JP2000270573A - Drive control device, drive control method and memory medium for vibrating actuator - Google Patents

Abstract

PROBLEM TO BE SOLVED: To positively cause the operations of vibrating actuators to stop, when operation commands are not transmitted to the operation control circuits of the vibrating actuators due to a failure in a transmission route. SOLUTION: A failure detection unit 9 monitors signals, which show the operation states of vibration actuators 4-6 and are transmitted from operation control circuits 1-3 via a transmission unit 7. As a result of monitoring, if abnormalities are detected in the signals showing the operation states of the vibrating actuators 4-6, it detects that a failure exists in the transmission unit 7. In accompaniment with the detection, the failure detection unit 9 controls a power supply unit 8 and the operation control circuits 1-3 to stop all the operations of the vibrating actuators 4-6.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vibration type actuator drive control device, drive control method, and storage medium, and more particularly to applying an AC signal to an electro-mechanical energy conversion element used in an image forming apparatus or the like. The present invention relates to a drive control device for a vibration-type actuator that obtains a driving force by using the same, a drive control method applied to the vibration-type actuator drive control device, and a storage medium that stores a program that executes the drive control method.

[0002]

2. Description of the Related Art Conventionally, an AC signal is applied to a piezoelectric element as an electromechanical energy conversion element to excite a vibrating body,
There is a vibration type actuator that obtains driving force,
The operation of the vibration type actuator is controlled by an operation control circuit. The operation command is sent from the operation command unit to the operation control circuit.When this operation command is sent from the operation command unit to the operation control circuit by serial communication, the checksum data is transmitted to the operation control circuit in order to improve the data communication accuracy. I was going to attach it later.

Further, as disclosed in JP-A-64-047281 and JP-A-3-150077, in a control device for a vibration-type actuator, the control becomes unstable, an overload state, and a vibration departure state occur. In such a case, the operation command unit issues a command to the operation control circuit to stop the operation of the vibration type actuator.

[0004]

However, in the conventional method of transmitting checksum data, when a communication line is disconnected, the failure cannot be detected by the operation control circuit, and the vibration-type actuator receives the signal from the operation command unit. Rotation continues regardless of the operation command, and the operation of the vibration type actuator cannot be stopped.

In the latter operation control circuit, if the command from the operation command section to the operation control circuit is interrupted due to a failure, the vibration type actuator continues to rotate, and the operation of the vibration type actuator cannot be stopped. There was sex.

SUMMARY OF THE INVENTION The present invention has been made in view of such a problem, and ensures operation of a vibration-type actuator when an operation command does not reach an operation control circuit of the vibration-type actuator due to a transmission line failure. It is an object to provide a vibration-type actuator drive control device, a drive control method, and a storage medium that can be stopped.

[0007]

According to the first aspect of the present invention, there is provided a vibration-type actuator for obtaining a driving force by applying an AC signal to an electro-mechanical energy conversion element. An operation control circuit for controlling the operation of the vibration type actuator, an operation command means for generating an operation command directed to the operation control circuit and monitoring an operation state of the vibration type actuator, the operation command means and the operation control A vibration-type actuator drive control device comprising: a transmission unit provided between the vibration-type actuator and a circuit; and a monitor for monitoring a signal indicating an operation state of the vibration-type actuator sent from the operation control circuit via the transmission unit. Means, and as a result of monitoring by the monitoring means, when there is an abnormality in a signal indicating an operation state of the vibration type actuator, Fault detecting means for detecting that a fault has occurred, and operation stopping means for stopping the operation of the vibration type actuator when the fault detecting means detects a fault in the transmitting means. .

According to the present invention, a vibration-type actuator for obtaining a driving force by applying an AC signal to the electro-mechanical energy conversion element, an operation control circuit for controlling the operation of the vibration-type actuator, An operation command means for generating an operation command directed to the operation control circuit and monitoring an operation state of the vibration type actuator; a first transmission means provided between the operation command means and the operation control circuit; And a second transmission means provided in the operation control circuit, the vibration type actuator drive control device, wherein the vibration type actuator sent from the operation control circuit via the first transmission means Monitoring means for monitoring a signal indicating an operation state, and as a result of monitoring by the monitoring means, when there is an abnormality in a signal indicating an operation state of the vibration type actuator. A failure detection unit that detects that a failure has occurred in the first transmission unit; and, when the failure detection unit detects a failure in the first transmission unit, the second transmission unit uses the second transmission unit. Operation stop means for instructing the operation control circuit to stop the operation.

According to the fifteenth aspect of the present invention, a vibration-type actuator for obtaining a driving force by applying an AC signal to the electro-mechanical energy conversion element, an operation control circuit for controlling the operation of the vibration-type actuator, An operation command means for generating an operation command directed to the operation control circuit and monitoring an operation state of the vibration type actuator; and a transmission means provided between the operation command means and the operation control circuit. In the vibration-type actuator drive control device, monitoring means for monitoring a signal indicating an operation command sent from the operation command means via the transmission means, and as a result of monitoring by the monitoring means, sent from the operation command means. Failure detection means for detecting that a failure has occurred in the transmission means when there is an abnormality in a signal indicating an operation command; and the failure detection means Upon detection of a failure of the transmission means, and having an operation stop means for stopping the operation of the vibration type actuator.

Further, according to the present invention, a vibration-type actuator for obtaining a driving force by applying an AC signal to an electro-mechanical energy conversion element, and an operation control circuit for controlling the operation of the vibration-type actuator And operation command means for generating an operation command directed to the operation control circuit and monitoring the operation state of the vibration-type actuator, and transmission means provided between the operation command means and the operation control circuit. A drive control method applied to the vibration-type actuator drive control device provided with: a monitoring step of monitoring a signal indicating an operation state of the vibration-type actuator sent from the operation control circuit via the transmission unit;
As a result of the monitoring by the monitoring step, when there is an abnormality in the signal indicating the operation state of the vibration type actuator,
A failure detection step of detecting that a failure has occurred in the transmission unit; and an operation stop step of stopping the operation of the vibration-type actuator when the failure of the transmission unit is detected by the failure detection step. It is characterized by.

According to the twenty-eighth aspect of the present invention, a vibration-type actuator for obtaining a driving force by applying an AC signal to the electro-mechanical energy conversion element, an operation control circuit for controlling the operation of the vibration-type actuator, An operation command means for generating an operation command directed to the operation control circuit and monitoring an operation state of the vibration type actuator; a first transmission means provided between the operation command means and the operation control circuit; A drive control method applied to a vibration-type actuator drive control device having a second transmission means provided in the operation control circuit, wherein the control signal is transmitted from the operation control circuit via the first transmission means. A monitoring step of monitoring a signal indicating an operation state of the vibration-type actuator; and, as a result of monitoring by the monitoring step, the operation of the vibration-type actuator. A failure detection step of detecting that a failure has occurred in the first transmission means when the signal indicating the state is abnormal, and detecting a failure of the first transmission means by the failure detection step. When the second
And an operation stopping step of instructing the operation control circuit to stop the operation by using the transmitting means.

According to the invention, a vibration-type actuator for obtaining a driving force by applying an AC signal to an electro-mechanical energy conversion element, an operation control circuit for controlling the operation of the vibration-type actuator, An operation command means for generating an operation command directed to the operation control circuit and monitoring an operation state of the vibration type actuator; and a transmission means provided between the operation command means and the operation control circuit. In the drive control method applied to the vibration-type actuator drive control device, a monitoring step of monitoring a signal indicating an operation command transmitted from the operation command unit via the transmission unit, and a result of the monitoring by the monitoring step, When there is an abnormality in the signal indicating the operation command sent from the operation command means, it is detected that a failure has occurred in the transmission means. And disabilities detecting step, upon detecting a failure of said transmission means by said failure detection step, and having an operation stop step for stopping the operation of the vibration type actuator.

Further, according to the invention described in claim 41,
A vibration-type actuator for obtaining a driving force by applying an AC signal to the electro-mechanical energy conversion element, an operation control circuit for controlling the operation of the vibration-type actuator, and generating an operation command for the operation control circuit Operation command means for monitoring the operation state of the vibration type actuator,
In a computer-readable storage medium, a drive control method applied to a vibration-type actuator drive control device including a transmission unit provided between the operation command unit and the operation control circuit is stored as a program, A step of monitoring the signal indicating the operation state of the vibration-type actuator sent from the operation control circuit via the transmission unit, wherein the drive control method includes: A failure detection step of detecting that a failure has occurred in the transmission means when there is an abnormality in the signal indicating the operation state; and detecting the vibration type when the failure of the transmission means is detected by the failure detection step. Stopping the operation of the actuator.

According to the invention described in claim 43, a vibration-type actuator for obtaining a driving force by applying an AC signal to the electro-mechanical energy conversion element, an operation control circuit for controlling the operation of the vibration-type actuator, An operation command means for generating an operation command directed to the operation control circuit and monitoring an operation state of the vibration type actuator; and a transmission means provided between the operation command means and the operation control circuit. In a computer-readable storage medium storing a drive control method applied to a vibration-type actuator drive control device as a program, the drive control method may include an operation command transmitted from the operation command means via the transmission means. A monitoring step of monitoring a signal indicating that the operation command is sent from the operation command means as a result of monitoring by the monitoring step. When there is an abnormality in the signal indicating the operation command, a failure detection step of detecting that a failure has occurred in the transmission unit, and when the failure of the transmission unit is detected by the failure detection step, the vibration type Stopping the operation of the actuator.

According to the forty-sixth aspect, a vibration-type actuator for obtaining a driving force by applying an AC signal to an electro-mechanical energy conversion element, an operation control circuit for controlling the operation of the vibration-type actuator, An operation command means for generating an operation command directed to the operation control circuit and monitoring an operation state of the vibration type actuator; and a transmission means provided between the operation command means and the operation control circuit. In a computer-readable storage medium storing a drive control method applied to a vibration-type actuator drive control device as a program, the drive control method may include an operation command transmitted from the operation command means via the transmission means. A monitoring step of monitoring a signal indicating that the operation command is sent from the operation command means as a result of monitoring by the monitoring step. When there is an abnormality in the signal indicating the operation command, a failure detection step of detecting that a failure has occurred in the transmission unit, and when the failure of the transmission unit is detected by the failure detection step, the vibration type Stopping the operation of the actuator.

[0016]

Embodiments of the present invention will be described below with reference to the drawings.

(First Embodiment) FIG. 1 is a block diagram showing a configuration of a vibration-type actuator drive control device according to a first embodiment of the present invention.

In the figure, reference numerals 1, 2, and 3 denote operation control circuits of a vibration-type actuator, and reference numerals 4, 5, and 6 denote generally called vibration wave motors, which output frequency signals having different phases to an electro-mechanical energy conversion element. A vibration-type actuator 7 that forms a plurality of standing waves having different phases by applying the same, synthesizes the standing waves, and vibrates the vibrating body includes operation control circuits 1, 2, and 2.
A transmission unit for transmitting an operation command to the power supply unit; a power supply unit for supplying power to the operation control circuits; Is a failure detection unit for instructing the operation.

The operation command unit 10 includes operation control circuits 1, 2, 3,
On the other hand, operation information such as the rotation speed, rotation direction, and stop position of the vibration type actuators 4, 5, and 6;
Control information such as a control mode and actuator information such as a driving frequency range, a starting frequency, and a maximum voltage are transmitted.

In general, as the amplitude of the applied AC drive signal increases and the frequency approaches the resonance frequency of the vibrating body, the phase difference of the vibration type actuator is further increased by a predetermined phase difference (two-phase vibration type actuator). In the case of an actuator, the rotation speed becomes higher as the predetermined phase difference is closer to 90 degrees). However, the rate of change of the rotational speed with respect to these parameters is non-linear, temperature-dependent, individual difference, and time-dependent.

Here, it is assumed that each of the operation control circuits 1, 2, 3 controls the rotation speed of the corresponding vibration type actuator by changing the frequency of the drive voltage applied to the vibration type actuator.

FIG. 8 is a diagram showing the relationship between the driving frequency and the rotational speed of the vibration type actuator. In the figure, Fr is a resonance frequency, and F0 is a frequency set at the time of startup.

The driving frequency range for controlling the frequency is set as follows. That is, a vibration type actuator generally has a plurality of vibration modes. In addition to the peak-like characteristics near the resonance frequency Fr shown in FIG. 8, a plurality of peaks are formed in a low frequency region and a high frequency region not shown in FIG. Characteristics appear. For example, if the frequency F0 in FIG.
Mountain-like characteristics may also occur around 0 kHz or 44 kHz. Therefore, the driving frequency range is set, for example, in the range of 32 kHz to 40 kHz so as not to deviate from the desired mountain-like characteristic.

FIG. 9 shows an operation command section 10 and a failure detection section 9.
5 is a flowchart showing a flow of the operation of FIG.

First, when the power is turned on, the operation control circuits 1, 2, 3 are initialized, and initial values such as a drive frequency, a drive frequency range, a control mode, and a drive voltage at startup are set. (S1). This setting is performed from the operation command unit 10 through the transmission unit 7, and the drive frequency F0 at the time of startup is set to a frequency corresponding to the low rotation speed so that the startup can be performed smoothly. The driving voltage at the time of driving is set to a desired value. Further, the control mode is set to the speed control mode, and the rotation speed of the vibration type actuator is controlled by changing the frequency using a mountain-like right inclination characteristic in a frequency region higher than the resonance frequency Fr shown in FIG. To

When started in this way (S2), the rotary shafts of the vibration type actuators 4, 5, and 6 have built-in rotary encoders (not shown) for detecting the rotation of the rotary shafts, and corresponding operations are performed. Each of the control circuits detects the rotation speed by using this, and changes the drive frequency according to a comparison result between the rotation speed command sent from the operation command unit 10 via the transmission unit 7 and the actual detected rotation speed. This controls the rotation speed.

FIG. 10 is a block diagram showing the configuration of the operation control circuits 1, 2, 3. Each of the operation control circuits 1, 2, 3 has the same configuration, and performs speed feedback control by integral control.

In the figure, reference numeral 30 denotes a subtractor, which outputs a difference between a value proportional to the reciprocal of a speed command from a command means (not shown) and an output of a period counter 37 described later. 31 is a programmable amplifier for amplifying a signal from the subtractor 30 with a set control gain, and 32 is a programmable amplifier 3
An integrator 33 that integrates the output of 1 is an adder that adds the drive frequency at the time of startup set by the setting means (not shown) to the output of the integrator 32, and 34 corresponds to the output of the adder 33. A drive signal generator for generating a two-phase AC voltage at a frequency; 35, a vibration-type actuator driven by the output of the drive signal generator 34; 36, a rotary encoder for detecting the rotational speed of the vibration-type actuator 35;
Reference numeral 7 denotes a cycle counter for detecting the cycle of the output pulse of the rotary encoder 36.

The operation of the control system will be described below.

In the subtractor 30, instead of subtracting the actual speed from the speed command, the target speed is set in the rotary encoder 3.
The cycle of the output signal of the rotary encoder 36 is subtracted from the value converted into the output signal cycle of No. 6. Because of the period subtraction, the output of the subtractor 30 has a negative value when the actual speed is lower than the target speed. In this case, since the integrator 32 integrates a negative value, the integration is performed in the negative direction, and the output of the adder 33 changes in a direction indicating a low frequency. here,
Since the drive frequency at the time of startup is set to the frequency F0 shown in FIG. 8, the output frequency of the drive signal generation circuit 34 gradually changes in the direction of the resonance frequency Fr, and the rotational speed of the vibration actuator 35 gradually increases. Get higher and approach the target speed.

Further, even when the drive frequency is fixed, the vibration type actuator can change the rotation speed by changing the magnitude of the drive voltage. Here, the frequency control that changes only the frequency has been described. Sometimes it is done.

Returning to FIG. 9, the operation command section 10 instructs the power supply section 8 to start and stop the supply of power (S3, S4, S9), and the operation control circuits 1, 2, 3 as well.
, An operation command is transmitted using serial communication such as RS232C. The operation command is given by the Rxd signal,
The signal is transmitted between the transmission units 7-a and 7-b by bidirectional communication using a signal using any of light, radio waves, electricity, and the like, and transmitted to the operation control circuits 1, 2, and 3. By the operation command, for example, the control of the rotation speed and the control of the start / stop according to the difference between the actual rotation speed and the target rotation speed are performed by the operation control circuits 1, 2, and 2.
3, and setting of control information such as a control gain at the time of operation, a driving frequency at the time of starting, and a driving voltage is performed at the operation control circuits 1, 2, and 3. The operation control circuits 1, 2, and 3 have ID numbers "0, 1, 2", respectively.
The operation command sent from the operation command unit 10 to the operation control circuits 1, 2, 3 is assigned an ID number. Therefore, which operation control circuit is the operation command is transmitted together with the command. Can be identified by the received ID number. Thus, the three vibration-type actuators are controlled by the corresponding operation control circuits based on the operation commands.

On the other hand, the information set by the operation command and the operation states of the vibration type actuators 4, 5, and 6 are represented by T
It is periodically sent to the operation command unit 10 via the xd signal.
That is, when a command to output information such as the rotation speed is input from the operation command unit 10 via the Rxd signal, the operation control circuits 1, 2, and 3 respectively control the operation control of the adjacent small ID numbers. Transmits information to the circuit, and the information is ID
It is transmitted to the operation control circuit with the smallest number in order, and finally the ID
It is sent from the operation control circuit 1 with the number 0 to the operation command unit 10 via the transmission unit 7 by the Txd signal. In this way, the operation command unit 10 periodically monitors each operation of the vibration type actuators 4, 5, and 6, for example, a difference between the target speed and the actually measured section value, and responds when the operation is not performed stably. The control gain of the operation control circuit is adjusted.

The failure detection unit 9 determines whether the transmission unit 7 is operating normally based on the operation information sent by the Txd signal. Note that the failure detection unit 9 may receive information necessary for the determination from the operation command unit 10 instead of directly receiving the Txd signal. In the above determination, when the information to be changed among the information sent from each of the operation control circuits 1, 2, 3 to the operation command unit 10 does not change for a predetermined time or more (S5) at the time of the starting operation (S6). ,
S7), a failure is determined (S8). Note that a failure may be determined when the information to be changed does not change for more than a predetermined number of times of reception. Further, the operation command unit 10
The initialization information, which is sent from each of the operation control circuits 1, 2, and 3 to the operation control circuits 1, 2, and 3 and includes the setting values that should not change,
The information may be sent back from the server 2 or 3, and if the information has changed, it may be determined that a failure has occurred.

Information that does not always change or information that does not change under certain conditions include control gain, start or drive frequency, drive voltage, rotational speed command, position command, and control mode (speed control mode, position control mode, The information that changes includes an actual rotation speed, a driving frequency (when speed control is performed by a frequency), and a rotation position, which are detected by the encoder when the constant speed control is performed. .

When it is determined that a failure has occurred in the transmission unit 7, the failure detection unit 9 instructs the power supply unit 8 to turn off the power, and stops supplying power to all the operation control circuits 1, 2, and 3. Then, all the vibration type actuators stop operating.
Instead of stopping the power supply to all of the operation control circuits 1, 2, and 3, the power supply to the power amplifiers constituting each of the operation control circuits 1, 2, and 3 may be stopped. Alternatively, output of drive power from each power amplification unit to the corresponding vibration-type actuator may be prohibited.

In this example, an example of serial communication has been described.
The same applies to the case where parallel communication is performed.

FIG. 5 is a block diagram showing the configuration of a vibration-type actuator drive control device when performing parallel communication between the operation command section 10 and the operation control circuits 1, 2, 3. The exchange of operation commands and operation information is performed by parallel signals for data transmission and reception and some control signals.

Further, serial communication is performed between the transmission section 7-a and the transmission section 7-b, and between the operation command section and the transmission section 7-a, the transmission section 7-b and the operation control circuits 1 and 2 are performed. , 3 may be configured to perform parallel communication.

As described above, in the first embodiment, even if a failure occurs in the transmission unit 7, the failure detection unit 9 detects the failure and supplies power to the operation control circuits 1, 2, and 3. To stop. Thereby, the vibration type actuators 4, 5, 6
However, the rotation does not continue regardless of the operation command of the operation command unit 10.

(Second Embodiment) FIG. 2 is a block diagram showing a configuration of a vibration type actuator drive control device according to a second embodiment of the present invention. Since the configuration of the second embodiment is basically the same as the configuration of the first embodiment,
In the description of the second embodiment, the configuration of the first embodiment will be used, and only different components will be described.

In the second embodiment, a transmission section 11 for transmitting a reset signal and a reset signal generation section 12 for generating a reset signal based on a stop command from the failure detection section 9 are provided.

The failure detection unit 9 determines whether the operation control circuits 1, 2, 3, and the transmission unit 7 are operating normally based on the operation information sent by the Txd signal. In addition,
The failure detection unit 9 does not directly receive the Txd signal,
Information necessary for the determination may be obtained from the operation command unit 10. In the above determination, for example, when the initialization information consisting of the setting value that should not change has changed, or when the information to be changed does not change for more than a predetermined number of times of reception,
If the bit value fixed to 0 is 1, it is determined that a failure has occurred.

The failure detection unit 9 includes operation control circuits 1, 2, 3,
When it is determined that a failure has occurred in any one of the transmission unit 7 and the transmission unit 7, the reset signal generation unit 12 is instructed to generate a reset signal. In accordance with this instruction, the reset signal generator 12 generates a reset signal,
2 and 3 via the transmission unit 11, the operation control circuits 1 and
2, 3 are reset, and the operations of all the vibration type actuators 4, 5, 6 are stopped.

At the time of reset, all the internal registers of the operation control circuits 1, 2, 3 are reset, and the driving voltages are all O.
It becomes FF. Here, the drive voltage output from the operation control circuits 1, 2, 3 is turned off by the reset signal, but the drive voltage is turned off by the reset signal instead.
Alternatively, another dedicated input may be used. If it is not desired to stop the vibration-type actuator, for example, if the situation can be detected by another communication (not shown) or by a path for detecting the state, only the communication function of the operation control circuits 1, 2, and 3 is cut off. Then, an unexpected command may be prevented from being erroneously input to the operation control circuits 1, 2, 3, and the power may be turned off or reset after a predetermined purpose is achieved.

(Third Embodiment) FIG. 3 is a block diagram showing a configuration of a vibration-type actuator drive control device according to a third embodiment of the present invention. Since the configuration of the third embodiment is basically the same as the configuration of the second embodiment,
In the description of the third embodiment, the configuration of the second embodiment will be used, and only different components will be described.

In the third embodiment, unlike the configuration of the second embodiment in which the failure detection unit 9 and the reset signal generation unit 12 are provided on the transmission unit 7-a side, the failure detection unit 9 and the reset signal generation unit 12 is provided on the transmission unit 7-b side. Communication between the operation command unit 10 and the operation control circuits 1, 2, 3 is performed by clock-synchronized serial communication, and the Rxd signal and the Txd signal are transmitted and received in synchronization with the clock signal Sck.

The failure detecting section 9 reads an operation command from the operation command section 10 sent from the Rxd signal, and determines whether or not it is a normal value which can be an operation command. When it is determined that the read operation command is an abnormal value that cannot be an operation command, the failure detection unit 9 determines that a failure has occurred in the operation command unit 10 or the transmission unit 7 and generates a reset signal. Unit 12 is instructed to generate a reset signal. In accordance with this instruction, the reset signal generating unit 12 generates a reset signal and
When the signals are sent to the control units 2, 3, the operation control circuits 1, 2, 3 are reset, and the operations of all the vibration type actuators 4, 5, 6 are stopped.

(Fourth Embodiment) FIG. 4 is a block diagram showing a configuration of a vibration-type actuator drive control device according to a fourth embodiment of the present invention. Since the configuration of the fourth embodiment is basically the same as the configuration of the first embodiment,
In the description of the fourth embodiment, the configuration of the first embodiment is used, and only different components will be described.

In the fourth embodiment, unlike the configuration of the first embodiment in which the failure detection unit 9 and the power supply unit 8 are provided on the transmission unit 7-a side, the failure detection unit 9 and the power supply unit 8 are different from each other. It is provided on the transmission section 7-b side. The communication between the operation command unit 10 and the operation control circuits 1, 2, 3 is performed by clock-synchronized serial communication.
The xd signal and the Txd signal are transmitted and received.

The failure detecting section 9 monitors the input of the pulse constituting the clock signal Sck, and determines whether or not a predetermined number or more of the pulses exist within a predetermined time. If not, the failure detection unit 9 determines that a failure has occurred in the operation command unit 10 or the transmission unit 7 and sends a stop command to the power supply unit 8. Upon receiving the stop command, the power supply unit 8 turns off the power enable signal, thereby prohibiting the output of the operation control circuits 1, 2, and 3, and stopping the operation of all the vibration type actuators 4, 5, and 6.

(Fifth Embodiment) FIG. 7 is a diagram showing a configuration of a color copying machine including a vibration type actuator drive control device according to a fifth embodiment of the present invention.

In FIG. 7, reference numeral 101 denotes a reader unit for reading a document. 102a, 102b, 102c, 1
Reference numeral 02d denotes an image forming unit, which is an LED array 103a, 1
03b, 103c, 103d, charger, photosensitive drum 10
4a, 104b, 104c, 104d and the like. Photosensitive drums 104a, 104b, 104c, 1
04d denotes vibration type actuators 21, 22, 2 respectively.
3, 24 are connected. Images read by the reader unit 101 are the photosensitive drums 104a, 104b, 104c, 1
04d. The image forming unit 102a is yellow, the image forming unit 102b is magenta,
2c performs development for cyan, and the image forming unit 102d performs development for black. By combining the four colors, full-color copying can be performed.

Reference numeral 105 denotes a transfer belt, which is a belt for conveying recording paper. The recording paper is conveyed on a transfer belt, and the image forming units 102a, 102b, 102c, 10
The toner of each color is transferred while passing through each part of 2d.
Reference numeral 106 denotes a fixing unit which fixes the toner formed on the recording paper by a heated fixing roller. Note that the transfer belt 105 may be driven by a vibration type actuator.

FIG. 6 is a block diagram showing the configuration of a control device for controlling the operation of the color copying machine. Since the configuration of the control device is basically the same as the configuration of the fourth embodiment, in the description of the fifth embodiment, the configuration of the fourth embodiment will be used, and only different components will be described. I do.

In the fifth embodiment, a system control unit 13 and a failure detection unit 29 are provided for the operation command unit 10.
The system control unit 13 controls the entire operation of the color copying machine, and instructs the operation instruction unit 10 to start operation. 21, 22, 23, and 24 are vibration type actuators shown in FIG.
Is an operation control circuit for controlling the vibration type actuators 21, 22, 23 and 24, 9 is a failure detection unit for detecting a failure of the transmission unit 7, and 8 is an operation control circuit 25, 26, 2
It is a power supply unit for generating a power enable signal for instructing the operation of the control unit 7 or 28 to stop operation. Operation control circuits 25, 2
6, 27 and 28 are respectively assigned ID numbers 0 to 3, and the operation command sent from the operation command unit 10 is
The command is transmitted to the operation control circuit identified by the ID number included in the command.

If the transmission unit 7 fails, the failure detection unit 9 cannot detect a predetermined number of pulses of the clock signal Sck within a predetermined time. At this time, the failure detection unit 9 sends a stop command to the power supply unit 8, and the power supply unit 8 turns off the power enable signal, thereby prohibiting the output of the operation control circuits 25, 26, 27, and 28. The vibration type actuators 21, 22, 23, 24 stop operating.

On the other hand, the failure detection unit 29 includes the operation command unit 10
From the operation control circuits 25, 26, 27, 28 and the vibration type actuators 21, 22, 23, 24 are periodically transmitted, and the communication is interrupted due to the failure of the transmission unit 7. Does not reach the failure detecting unit 29. Thus, the failure detection unit 29 detects that a failure has occurred in the transmission unit 7. Specifically, the failure detection unit 29 determines that the transmission unit 7 has failed by detecting that the value of the signal input from the operation command unit 10 does not fall within a predetermined range.

When the failure detecting section 29 detects that the transmission section 7 has failed, the failure detecting section 29 notifies the system control section 13 that the rotation control of the photosensitive drums 104a, 104b, 104c and 104d cannot be performed. System control unit 1
In response to this notification, the display unit 3 displays an error item on a display unit (not shown) or stops the operation of each unit of the color copying machine.

Thus, even if a failure occurs in the transmission unit 7,
By providing the failure detection units 9 and 29 on both sides of the transmission unit 7, the vibration type actuators 21 to 24 can be stopped, and it is possible to cope with a failure of the image forming apparatus using the vibration type actuator.

Here, the system control unit 13 sends a failure confirmation command to the operation command unit 10, and the operation command unit 10 receiving the failure confirmation command sends the operation control circuit 25, 26, 2
7, 28 and vibration type actuators 21, 22, 23, 2
4 and confirms the operation information.
9 may be transmitted. At this time, a failure confirmation command is issued, for example, when a sheet on which an image is printed is
The transmission may be performed at a predetermined timing of the copying process, such as a timing at which the sheet arrives at 04a or a timing at which a sheet is fed from the photosensitive drum 104d.
In addition, during a period from the time when the operation start command is sent from the system control unit 13 to the time when the operation end command is sent to the operation command unit 10, the operation command unit 10 independently performs a failure check at predetermined intervals. You may.

In the fifth embodiment, the case where the vibration type actuator drive control device according to the fourth embodiment is arranged in a color copying machine has been described as an example. Any of the vibration-type actuator drive control devices according to the third embodiment may be arranged in a color copying machine.

In addition, a storage medium storing program codes of software for realizing the functions of the above-described embodiments, particularly, at least the function of the failure detection unit, is supplied to a system or an apparatus, and a computer (or a computer of the system or apparatus) is provided. It goes without saying that the present invention is also achieved when a CPU or an MPU) reads out and executes the program code stored in the storage medium.

In this case, the program code itself read from the storage medium realizes the functions of the above-described embodiments, and the storage medium storing the program code constitutes the present invention.

As a storage medium for supplying the program code, for example, a floppy disk, hard disk, optical disk, magneto-optical disk, CD-ROM, CD
-R, a magnetic tape, a nonvolatile memory card, a ROM, or the like can be used.

When the computer executes the readout program code, not only the functions of the above-described embodiments are realized, but also an OS or the like running on the computer based on the instructions of the program code. It is needless to say that the present invention includes a case where a part or all of the actual processing is performed and the function of each embodiment described above is realized by the processing.

Further, after the program code read from the storage medium is written into a memory provided in a function expansion board inserted into the computer or a function expansion unit connected to the computer, based on the instructions of the program code, It is needless to say that the present invention includes a case where the CPU or the like provided in the function expansion board or the function expansion unit performs part or all of the actual processing, and the processing realizes the functions of the above-described embodiments. .

[0068]

As described above in detail, according to the present invention, even if a failure occurs in the transmission unit, the failure is detected by the failure detection unit provided on the operation command unit side or the operation control circuit side of the transmission unit. , Detecting by monitoring the signal transmitted by the transmission unit,
Based on the detection, the power supply to the operation control circuit is stopped or a reset signal is sent to the operation control circuit. Thus, the rotation of the vibration-type actuator is stopped, and the vibration-type actuator does not continue to rotate regardless of the operation command of the operation command unit.

Further, by using such a vibration type actuator for an image forming apparatus and providing a failure detection unit on both sides of the transmission unit, the vibration type actuator can be stopped when the transmission unit fails, and the vibration type actuator can be stopped. It is also possible to cope with a failure of the image forming apparatus using the image forming apparatus.

[Brief description of the drawings]

FIG. 1 is a block diagram illustrating a configuration of a vibration-type actuator drive control device according to a first embodiment of the present invention.

FIG. 2 is a block diagram illustrating a configuration of a vibration-type actuator drive control device according to a second embodiment.

FIG. 3 is a block diagram illustrating a configuration of a vibration-type actuator drive control device according to a third embodiment.

FIG. 4 is a block diagram illustrating a configuration of a vibration-type actuator drive control device according to a fourth embodiment.

FIG. 5 is a block diagram illustrating a configuration of a vibration-type actuator drive control device when performing parallel communication between an operation command unit and an operation control circuit.

FIG. 6 is a block diagram illustrating a configuration of a control device that controls the operation of the color copying machine.

FIG. 7 is a diagram illustrating a configuration of a color copying machine including a vibration-type actuator drive control device according to a fifth embodiment.

FIG. 8 is a diagram showing a relationship between a driving frequency and a rotation speed of a vibration type actuator.

FIG. 9 is a flowchart illustrating a flow of operations of an operation command unit and a failure detection unit.

FIG. 10 is a block diagram illustrating a configuration of an operation control circuit.

[Explanation of symbols]

1, 2, 3 Vibration type actuator 4, 5, 6 Operation control circuit 7 Transmission unit 8 Power supply unit (operation stop unit) 9 Failure detection unit (monitoring unit, failure detection unit, operation stop unit) 10 Operation command unit 11 Transmission Unit 12 Reset signal generation unit (operation stop unit) 13 System control unit 21, 22, 23, 24 Vibration type actuator 25, 26, 27, 28 Operation control circuit 29 Failure detection unit (monitoring unit, failure detection unit, operation stop unit) ) 30 Subtractor 31 Programmable amplifier 32 Integrator 33 Adder 34 Drive signal generator 35 Vibration actuator 36 Rotary encoder 37 Period counter 104a, 104b, 104c, 104d Photosensitive drum 105 Transfer belt

 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Tadashi Hayashi 3-30-2 Shimomaruko, Ota-ku, Tokyo Canon Inc. (72) Inventor Akio Atsuta 3-30-2 Shimomaruko, Ota-ku, Tokyo Canon (72) Inventor Jun Ito 3-30-2 Shimomaruko, Ota-ku, Tokyo F-term (reference) 5H680 AA00 AA09 BB01 BC00 CC06 DD01 DD23 DD53 EE21 EE22 EE23 EE24 FF21 FF23 FF25 FF27 FF30 FF33 FF36

Claims (64)

[Claims] 1. A vibration type actuator for obtaining a driving force by applying an AC signal to an electro-mechanical energy conversion element, an operation control circuit for controlling the operation of the vibration type actuator, and an operation directed to the operation control circuit. A vibration-type actuator drive control device comprising: an operation command unit that generates a command and monitors an operation state of the vibration-type actuator; and a transmission unit provided between the operation command unit and the operation control circuit. Monitoring means for monitoring a signal indicating the operation state of the vibration-type actuator sent from the operation control circuit via the transmission means; and, as a result of monitoring by the monitoring means, a signal indicating the operation state of the vibration-type actuator. A failure detection unit that detects that a failure has occurred in the transmission unit when there is an abnormality; A vibration-type actuator drive control device, comprising: operation stop means for stopping the operation of the vibration-type actuator when a failure of the transmission means is detected. 2. The vibration-type actuator drive control device according to claim 1, wherein there are a plurality of said vibration-type actuators, and a plurality of operation control circuits respectively corresponding to said plurality of vibration-type actuators are provided. 3. The failure detection unit according to claim 1, wherein the failure detection unit detects an abnormality of the signal based on a temporal change property of a signal indicating an operation state of the vibration type actuator. Vibration type actuator drive control device. 4. A signal indicating an operation state of the vibration-type actuator includes at least a drive frequency or a drive voltage as a signal having a property that does not change over time, and at least a rotation speed as a signal having a property that changes over time. The vibration type actuator drive control device according to claim 3, wherein the signal is a signal indicating the drive. 5. The operation stopping means cuts off power supply to the operation control circuit or a power amplifier in the operation control circuit, or outputs driving power of the operation control circuit to the vibration type actuator. 5. The vibration-type actuator drive control device according to claim 1, wherein the control of the vibration type actuator is prohibited. 6. The vibration type actuator drive control device according to claim 1, wherein said vibration type actuator is used for driving a photosensitive drum or a paper transport roller of an image forming apparatus. . 7. The vibration type actuator drive control device according to claim 6, wherein said failure detection means operates at a predetermined timing in a series of operations performed by said image forming apparatus. 8. The monitoring means monitors fixed value information of the characteristic of the operation control circuit, which is sent from the operation control circuit via the transmission means and instructed by the operation instruction means to the operation control circuit. The failure detection means, as a result of monitoring by the monitoring means,
2. The vibration-type actuator drive control device according to claim 1, wherein when the fixed value information is different from the information instructed by the operation instruction means, it is detected that a failure has occurred in the transmission means. 9. The vibration type actuator drive control device according to claim 8, wherein the fixed value information is initialization information for driving the vibration type actuator. 10. The monitoring means monitors information to be changed in value, which is sent from the operation control circuit via the transmission means and used for controlling the operation of the vibration type actuator, The failure detection means, as a result of monitoring by the monitoring means,
2. The vibration according to claim 1, wherein when the information to be changed in the value does not change over a predetermined time or over a predetermined number of times of monitoring, it is detected that a failure has occurred in the transmission means. Type actuator drive control device. 11. The vibration-type actuator drive control device according to claim 10, wherein the information whose value should be changed is information on a rotation speed, a driving frequency, or a rotation position of the vibration-type actuator. 12. A vibration-type actuator for obtaining a driving force by applying an AC signal to an electro-mechanical energy conversion element, an operation control circuit for controlling operation of the vibration-type actuator, and an operation directed to the operation control circuit. An operation command means for generating a command and monitoring an operation state of the vibration type actuator; a first transmission means provided between the operation command means and the operation control circuit; A vibration-type actuator drive control device comprising: a second transmission means for monitoring a signal indicating an operation state of the vibration-type actuator sent from the operation control circuit via the first transmission means. Monitoring means; and as a result of the monitoring by the monitoring means, when there is an abnormality in the signal indicating the operating state of the vibration type actuator, Failure detecting means for detecting that a fault has occurred, and when the failure detecting means detects a failure of the first transmitting means, the second control means is used to instruct the operation control circuit to stop operation. A vibration type actuator drive control device, comprising: 13. The vibration type actuator drive control device according to claim 12, wherein a plurality of said vibration type actuators are provided, and a plurality of operation control circuits respectively corresponding to said plurality of vibration type actuators are provided. 14. The apparatus according to claim 1, wherein the failure detecting means detects an abnormality of the signal indicating the operation state of the vibration-type actuator based on a temporal change property of the signal.
The vibration-type actuator drive control device according to claim 2 or 13. 15. The operation stopping means sends a reset signal to the operation control circuit by using the second transmitting means when the failure detecting means detects a failure of the first transmitting means. The vibration type actuator drive control device according to any one of claims 12 to 14, wherein: 16. The vibration type actuator drive control device according to claim 12, wherein said first transmission means performs serial communication. 17. The vibration type actuator drive control device according to claim 12, wherein said vibration type actuator is used for driving a photosensitive drum or a paper transport roller of an image forming apparatus. . 18. The vibration-type actuator drive control device according to claim 17, wherein the failure detection means operates at a predetermined timing in a series of operations performed by the image forming apparatus. 19. The fixed value information of the characteristic of the operation control circuit, which is sent from the operation control circuit via the first transmission unit and instructed by the operation control unit to the operation control circuit. The failure detection means, as a result of monitoring by the monitoring means,
13. The vibration-type actuator drive control device according to claim 12, wherein when the fixed value information is different from the information instructed from the operation command means, it is detected that a failure has occurred in the first transmission means. . 20. The vibration type actuator drive control device according to claim 19, wherein the fixed value information is initialization information for driving the vibration type actuator. 21. The monitoring means according to claim 1, wherein said information to be changed in value, which is sent from said operation control circuit via said first transmission means and is used for performing operation control of said vibration type actuator, is provided. Monitoring, the failure detection means, as a result of monitoring by the monitoring means,
13. The apparatus according to claim 12, wherein when the information to be changed does not change for a predetermined time or for a predetermined number of times of monitoring, it is detected that a failure has occurred in the first transmission means. The vibration type actuator drive control device according to any one of the preceding claims. 22. The vibration-type actuator drive control device according to claim 21, wherein the information whose value should be changed is information on a rotation speed, a driving frequency, or a rotation position of the vibration-type actuator. 23. A vibration-type actuator for obtaining a driving force by applying an AC signal to an electro-mechanical energy conversion element, an operation control circuit for controlling the operation of the vibration-type actuator, and an operation directed to the operation control circuit A vibration-type actuator drive control device comprising: an operation command unit that generates a command and monitors an operation state of the vibration-type actuator; and a transmission unit provided between the operation command unit and the operation control circuit. Monitoring means for monitoring a signal indicating the operation command sent from the operation command means via the transmission means; and as a result of monitoring by the monitoring means, an abnormality is found in the signal indicating the operation command sent from the operation command means. A failure detection unit that detects that a failure has occurred in the transmission unit, and the failure detection unit detects a failure in the transmission unit And an operation stopping means for stopping the operation of the vibration type actuator when the operation has been performed. 24. The vibration-type actuator drive control device according to claim 23, wherein there are a plurality of said vibration-type actuators, and a plurality of operation control circuits respectively corresponding to said plurality of vibration-type actuators are provided. 25. The failure detecting means detects the signal abnormality based on whether or not a signal sent from the operation command means has a possible value as a signal indicating the operation command. 25. The vibration-type actuator drive control device according to claim 23 or claim 24. 26. The failure detection means monitors a clock signal sent together with a signal indicating an operation command sent from the operation command means, and when the number of pulses of the clock signal detected in a predetermined time is equal to or less than a predetermined number, 25. The vibration-type actuator drive control device according to claim 23, wherein the signal abnormality is detected depending on whether or not there is a signal. 27. The vibration type actuator drive control device according to claim 23, wherein said vibration type actuator is used for driving a photosensitive drum or a paper transport roller of an image forming apparatus. . 28. The vibration-type actuator drive control device according to claim 27, wherein the failure detection means operates at a predetermined timing in a series of operations performed by the image forming apparatus. 29. A vibration-type actuator for obtaining a driving force by applying an AC signal to an electro-mechanical energy conversion element, an operation control circuit for controlling the operation of the vibration-type actuator, and an operation directed to the operation control circuit The present invention is applied to a vibration type actuator drive control device including an operation command means for generating a command and monitoring an operation state of the vibration type actuator, and a transmission means provided between the operation command means and the operation control circuit. A monitoring step of monitoring a signal indicating an operation state of the vibration-type actuator sent from the operation control circuit via the transmission unit; and a result of the monitoring by the monitoring step, the vibration-type actuator. When there is an abnormality in the signal indicating the operation state of
A failure detecting step of detecting that a failure has occurred in the transmission unit; and an operation stopping step of stopping the operation of the vibration-type actuator when the failure of the transmission unit is detected by the failure detection step. A drive control method for a vibration-type actuator, comprising: 30. The vibration-type actuator drive control method according to claim 29, wherein a plurality of said vibration-type actuators are provided, and a plurality of operation control circuits respectively corresponding to said plurality of vibration-type actuators are provided. 31. The malfunction detecting step according to claim 29, wherein the failure detecting step detects an abnormality of the signal indicating the operating state of the vibration type actuator based on a temporal change property of the signal. Vibration type actuator drive control method. 32. The signal indicating the operation state of the vibration-type actuator includes at least a drive frequency or a drive voltage as a signal that does not change over time, and at least a rotation speed as a signal that changes over time. 32. The method according to claim 31, wherein the signal is an indication signal. 33. The operation stopping step includes shutting off power supply to the operation control circuit or a power amplification unit in the operation control circuit, or outputting driving power of the operation control circuit to the vibration type actuator. 33. The drive control method according to claim 29, wherein the driving is prohibited. 34. A method according to claim 29, wherein said vibration type actuator is used for driving a photosensitive drum or a paper transport roller of an image forming apparatus. . 35. The method according to claim 34, wherein the failure detecting step is performed at a predetermined timing in a series of operations performed by the image forming apparatus. 36. The monitoring step monitors the fixed value information of the operation control circuit characteristic sent from the operation control circuit via the transmission unit and instructed from the operation instruction unit to the operation control circuit. The failure detection step is characterized in that when the fixed value information is different from the information instructed from the operation instruction means as a result of monitoring by the monitoring step, it detects that a failure has occurred in the transmission means. 30. The drive control method for a vibration type actuator according to claim 29. 37. A method according to claim 36, wherein the fixed value information is initialization information for driving the vibration type actuator. 38. The monitoring step monitors information to be changed in value, which is sent from the operation control circuit via the transmission means and is used for controlling the operation of the vibration-type actuator. In the failure detection step, as a result of the monitoring by the monitoring step, the information to change the value over a predetermined time,
30. The vibration-type actuator drive control method according to claim 29, wherein when no change has occurred over a predetermined number of times of monitoring, it is detected that a failure has occurred in the transmission means. 39. The vibration-type actuator drive control method according to claim 38, wherein the information whose value is to be changed is information on a rotation speed, a drive frequency, or a rotation position of the vibration-type actuator. 40. A vibration-type actuator for obtaining a driving force by applying an AC signal to an electro-mechanical energy conversion element, an operation control circuit for controlling the operation of the vibration-type actuator, and an operation directed to the operation control circuit An operation command means for generating a command and monitoring an operation state of the vibration type actuator; a first transmission means provided between the operation command means and the operation control circuit; A drive control method applied to a vibration-type actuator drive control device having a second transmission means, wherein the operation state of the vibration-type actuator sent from the operation control circuit via the first transmission means is changed. A monitoring step of monitoring a signal indicating the operating state of the vibration type actuator as a result of the monitoring by the monitoring step. When,
A failure detection step of detecting that a failure has occurred in the first transmission means; and, when a failure of the first transmission means is detected by the failure detection step, the second transmission means An operation stop step of instructing the operation control circuit to stop the operation. 41. The vibration-type actuator drive control method according to claim 40, wherein a plurality of said vibration-type actuators are provided, and a plurality of operation control circuits respectively corresponding to said plurality of vibration-type actuators are provided. 42. The malfunction detection step according to claim 40, wherein the failure detection step detects an abnormality of the signal indicating the operation state of the vibration type actuator based on a temporal change property of the signal. Vibration actuator drive control method. 43. The operation stopping step, wherein when the failure detecting step detects a failure of the first transmitting means, a reset signal is sent to the operation control circuit by using the second transmitting means. 43. The vibration actuator drive control method according to claim 40. 44. The vibration actuator drive control method according to claim 40, wherein said first transmission means performs serial communication. 45. The vibration type actuator drive control method according to claim 40, wherein said vibration type actuator is used for driving a photosensitive drum or a paper transport roller of an image forming apparatus. . 46. The vibration actuator drive control method according to claim 45, wherein the failure detecting step is performed at a predetermined timing in a series of operations performed by the image forming apparatus. 47. The monitoring step, wherein the fixed value information of the operation control circuit characteristic transmitted from the operation control circuit via the first transmission unit and instructed to the operation control circuit from the operation instruction unit. When the fixed value information is different from the information instructed from the operation instructing means as a result of the monitoring in the monitoring step, it is determined that a failure has occurred in the first transmitting means. 41. The method according to claim 40, wherein the detection is performed. 48. The method according to claim 47, wherein the fixed value information is initialization information for driving the vibration type actuator. 49. The monitoring step includes the step of transmitting information, which is sent from the operation control circuit via the first transmission means and used for controlling the operation of the vibration-type actuator, to be changed in value. Monitoring, the failure detection step, as a result of monitoring by the monitoring step, the information to change the value over a predetermined time,
Alternatively, when the change does not occur for a predetermined number of times of monitoring, the first
41. The vibration type actuator drive control method according to claim 40, wherein it is detected that a failure has occurred in said transmission means. 50. The vibration type actuator drive control method according to claim 49, wherein the information whose value is to be changed is information on a rotation speed, a drive frequency, or a rotation position of the vibration type actuator. 51. A vibration type actuator for obtaining a driving force by applying an AC signal to an electro-mechanical energy conversion element, an operation control circuit for controlling the operation of the vibration type actuator, and an operation directed to the operation control circuit The present invention is applied to a vibration type actuator drive control device including an operation command means for generating a command and monitoring an operation state of the vibration type actuator, and a transmission means provided between the operation command means and the operation control circuit. A monitoring step of monitoring a signal indicating an operation command sent from the operation command means via the transmission means, and an operation sent from the operation command means as a result of the monitoring by the monitoring step. A failure detection step of detecting that a failure has occurred in the transmission means when a signal indicating a command is abnormal; An operation stopping step of stopping the operation of the vibration type actuator when a failure of the transmission means is detected in the failure detection step. 52. The vibration-type actuator drive control method according to claim 51, wherein a plurality of said vibration-type actuators are provided, and a plurality of operation control circuits respectively corresponding to said plurality of vibration-type actuators are provided. 53. The failure detecting step detects the signal abnormality by determining whether or not a signal transmitted from the operation command means has a possible value as a signal indicating the operation command. 53. The vibration actuator drive control method according to claim 51 or claim 52. 54. The failure detecting step monitors a clock signal sent together with a signal indicating an operation command sent from the operation command means, and when the number of pulses of the clock signal detected in a predetermined time is equal to or less than a predetermined number, The signal abnormality is detected depending on whether or not there is a signal.
53. The vibration actuator drive control method according to claim 52. 55. A method according to claim 51, wherein said vibration type actuator is used for driving a photosensitive drum or a paper transport roller of an image forming apparatus. . 56. The vibration actuator drive control method according to claim 55, wherein the failure detecting step is performed at a predetermined timing in a series of operations performed by the image forming apparatus. 57. A vibration-type actuator for obtaining a driving force by applying an AC signal to an electro-mechanical energy conversion element, an operation control circuit for controlling the operation of the vibration-type actuator, and an operation directed to the operation control circuit The present invention is applied to a vibration type actuator drive control device including an operation command means for generating a command and monitoring an operation state of the vibration type actuator, and a transmission means provided between the operation command means and the operation control circuit. A computer-readable storage medium storing a drive control method to be executed as a program, wherein the drive control method comprises: a signal indicating an operation state of the vibration-type actuator sent from the operation control circuit via the transmission unit. A monitoring step of monitoring the vibration type actuator as a result of monitoring by the monitoring step. When there is an abnormality in the signal indicating the operating state,
A failure detection step of detecting that a failure has occurred in the transmission unit; and an operation stop step of stopping the operation of the vibration-type actuator when the failure of the transmission unit is detected by the failure detection step. A storage medium characterized by the above-mentioned. 58. The storage medium according to claim 57, wherein the failure detecting step detects an abnormality of the signal indicating the operation state of the vibration type actuator based on a temporal change property of the signal. 59. A vibration type actuator for obtaining a driving force by applying an AC signal to an electro-mechanical energy conversion element, an operation control circuit for controlling the operation of the vibration type actuator, and an operation directed to the operation control circuit An operation command means for generating a command and monitoring an operation state of the vibration type actuator; a first transmission means provided between the operation command means and the operation control circuit; A computer-readable storage medium storing, as a program, a drive control method applied to the vibration-type actuator drive control device including the second transmission means, wherein the first transmission means A monitoring step of monitoring a signal indicating an operation state of the vibration-type actuator sent from the operation control circuit through the operation control circuit; As a result of the monitoring by the monitoring step, when there is an abnormality in the signal indicating the operation state of the vibration type actuator,
A failure detection step of detecting that a failure has occurred in the first transmission means; and, when a failure of the first transmission means is detected by the failure detection step, the second transmission means An operation stopping step of instructing the operation control circuit to stop the operation. 60. The storage medium according to claim 59, wherein the failure detecting step detects an abnormality of the signal indicating the operating state of the vibration-type actuator based on a temporal change property of the signal. 61. The operation stopping step, wherein when the failure detecting step detects a failure of the first transmitting means, a reset signal is sent to the operation control circuit by using the second transmitting means. 61. The storage medium according to claim 59 or claim 60. 62. A vibration-type actuator for obtaining a driving force by applying an AC signal to an electro-mechanical energy conversion element, an operation control circuit for controlling the operation of the vibration-type actuator, and an operation directed to the operation control circuit The present invention is applied to a vibration type actuator drive control device including an operation command means for generating a command and monitoring an operation state of the vibration type actuator, and a transmission means provided between the operation command means and the operation control circuit. A computer-readable storage medium storing a drive control method to be executed as a program, wherein the drive control method monitors a signal indicating an operation command sent from the operation command means via the transmission means. As a result of the monitoring by the monitoring step, the signal indicating the operation command sent from the operation command means is abnormal. A failure detecting step of detecting that a failure has occurred in the transmission unit when there is a failure; and an operation of stopping the operation of the vibration type actuator when a failure of the transmission unit is detected by the failure detection step. And a stopping step. 63. The failure detecting step detects the signal abnormality by determining whether or not a signal sent from the operation command means has a possible value as a signal indicating the operation command. 63. The storage medium according to claim 62. 64. The failure detecting step monitors a clock signal sent together with a signal indicating an operation command sent from the operation command means, and when the number of pulses of the clock signal detected in a predetermined time is equal to or less than a predetermined number, 63. The signal abnormality is detected depending on whether or not there is a signal.
A storage medium according to claim 63.