Vibration-type angular velocity sensor

A vibration-type angular velocity sensor comprising:

• a movable section including
• drive weights,
• detection weights configured to detect externally applied angular velocity, and
• a drive beam connecting the drive weights to the detection weights;
• detection units configured to detect displacements of the detection weights;
• a feedback unit configured to apply a restraining force to the detection weights to suppress the displacements;
• and
• a controller including at least one of (i) a circuit and (ii) a processor with a memory storing computer program code executable by the processor, the at least one of the circuit and the processor configured to cause the controller to
• execute a calculation of an in-phase displacement based on respective output signals from the detection units, the in-phase displacement being displacement of the detection weights in an identical direction,
• execute a calculation of an anti-phase displacement based on the respective output signals from the detection units, the anti-phase displacement being a state in which the detection weights are displaced in opposite directions,
• calculate a feedback amount, based on a result of the calculation of the in-phase displacement, the feedback amount corresponding to the restraining force suppressing sum of the displacements of the detection weights in the in-phase displacement to be equal to or less than a predetermined target value, and
• control the feedback unit to apply the restraining force based on the feedback amount.