Quadrature compensation structures) is achieved that the main axis system of the sensor element mechanism K is rotated by the external electrical voltage such that it is brought into exact agreement with the main axis system of the detection means for the Coriolis effect KD and thus the quadrature can be suppressed. The invention thus represents a static method for quadrature compensation. The method according to the invention acts similarly to mechanical balancing of the sensor structure. Compared to physical balancing, however, it has the advantage that the compensation takes place here by applying an external voltage (by adjustment) and thus an expensive process step can be omitted. Furthermore, the method is compatible with all conceivable sensor evaluation electronics.

drawing

An embodiment of the invention is shown in the drawing and explained in more detail in the following description. Show it

FIG. 1 shows a top view of an exemplary embodiment of a rotation rate sensor according to the invention,

Figure 2 shows a partial structure of an inventive

Rotation rate sensor in detail view and

Figure 3 is a detailed view of the invention

Compensation structures.

Description of the embodiment

A possible implementation of the method according to the invention for

Quadrature compensation is shown as an example on a micromechanical rotation rate sensor.

The method can be applied to a special class of rotation rate sensors. These are linear vibrating vibrating gyroscopes. An exemplary embodiment of the present invention is explained below, the functional components of the rotation rate sensor which are essential for understanding the mode of operation of the present invention being briefly described using the rough illustration of FIG. 1.

1 shows the top view of the structured parts or the structure of a yaw rate sensor or a yaw rate sensor element, the micromechanical in particular structured structure of the rotation rate sensor lying substrate is not shown for reasons of clarity.

For the substrate and the sensor elements arranged above the substrate, silicon is preferably used as the material, which is made conductive by appropriate doping. The substrate can be electrically insulated where necessary by insulating layers. However, other materials such as ceramics, glass or metals can also be used for the rotation rate sensor according to the invention.

The rotation rate sensor shown in FIG. 1 is designed according to the invention, in particular, for production using pure surface micromechanics. A rotation around the substrate normal (z-axis) is sensed, i.e. an axis which is perpendicular to the substrate surface and which is also referred to below as the third axis. According to the invention, all moving parts of the structure are essentially completely charge-conducting, i.e. electrically conductive.

According to the invention, the sensor structure comprises in particular two preferably symmetrically designed substructures, which are shown in the left or right part of FIG. 1 and are designated by the reference numerals 50a and 50b. According to the invention, however, it is also possible that the sensor structure according to the invention only comprises such a substructure 50a.

Each of the substructures 50a, 50b comprises three individual masses which are movable relative to the substrate to which the reference coordinate system is connected. In this case, a first mass is provided as drive mass la, lb within the substructures. It is suspended from the substrate with springs 5a, 5b by means of anchoring means 18a, 18b in such a way that the drive mass is preferably only an in-plane movement (parallel to the substrate plane) in a first direction or in a first direction Axis (X axis) can execute and an in-plane movement in a second axis (Y axis) perpendicular to the first axis is suppressed. For this purpose, the springs 18a, 18b are soft in the x direction and stiff in the y direction. The first axis is also called the drive axis X; the second axis is also called the detection axis Y.

Within the substructures 50a, 50b, a third mass, which is also referred to as detection element 3a, 3b below, is suspended with springs 6a, 6b relative to the substrate such that it can preferably perform an in-plane movement only in the detection direction Y. and movement in the drive direction X is suppressed. For this purpose, the springs 6a, 6b are soft in the Y direction and stiff in the X direction.

Within the substructures 50a, 50b, a second mass as Coriolis element 2a, 2b is connected to the first mass la, lb and the third mass 3a, 3b with springs 7a, 7b, 8a, 8b in such a way that the Coriolis element 2a, 2b is opposite the Drive mass la, lb can preferably only perform an in-plane relative movement in the detection direction and a relative movement in the drive direction is suppressed, and that the Coriolis element 2a, 2b preferably only perform an in-plane relative movement in the x direction compared to the detection element 3a, 3b can and a relative movement in the y direction is suppressed, such that the Coriolis element 2a, 2b can carry out both a movement in the drive and in the detection direction. For this purpose, the springs 7a, 7b are provided between the Coriolis element 2a, 2b and the detection element 3a, 3b in the X direction and are provided stiff in the Y direction. The springs 8a, 8b between the Coriolis element 2a, 2b and the drive mass la, lb are provided soft in the y direction and stiff in the x direction.

The drive mass la, lb, the Coriolis element 2a, 2b and the detection element 3a, 3b are also referred to below as movable sensor elements la, lb, 2a, 2b, 3a, 3b, because they have a certain mobility - limited by the spring elements - relative to the substrate. The sensor elements la, lb, 2a, 2b, 3a, 3b are provided according to the invention in particular as essentially rectangular, frame-shaped structures, the Coriolis element 2a, 2b surrounding the detection element 3a, 3b and the drive mass la, lb surrounding the Coriolis element 2a, 2b surrounds.

In a sensor structure according to the invention with two substructures 50a, 50b, both Coriolis elements 2a, 2b are connected via springs 11 in such a way that there is a direct mechanical coupling of both substructures 50a, 50b both in the drive and in the detection direction, so that it is used to form parallel and antiparallel vibration modes in the x direction (with the participation of the drive masses la, lb and the Coriolis elements 2a, 2b (useful modes drive, primary vibration) and that parallel and antiparallel in-plane vibration modes in the y direction are formed (with the participation of the Coriolis elements 2a, 2b and the detection elements 3a, 3b) comes (useful mode detection, secondary vibration).

The excitation or the drive of the structure (primary vibration) is preferably carried out in the anti-parallel drive mode (the first mass la of the first substructure 50a moves in phase opposition to the first mass lb of the second substructure 50b). The Coriolis accelerations occurring at an external rotation rate around the z-axis are then also in opposite phase and, with a suitable design of the structures, lead to an excitation of the antiparallel detection mode (secondary oscillation). The desired measurement effect generated in this way can then be distinguished by suitable evaluation directly from an (undesired) measurement effect, caused by external linear accelerations in the y direction, which would have the same phase on the detection of both substructures. The primary vibration is excited via interdigital comb drives (comb drives) on the drive asses la, lb; likewise the detection of the drive movement. For this purpose, a first electrode 12a, 12b and a second electrode 13a, 13b are provided according to the invention, which generate the primary vibrations. The first electrode 12a, 12b is rigidly connected to the substrate but is provided in an electrically insulated manner. The second electrode 13a, 13b is connected to the drive mass la, lb in a mechanically rigid and electrically conductive manner. The first electrode 12a, 12b and the second electrode 13a, 13b engage in a finger-like manner and thus form comb structures. By applying an electrical voltage between the electrodes, it is thus possible to exert a force on the drive mass la, lb from the substrate.

The Coriolis acceleration is detected on detection means, in particular in the form of third and fourth electrodes within the detection element 3a, 3b. For this purpose, the detection element 3a, 3b is designed such that it forms the fourth electrode as the movable part 16a, 16b of a plate capacitor arrangement. A fixed part 15a, 16b of the plate capacitor arrangement is designated as the third electrode and is mechanically rigid (but electrically insulated) connected to the substrate. The fixed part is designed as a split electrode, so that the entire arrangement forms a differential plate capacitor.

In the sensor structure, the detection takes place on a stationary structure (detection “at rest”). This means that the detection element 3a, 3b and thus the movable electrode 16a, 16b of the plate capacitor arrangement essentially does not perform any drive movement. By dividing the substructures 50a , 50b of the rotation rate sensor in drive mass la, lb, Coriolis element 2a, 2b and detection element 3a, 3b, a double decoupling of the detection movement from the drive movement is achieved. FIG. 2 shows the left substructure 50a from FIG. 1 of a rotation rate sensor according to the invention in a detailed view. For reasons of clarity, only a partial structure (left) of the sensor element is shown.

When designing the rotation rate sensors, an excellent Cartesian coordinate system K = (x, y) for the primary and secondary vibration within the substrate level is specified by design (by choosing suitable symmetries). The mass and spring distributions should ideally be designed such that the main axis systems of the mass and spring stiffness tensor for the primary and secondary vibrations exactly match K.

When executing the detection means, care is also taken to ensure that the operation of the sensors in the primary vibration (without external rotation rate) does not produce any signals on the detection means for the Coriolis effect. For this purpose, the detection means should be designed so that their excellent coordinate system KD also corresponds to the coordinate system of mechanics K, i.e. the following applies: KD = (x, y).

If the coordinate systems K and KD do not completely match, for example due to production fluctuations, quadrature signals can occur.

A distinction is made between positive and negative quadrature signals in relation to the Coriolis measurement effect: when the left substructure 50a in FIG. 2 moves in the primary oscillation in the positive x direction and a positive external rotation rate about the z axis, the Coriolis acceleration acts in the negative y - Direction. A positive quadrature signal works in the same direction, a negative quadrature signal works in the opposite direction. In the rotation rate sensor according to the invention, electrode structures attached to suitable parts - in particular the drive mass la, lb, the Coriolis element 2a, 2b and the detection element 3a, 3b - of the sensor structure are used to apply constant (static) electrostatic forces to the sensor structure by the targeted application of external electrical direct voltages exercised. Through the suitable attachment of these electrode structures, which are also referred to below as quadrature compensation structures or as

Compensation structures are called, it is achieved that the main axis system of the sensor element mechanism K is rotated by the external electrical voltage, wherein the angle of rotation can be adjusted by the amount of the voltage. As a result, the main axis system of the sensor element mechanism K can be brought into exact agreement with the main axis system of the detection means for the Coriolis effect KD, and thus the quadrature can be suppressed. The invention accordingly represents a static method for quadrature compensation.

2 shows electrostatic quadrature compensation structures 19, 20 as examples within the Coriolis element 2a. According to the invention, the compensation structures are provided in the form of two substructures, a first substructure 19 compensating the positive quadrature signals and a second substructure compensating the negative quadrature signals. Such two substructures are particularly useful because - since attractive forces are exerted according to the invention in particular via electrostatic forces - rotation of the coordinate system K can then be effected both in the positive and in the negative direction.

3 shows detailed views of the compensation structures 19, 20 using the example of their implementation on the Coriolis element 2a. 3a shows a compensation structure 19, 20 with the Coriolis element 2a without deflecting the Coriolis element 2a from its equilibrium position (ie the displacement of the Coriolis element 2a in the X direction disappears), ie X = 0. FIG. 3b shows the compensation structure 19, 20 with the Coriolis element 2a with a deflection of the Coriolis element 2a from its equilibrium position in the positive X direction, ie X = + Xo. FIG. 3c shows the compensation structure 19, 20 with the Coriolis element 2a with a deflection of the Coriolis element 2a from its equilibrium position in the negative X direction, ie X = -Xo.

According to the invention, each of the substructures 19, 20 of the compensation structure is provided in particular as a capacitor arrangement with a fifth electrode and a sixth electrode. Suitable areas 60 are cut out of the Coriolis element 2a, which are also referred to below as cutouts 60. The cutouts 60 are provided according to the invention in particular as rectangular cutouts 60. The side walls of these cutouts 60 each form the sixth electrode (19b, 20b) of the electrostatic compensation structure 19, 20. In the cutouts 60, counter electrodes (plate capacitor structures) (19a, 20a) which are mechanically rigidly anchored to the substrate are provided as fifth electrodes. The fifth electrodes 19a and also the fifth electrodes 20a are each electrically connected to one another according to the invention, in particular via conductor tracks below the movable structures of the rotation rate sensor - although the fifth electrodes 19a are provided in an electrically insulated manner from the fifth electrodes 20a - but are electrically insulated from the latter Executed substrate so that electrical potentials desired from the outside can be applied to these electrodes 19a, 20a with respect to the movable sensor structure.

The fixed fifth electrodes (19a, 20a) are provided asymmetrically within the cut-out areas. This means that, for the first substructure 19 of a compensation structure, the fifth electrode 19a, for example is provided closer to the right edge of the corresponding cutout 60 and that, for the second substructure 20 of a compensation structure, the sixth electrode 20a is provided, for example, closer to the left edge of the corresponding cutout 60. In the rest position of the Coriolis element 2a, static forces are exerted on the Coriolis element 2a in the y-direction when external quadrature compensation voltages (direct electrical voltages) are applied between the fifth and sixth electrodes 19a, 20a, 19b, 20b. According to the invention, the magnitude of these forces can in particular be continuously changed via the direct voltage between the fifth and sixth electrodes. The direction of the forces is determined by the asymmetry of the arrangement. Here, the first substructure 19 is that shown in FIG. 3

Compensation structure according to the invention is capable of exerting forces to the left, which is shown in FIG. 3a with an arrow pointing to the left in the region of a curly bracket belonging to reference number 19. According to the invention, the second substructure 20 of the compensation structure shown in FIG. 3 is able to exert forces to the right, which is shown in FIG. 3a with an arrow pointing to the right in the area of a curly bracket belonging to reference number 20.

To compensate for quadrature signals in the sensor element, it is provided according to the invention to apply an electrical compensation voltage to one of the substructures 19, 20, for example with respect to the Coriolis element 2a, in order to achieve a static force effect on the Coriolis element 2a. According to the invention, however, it is also provided to provide the compensation structures 19, 20 in such a way that a static force effect is achieved on another or more of the sensor structures.

Due to the force effect of the compensation structures 19, 20, the resulting forces change when the Coriolis element 2a moves in the primary vibration with the amplitude x ₀ not on the structure. For this reason, these forces are also called static compensation forces.

The effect of the compensation forces is explained in more detail in FIG. 2. The direction of the static compensation forces is again shown by arrows pointing to the left in the area of the first substructure 19 and by arrows pointing to the right in the area of the second substructure 20. The suitable arrangement of the compensation structures (19, 20) ensures that the resulting forces on the CorMasse (2a) generate a torque around the center of gravity of the Coriolis element 2a, designated by the reference symbol S in FIG. 2, but no linear force component in y Direction is present. According to the invention, the force effect due to the voltages applied to the compensation structures is such that a twisting of the Coriolis element 2a in the example under consideration and thus also a twisting of the main axis system of the Coriolis element 2a relative to the substrate is brought about. In FIG. 2, the first substructure 19 is provided on a first side of the Coriolis element 2a (which is shown in FIG. 2 in the upper area of the figure) rather in the right area of the figure and the second substructure 20 on the first side is more in the left area of the figure 2 provided. On a second side of the Coriolis element 2a opposite the first side (shown in the lower figure area in FIG. 2), the reverse is the case: the first substructure 19 is provided more in the left area of FIG. 2 and the second substructure 20 is more in the right area of FIG Figure 2 provided. Therefore, by applying a voltage to the first substructure 19, the torque is turned on the Coriolis element 2a clockwise in FIG. 2 and by applying a voltage to the second substructure 20, the torque is twisted on the Coriolis element 2a counterclockwise in FIG. 2. This makes it according to the invention no quadrature signals, which results in significantly reduced requirements for the primary sensor signal evaluation and improved sensor performance. The invention is based on the action of static forces. This makes it easy to implement in surface micromechanics. The invention can be used for all vibrating gyroscopes whose primary and secondary vibrations run within the substrate plane. In addition, the invention is compatible with a wide variety of sensor evaluation circuit concepts.

Claims

Expectations

1. rotation rate sensor with a substrate and a Coriolis element (2a, 2b), which is arranged above a surface of a substrate, wherein the Coriolis element (2a, 2b) can be excited to vibrate parallel to a first axis (X), wherein deflection of the Coriolis element (2a, 2b) due to a Coriolis force in a second axis (Y), which is provided substantially perpendicular to the first axis (X), can be detected, the first and second axes (X, Y) are provided parallel to the surface of the substrate, characterized in that sensor elements (1a, 1b, 2a, 2b, 3a, 3b) which are at least partially movable relative to the substrate are provided, force-transmitting means (19, 20) being provided, wherein the means (19, 20) are provided to convey a static force between the substrate and at least one of the sensor elements (la, lb, 2a, 2b, 3a, 3b).

2. rotation rate sensor according to claim 1, characterized in that the force effect on the Coriolis element (2a, 2b) is exerted.

3. rotation rate sensor according to claim 1, characterized in that the force is exerted on a drive mass (la, lb).

4. rotation rate sensor according to claim 1, characterized in that the force effect is exerted on a detection element (3a, 3b).

5. Dre rate sensor according to one of the preceding claims, characterized in that the means (19, 20) are provided such that the static force effect corresponds to a torque with respect to a substantially perpendicular to the surface of the substrate third axis (Z).

6. Yaw rate sensor according to one of the preceding claims, characterized in that compensation structures with a first substructure (19) and a second substructure (20) are provided as means (19, 20).

7. rotation rate sensor according to claim 6, characterized in that the substructures (19, 20) are provided asymmetrically.

8. rotation rate sensor according to one of the preceding claims, characterized in that drive center (12a, 13a, 12b, 13b) are provided, through which the Coriolis element (2a, 2b) can be excited to vibrate parallel to the first axis (X), and that Detection means (15a, 16a, 15b, 16b, 17) are provided, by means of which a deflection of the Coriolis element (2a, 2b) due to the Coriolis force in the second axis (Y) can be detected.