Tweetldee said:
Do a Google search for "voltage to frequency converter". There should be
several references that will answer your question. The LM331 from National
and the AD537 from Analog Devices are notable in that area.
This would also be called a voltage controlled oscillater. If
off-the-shelf solutions don't seem accurate enough for your needs,
check out Bob Pease's columns in Electronic Design (on the web
somewhere - use Google), in one column he had a 'very accurate' VCO
schematic.
I don't think that you'll get true 0 Hz out for 0V in, but it can get close.
You CAN do that reliably, if you add an offset to the input so that
it doesn't start oscillating until you apply 10mV or 100mV or so...