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DEVELOPMENT OF CONTROL ALGORITHM FOR THE AUTONOMOUS GLIDING DELIVERY SYSTEM

A vibration-type angular velocity detector is for accurately correcting temperature-induced variations of an angular velocity signal without using a temperature sensor. A driving piezoelectric element, a detecting piezoelectric element and reference piezoelectric element are disposed on a vibration element. Using an output signal of the reference piezoelectric signal, a feedback control loop for applying driving voltage to the driving piezoelectric element is provided using an amplifier, a phase-shifting circuit, a rectifier, a reference voltage generator, a differential amplifier and a multiplier so as to vibrate the vibration element at a fixed amplitude. In addition, using an output signal of the detecting piezoelectric element at the time of vibrating the vibration element, an angular velocity signal is output. Here, the output voltage of the differential amplifier is a signal corresponding to the temperature of the vibration element. A correction signal is prepared by a correction signal preparing circuit using the differential amplifier output signal added to the angular velocity signal by a summer so that the temperature correction of the angular velocity signal is performed.