JP2000287469A - Vibration actuator drive control device, drive control method and memory medium - Google Patents

Abstract

PROBLEM TO BE SOLVED: To set a control gain corresponding to the present characteristics of a unit and set an optimum gain while it is not necessary to measure the characteristics of a vibration actuator beforehand and to provide a thermosensor. SOLUTION: With predetermined periodical timings (S1) within the load fluctuation period, the operation state of a vibration actuator is detected (S2) repeatedly not less than predetermined times (S3). In accordance with the obtained operation states, the maximum value of the change of the operation state is calculated (S4) and, referring to a previously obtained optimum gain control table, a control gain corresponding to the calculated maximum value is read out and the control gain of an operation control circuit is set (S5).

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, a drive control method, and a storage medium, and more particularly to a vibration-type actuator for obtaining a driving force by applying an AC signal to an electromechanical energy conversion element. Drive control device, drive control method applied to the drive control device,
And a storage medium storing a program for executing the drive control method.

[0002]

2. Description of the Related Art Conventionally, in speed control of a vibration-type actuator, control has been performed in which the actual speed of the vibration-type actuator is detected and the detected value is fed back to approach a target value.

[0003] The characteristics of the vibration type actuator have individual differences, and it is required to reduce the influence of the individual difference. Therefore, the characteristics of the vibration-type actuator are measured in advance, and a control gain is set according to the characteristics so that an optimum control state is obtained.

Further, since the characteristics of a vibration type actuator fluctuate even with a change in ambient temperature, for example, Japanese Patent Laid-Open No.
In the drive control device for an ultrasonic motor disclosed in Japanese Patent Publication No. 210787, a temperature sensor is provided, and a control gain is set according to temperature information from the sensor.

[0005]

However, conventionally,
In some cases, the control gain is not set according to the individual difference. In such a case, the control gain is uniformly set to a low value so that oscillation does not occur in feedback control with any characteristics. Therefore, some individuals could not obtain the optimal control state.

[0006] Further, in an apparatus for setting a control gain in accordance with temperature information from a temperature sensor, it is necessary to provide a temperature sensor.

[0007] The present invention has been made in view of such problems, and does not measure the characteristics of the vibration type actuator in advance and does not provide a temperature sensor.
An object of the present invention is to provide a vibration-type actuator drive control device, a drive control method, and a storage medium that enable a control gain to be set in accordance with the current characteristics of an individual to enable optimum gain setting.

[0008]

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. A vibration-type actuator comprising: a driven body connected to the vibration-type actuator, driven by the vibration-type actuator, and in which a load repeats a periodic change; and an operation control circuit for controlling an operation of the vibration-type actuator. In the drive control device, within a load fluctuation cycle of the driven body, at least a predetermined number of times at a predetermined timing, a monitoring unit that monitors an operation state of the vibration-type actuator, and based on monitoring information obtained by the monitoring unit, Gain setting means for setting a control gain of the operation control circuit.

According to the eleventh aspect of 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 the vibration-type actuator connected to the vibration-type actuator A drive control method applied to a vibration-type actuator drive control device including a driven body that is driven by a load and a load that periodically repeats a fluctuation, and an operation control circuit that controls an operation of the vibration-type actuator, A monitoring step of monitoring the operating state of the vibration-type actuator at a predetermined timing or more for a predetermined number of times within a load fluctuation cycle of the driven body, and controlling the operation control circuit based on monitoring information obtained in the monitoring step. Gain setting step of setting a gain.

[0010] Further, according to the invention of claim 21,
A vibration-type actuator that obtains a driving force by applying an AC signal to an electro-mechanical energy conversion element; and a vibration-type actuator that is connected to the vibration-type actuator and driven by the vibration-type actuator, and in which a load repeats a periodic change. In a computer-readable storage medium storing a drive control method applied to a vibration-type actuator drive control device including a driving body and an operation control circuit for controlling the operation of the vibration-type actuator as a program, A monitoring step of monitoring an operation state of the vibration-type actuator at a predetermined timing or more at a predetermined timing within a load fluctuation cycle of the driven body, and the operation based on the monitoring information obtained by the monitoring step. Gain setting step of setting a control gain of the control circuit. And wherein the door.

[0011]

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

(First Embodiment) FIG. 2 is a block diagram showing a configuration of a drive control device for a vibration type actuator according to a first embodiment of the present invention.

In FIG. 2, reference numerals 1, 2, and 3 denote operation control circuits of a vibration-type actuator, reference numerals 4, 5, and 6 denote vibration-type actuators using ultrasonic vibration generally called ultrasonic motors, and reference numeral 7 denotes a CPU. is there. The vibration type actuators 4, 5, and 6 excite a vibrating body by applying an AC signal to a piezoelectric element as an electric-mechanical energy conversion element to obtain a driving force. Reference numerals 8, 9, and 10 are speed sensors such as rotary encoders for detecting the rotational speeds of the vibration type actuators 4, 5, and 6.

The CPU 7 operates in accordance with commands relating to speed and position sent from command means (not shown).
An operation command is transmitted to each of 2 and 3. The transmission of the operation command is performed by an Rxd signal using serial communication such as RS232C. The operation command is, for example, a command for commanding the rotational speed of each of the vibration type actuators 4, 5, and 6 or a command for starting and stopping the operation. It conveys information. The operation control circuits 1, 2, and 3 are assigned ID numbers "0, 1, 2", respectively, and an ID number is added to the operation command. Therefore, to which operation control circuit the operation command is directed can be identified by the ID number sent together with the operation command.

The vibration type actuators 4, 5, 6 are controlled by operation control circuits 1, 2, 3, respectively, based on corresponding operation commands.

On the other hand, the operation control circuit 1
The control information set for each of 2, 3 and the information on each operating state of the vibration type actuators 4, 5, and 6 are Tx
It is sent to the CPU 7 at a predetermined timing according to the d signal. For example, the operation control circuits 1, 2, and 3 each include a CPU 7
Receives an operation command to send back information such as the rotation speed via the Rxd signal from the speed sensor 8,
The speed information from the corresponding speed sensor among 9, 10
The signal is transmitted to the adjacent operation control circuit having the smaller ID number. The speed information is sequentially transmitted to the operation control circuit having the smaller ID number,
Finally, it is sent to the CPU 7 by the Txd signal from the operation control circuit 1 having the ID number 0. As described above, the CPU 7 collects information on each operation state of the vibration type actuators 4, 5, and 6 at a predetermined timing, and adjusts a speed control gain and the like based on the collected information.

FIG. 1 shows a CPU according to the first embodiment.
7 is a flowchart illustrating a procedure of a speed control gain setting process executed in Step 7.

When the vibrating actuators 4, 5, and 6 are rotating at predetermined speeds (respectively, predetermined constant speeds), the CPU 7 causes each of the vibrating actuators 4, 5, and 6 to rotate at predetermined time intervals. Detecting the operation state (S
1, S2). Here, it is assumed that the rotational frequency of the vibration type actuators 4, 5, 6 is controlled by changing the drive frequency, and the drive frequency is detected as the operation state. In addition, it is assumed that feedback control for controlling the driving frequency based on the encoder output is performed on each of the vibration-type actuators so as to reach the target speed (constant). Further, the control gain at this time is set based on one or more predetermined gains, which is closest to the gain considered to be currently optimal and lower than the optimal value.

The driving frequencies of the vibration type actuators 4, 5, and 6 are detected a predetermined number of times (S3), and the maximum value of the change amount of the driving frequency is obtained based on the detected maximum value and minimum value of the frequency data. (S4). The predetermined number of times is set to a value corresponding to an integral multiple of the fluctuation frequency when the load in each of the load devices driven by the vibration type actuators 4, 5, and 6 fluctuates.

From the maximum value of the change amount of the drive frequency obtained in step S4, information on the magnitude of the actual load fluctuation and the characteristic change of the vibration type actuator can be obtained.

For example, a case where a load change occurs in the vibration type actuator 4 while the vibration type actuator 4 is rotating at a constant speed will be described.

The CPU 7 sends a monitor command to the operation control circuit 1 to which the identification code of ID number 0 is added at a predetermined time interval, and the operation control circuit 1 sends the drive frequency of the vibration type actuator 4 to the CPU 7. , Txd signals. The monitor command is periodically executed until the load fluctuation of the vibration type actuator 4 occurs for one cycle or more, and the change amount of the driving frequency of the vibration type actuator 4 is obtained. By the way, if there is a load change,
In order to keep the rotation speed of the vibration type actuator 4 constant, the drive frequency may be changed. This will be described with reference to FIG.

FIG. 3 is a diagram showing characteristics of the rotation speed with respect to the driving frequency when the load torque of the vibration type actuator is different. When the load torque differs in the vibration type actuator, the characteristic curve changes as shown in FIG.

Here, it is assumed that a driving voltage of the driving frequency F1 is applied to the vibration type actuator, and the vibration type actuator is rotating at the rotation speed V1. At this time, if the load torque increases, the driving frequency must be reduced from F1 to F2 to maintain the rotation speed V1.
In other words, in order to keep the rotation speed constant when the load torque fluctuates in the vibration type actuator, it is sufficient to change the drive frequency, and at this time, if the load torque fluctuates greatly, the amount of change in the drive frequency also increases. It turns out that it is good.

Generally, when the load torque changes in the vibration type actuator, the optimum control gain changes. Therefore, in the present embodiment, the change in the load torque or the maximum output torque is recognized by detecting the change in the drive frequency. The optimum control gain is obtained based on the detected change amount of the driving frequency. Specifically, a table indicating the amount of change in the drive frequency and the optimum control gain corresponding to a plurality of control gains at the time of detection is set in advance, and the CPU 7 refers to this optimum gain table and obtains the table in step S4. The optimum control gain corresponding to the value is read and sent to the operation control circuit 1 via the Rxd signal to set a new control gain (S5).

Here, the operating state is represented by parameters for controlling the rotational speed of the vibration type actuator, and includes, for example, a driving frequency, a driving voltage amplitude, a driving voltage phase, a driving voltage pulse width, and a switching voltage. Includes all parameters, such as pulse duty, that can be used to change the rotational speed (including the average speed) of the vibrating actuator.

In the above embodiment, the drive frequency is used as the operation state, but the amplitude of the drive voltage applied to the vibration type actuator may be used. In this case, FIG.
This will be described with reference to FIG.

FIG. 4 is a diagram showing characteristics of the rotation speed with respect to the amplitude of the drive voltage when the load torque of the vibration type actuator is different. When the load torque differs in the vibration type actuator, the characteristic curve changes as shown in FIG.

Here, the drive voltage Vo1 is applied to the vibration type actuator, and the vibration type actuator
Suppose that it is rotating at. At this time, if the load torque increases, the drive voltage Vo1 must be increased from Vo1 to Vo2 to maintain the rotation speed V1. That is, in order to keep the rotation speed constant when the load torque fluctuates in the vibration type actuator, the drive voltage may be changed,
In addition, at that time, it can be seen that if the variation in the load torque is large, the amount of change in the drive voltage may be increased.

Therefore, a table indicating the optimum control gain corresponding to the amount of change in the drive voltage is set in advance,
The CPU 7 refers to this optimum gain table, reads out the optimum control gain corresponding to the detected change amount of the drive voltage, sends the readout control gain to the operation control circuit 1 via the Rxd signal, and sets a new control gain.

It should be noted that the processing of steps S1 to S3 may be repeated two or more times, and the control gain may be obtained after performing a filter operation on the obtained change in the operating state. As a result, it is possible to avoid the influence of sudden load fluctuation and noise.

The increase in the amount of change in the operating state is caused by a decrease in the output of the vibration type actuator or an increase in the load. Usually, the control gain is increased to cope with this. For this reason, a table in which the correspondence between the amount of change and the gain is set in advance is created, and an optimal control gain is obtained using this table.

As described above, the optimum control gain differs from individual to individual due to individual differences in the characteristics of the vibration type actuator, or there is a variation in the characteristics of the vibration type actuator due to aging or ambient temperature change. Therefore, even if the optimum control gain fluctuates, it can be adapted to the characteristics of the individual and can be corrected to the control gain that follows the characteristic fluctuation, so that the best speed control can always be performed.

(Second Embodiment) FIG. 6 is a block diagram showing a configuration of a drive control device for a vibration type actuator 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, the same components will be denoted by the same reference characters and description thereof will be omitted.

In the second embodiment, the CPU 7 sends a speed command, control gain information, and a speed error comparison value to the operation control circuit 1, and the operation control circuit 1 responds to the sent speed command and control gain information. The frequency of the drive voltage applied to the vibration type actuator 4 is controlled. Also in this embodiment, it is assumed that the feedback control is performed so that the speed becomes constant, as in the above-described embodiment.

FIG. 5 shows a CPU according to the second embodiment.
7 is a flowchart illustrating a procedure of a speed control gain setting process executed in Step 7.

The operation control circuit 1 includes a vibration type actuator 4
The speed control of the vibration actuator 4 is performed by setting the amplitude and the phase difference of each drive voltage applied to the actuator to predetermined values, and controlling the drive frequency based on a control gain set as described later. . At that time, first, the speed error comparison value sent from the CPU 7 is fetched (S11). Then, a speed deviation between the command speed and the rotation speed of the vibration type actuator 4 is calculated at a predetermined timing (S12), and when the speed deviation exceeds the speed error comparison value, a speed deviation error signal is generated and sent to the CPU 7. . The CPU 7 operates to increase the control gain if the speed deviation error is sent within a predetermined time (S13, S14), and to decrease the control gain if not sent (S13, S15).

In general, if the load fluctuation of the vibration type actuator 4 is large, the speed deviation also becomes large, and if the load fluctuation is large, it is necessary to increase the control gain. Therefore, in this embodiment, the speed deviation is detected and the detected amount is calculated. Is larger, the control gain is increased to ensure stable control.

The operation control circuit 1 may be configured to notify the CPU 7 of the occurrence of a speed deviation error by an interrupt signal (IRQ) when a speed deviation error occurs.

The interrupt signal is a warning when the driving frequency exceeds a certain range, or the vibration type actuator rotates in the reverse direction,
It is also used as a warning when the machine stops. Therefore, when an interrupt signal is generated, the operation of the vibration type actuator 4 may be stopped by the power enable signal (PE).

When the vibration type actuator 4 is started from a stopped state, a predetermined control gain is set, or a control corresponding to a predetermined speed set during the operation of the vibration type actuator 4 is performed. The gain is set.

The control gain may have an upper limit and a lower limit with respect to the value.

(Third Embodiment) FIG. 7 is a diagram showing the configuration of a color copying machine equipped with a drive control device for a vibration-type actuator according to the first or second embodiment.

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 has vibration type actuators 15, 16,
17 and 18 are connected, and the vibration type actuator 1
Each of 5, 16, 17, and 18 has a built-in rotary encoder as a speed sensor.

The image read by the reader unit 101 is developed on the photosensitive drums 104a, 104b, 104c and 104d. 102a is yellow, 102b
Is development for magenta, 102c is for cyan, and 102d is 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 the transfer belt 105, and the image forming units 102a, 102b, 102
The toner of each color is transferred while passing through c and 102d, respectively. Reference numeral 106 denotes a fixing unit which fixes the toner formed on the recording paper by a heated fixing roller. Note that a vibration type actuator may be connected to the drive unit of the transfer belt 105.

FIG. 8 shows the vibration type actuators 15 and 1.
FIG. 4 is a block diagram illustrating a configuration of a control device that performs drive control of 6, 17, and 18;

In FIG. 8, 11, 12, 13, and 14 are
This is an operation control circuit that controls the speed of each of the vibration type actuators 15, 16, 17, and 18. The CPU 7 transmits an operation command to the operation control circuits 11, 12, 13, and 14 using an Rxd signal. Operation control circuit 11, 1
ID numbers “0, 1, 2, 2,
3 "and an ID number is added to the operation command. Therefore, it is determined which operation control circuit the operation command is directed to by the I which is sent together with the operation command.
It can be identified by a D number. Vibration type actuator 1
Information on each operation state of 5, 16, 17, 18
It is sent to the CPU 7 periodically by the Txd signal.

FIG. 9 is a flowchart showing the operation of the color copying machine and the drive control device for the vibration type actuator.

When a print start command is input to the CPU 7 from command means (not shown) (S21), the CPU 7 serially transmits a speed command at regular time intervals according to a speed pattern written in the acceleration table, although not shown. Output to the operation control circuits 11, 12, 13, and 14. The speed pattern may be set for acceleration and deceleration, respectively, but the same pattern may be used.

FIG. 10 is a diagram showing a speed pattern at the time of acceleration. The command speed is set to be increased by 10 rpm every 200 msec.

The operation control circuits 11, 12, 13, and 14
The rotational speed of each of the vibration type actuators 15, 16, 17, 18 is controlled by changing the frequency of the drive voltage applied to each of the vibration type actuators 15, 16, 17, 18, and the gain of the speed control starts to operate. Sometimes, a predetermined fixed gain is used, or a control gain set immediately before the previous stop is used. The update of the speed command is basically performed every 200 msec, and the vibration type actuators 15, 16, 17, 18
Are performed until the target speed is reached.

Next, under feedback control at the target speed, the CPU 7 sets the vibration type actuators 15, 16, 1
The changes in the drive frequencies 7 and 18 are monitored at predetermined timings by serial communication (S22, S23), and are monitored until the number of prints reaches the predetermined number (S24). Then, the change amount of the drive frequency obtained until the number of printed sheets reaches the predetermined number is compared with the predetermined amount. If the change amount of the drive frequency is larger than the predetermined amount, it is determined that the load fluctuation of the vibration type actuator is large. , Increase the control gain (S25,
S26). On the other hand, when the change amount of the drive frequency is equal to or less than the predetermined amount, it is determined that the load fluctuation of the vibration type actuator is small, and the control gain is reduced (S25, S27).

As described above, since the change in the drive frequency is monitored until the number of prints reaches the predetermined number, in the image forming apparatus in which the load fluctuation pattern is repeated every time one print is made, the change in the drive frequency over the plurality of prints is performed. By detecting (change in load), the maximum and minimum of the load can be accurately grasped.

Further, the control gain is set independently for each of the vibration type actuators 15, 16, 17, and 18, and therefore, the vibration type actuators 15, 16, 1
7 and 18 are each controlled by an optimum speed control gain. As a result, high-precision speed control is performed, and a high-quality image with little color shift is formed.

Note that high-precision speed control is required only during the formation of an image. Therefore, if the control gain is set low during acceleration or deceleration of the vibration type actuator, The control gain need not be changed.

Note that the CPU 7 of each of the above-described embodiments is used.
A storage medium storing the program code of the software to be executed by the computer is supplied to a system or apparatus equipped with a vibration type actuator, and a computer (or CPU or MPU) of the system or apparatus reads the program code stored in the storage medium. Needless to say, the present invention can be achieved also by performing the above.

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 instruction 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. .

[0062]

As described in detail above, according to the present invention, the operation state of the vibration type actuator is monitored at predetermined regular timings for a predetermined number of times or more within the load fluctuation cycle of the driven body. The control gain of the operation control circuit is set based on the monitoring information.

As a result, it is possible to set the control gain in accordance with the current characteristics of the individual and set the optimum gain without measuring the characteristics of the vibration type actuator in advance and without providing a temperature sensor. In other words, the optimal control gain varies from individual to individual due to individual differences in the characteristics of the vibration actuator, or the optimal control gain fluctuates due to changes in the characteristics of the vibration actuator over time or changes in ambient temperature. Even so, the control gain can be corrected to a control gain that matches the characteristics of the individual and follows the characteristic fluctuation, and thus always enables the best speed control.

[Brief description of the drawings]

FIG. 1 is a flowchart illustrating a procedure of a speed control gain setting process executed by a CPU according to a first embodiment.

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

FIG. 3 is a diagram showing characteristics of a rotation speed with respect to a driving frequency when load torques of a vibration type actuator are different.

FIG. 4 is a diagram showing a characteristic of a rotation speed with respect to an amplitude of a driving voltage when a load torque of a vibration type actuator is different.

FIG. 5 is a flowchart illustrating a procedure of a speed control gain setting process executed by a CPU according to a second embodiment.

FIG. 6 is a block diagram illustrating a configuration of a drive control device for a vibration-type actuator according to a second embodiment.

FIG. 7 is a diagram illustrating a configuration of a color copying machine equipped with a drive control device for a vibration-type actuator according to the first or second embodiment.

FIG. 8 is a block diagram illustrating a configuration of a control device that performs drive control of a vibration-type actuator.

FIG. 9 is a flowchart showing the operation of the color copier and the drive control device for the vibration type actuator.

FIG. 10 is a diagram showing a speed pattern during acceleration.

[Explanation of symbols]

 1, 2, 3 Operation control circuit 4, 5, 6 Vibration type actuator 7 CPU (monitoring means, gain setting means) 8, 9, 10 Speed sensor 11, 12, 13, 14 Operation control circuit 15, 16, 17, 18 Vibration type actuator 104a, 104b, 104c, 104d Photosensitive drum

 ──────────────────────────────────────────────────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) 5H004 GA15 GA16 GB20 HA08 HB08 HB14 HB20 KC54 KC56 LA17 MA04 5H303 AA27 BB09 BB18 CC03 CC08 CC10 DD14 EE03 EE07 FF09 HH05 JJ02 JJ10 KK24 5H680 BB01 BC05 DD23 EE23 FF23 FF25 FF27 FF30 FF36

Claims (29)

[Claims] 1. A vibration-type actuator which obtains a driving force by applying an AC signal to an electro-mechanical energy conversion element, and is connected to the vibration-type actuator and driven by the vibration-type actuator. A vibration-type actuator drive control device including a driven body that repeats various fluctuations and an operation control circuit that controls the operation of the vibration-type actuator, wherein the operation control circuit feedback-controls the speed of the vibration-type actuator to determine the speed. When speed control is performed, within a load fluctuation cycle of the driven body, at least a predetermined number of times at a predetermined timing, a monitoring unit that monitors an operation state of the vibration type actuator, based on monitoring information obtained by the monitoring unit. Gain setting means for setting a control gain of the operation control circuit. Type actuator drive controller. 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 gain setting means obtains a maximum value of a change amount in an operation state of the vibration type actuator based on monitoring information obtained by the monitoring means, and refers to a preset optimal control gain table. 3. The vibration actuator drive control device according to claim 1, wherein a control gain corresponding to the maximum value is read, and the read control gain is set in the operation control circuit. 4. The apparatus according to claim 1, wherein the monitoring unit monitors at least one of a frequency, an amplitude, and a phase of a driving voltage applied to the vibration-type actuator as an operation state of the vibration-type actuator. The vibration-type actuator drive control device according to claim 3. 5. The operation control circuit controls an operation speed of the vibration-type actuator by changing at least one of a frequency, an amplitude, and a phase of a drive voltage applied to the vibration-type actuator. The vibration-type actuator drive control device according to claim 1. 6. The gain setting means obtains a difference between a predetermined amount and a change amount of at least one of a frequency, an amplitude, and a phase of a drive voltage applied to the vibration-type actuator, and sets the control gain in accordance with the difference. The vibration type actuator drive control device according to any one of claims 1 to 5, wherein: 7. The gain setting means compares at least one change amount among a frequency, an amplitude, and a phase of a drive voltage applied to the vibration type actuator with a predetermined value, and the change amount is larger than the predetermined value. 6. The vibration-type actuator drive control device according to claim 1, wherein the control gain is increased in a case, and the control gain is decreased in a case where the control gain is small. 8. The gain setting means performs a filter operation on the monitoring information obtained by the monitoring means two or more times, and sets a control gain of the operation control circuit based on the calculation result. The vibration-type actuator drive control device according to any one of claims 1 to 7, wherein: 9. 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. . 10. The load change cycle of the driven body is a time for recording an image on one image recording sheet in the image forming apparatus, and the image is recorded on one or more predetermined number of image recording sheets. 10. The vibration-type actuator drive control device according to claim 9, wherein the gain setting means is operated after recording. 11. A vibration-type actuator that obtains a driving force by applying an AC signal to an electro-mechanical energy conversion element, and is connected to the vibration-type actuator and driven by the vibration-type actuator. A drive control method applied to a vibration-type actuator drive control device including a driven body that repeats various changes and an operation control circuit that controls the operation of the vibration-type actuator, wherein the operation control circuit A monitoring step of monitoring the operating state of the vibration-type actuator for a predetermined number of times or more at a predetermined timing within a load fluctuation cycle of the driven body when the speed is feedback-controlled and a constant speed control is performed; Setting the control gain of the operation control circuit based on the monitoring information obtained by Vibration type actuator drive control method characterized by having a setting step. 12. The vibration type actuator drive control method according to claim 11, 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. 13. The gain setting step obtains a maximum value of a change amount in an operation state of the vibration type actuator based on monitoring information obtained in the monitoring step, and refers to a preset optimal control gain table. 13. The method according to claim 11, wherein a control gain corresponding to the maximum value is read, and the read control gain is set in the operation control circuit. 14. The method according to claim 11, wherein the monitoring step monitors at least one of a frequency, an amplitude, and a phase of a drive voltage applied to the vibration-type actuator as an operation state of the vibration-type actuator. A method for controlling the drive of a vibration-type actuator according to claim 13. 15. The operation control circuit controls the operation speed of the vibration-type actuator by changing at least one of a frequency, an amplitude, and a phase of a drive voltage applied to the vibration-type actuator. Claim 11
A method for controlling the drive of a vibration-type actuator according to claim 14. 16. The method according to claim 16, wherein the gain setting step comprises the steps of:
16. The vibration-type actuator drive according to claim 11, wherein a difference between at least one change amount of a phase and a predetermined value is obtained, and the control gain is set according to the difference. Control method. 17. The method according to claim 17, wherein the gain setting step comprises:
Comparing at least one change amount of the phase with a predetermined value;
16. The vibration type according to claim 11, wherein the control gain is increased when the change amount is larger than the predetermined value, and the control gain is reduced when the change amount is smaller than the predetermined value. Actuator drive control method. 18. The gain setting step performs a filter operation on the monitoring information obtained twice or more in the monitoring step, and sets a control gain of the operation control circuit based on the calculation result. 18. The vibration type actuator drive control method according to claim 11, wherein: 19. The vibration type actuator drive control method according to claim 11, wherein said vibration type actuator is used for driving a photosensitive drum or a paper transport roller of an image forming apparatus. . 20. The load change cycle of the driven body is a time for recording an image on one image recording sheet in the image forming apparatus, and the image is recorded on one or more predetermined number of image recording sheets. The method according to claim 19, wherein the gain setting step is performed after recording. 21. A vibration-type actuator that obtains a driving force by applying an AC signal to an electro-mechanical energy conversion element, and is connected to the vibration-type actuator and driven by the vibration-type actuator. Computer-readable storage storing, as a program, a drive control method applied to a vibration-type actuator drive control device including a driven body that repeats various fluctuations, and an operation control circuit that controls the operation of the vibration-type actuator. In the medium, the drive control method includes: when the operation control circuit is controlled at a constant speed by feedback-controlling the speed of the vibration-type actuator; As described above, the monitoring step of monitoring the operation state of the vibration type actuator, Storage medium characterized by having a gain setting step of setting a control gain of the operation control circuit on the basis of the monitoring information obtained by said monitoring step. 22. The gain setting step obtains a maximum value of a change amount in an operation state of the vibration type actuator based on monitoring information obtained in the monitoring step, and refers to a preset optimal control gain table. 22. The storage medium according to claim 21, wherein a control gain corresponding to the maximum value is read, and the read control gain is set in the operation control circuit. 23. The method according to claim 21, wherein the monitoring step monitors at least one of a frequency, an amplitude, and a phase of a drive voltage applied to the vibration-type actuator as an operation state of the vibration-type actuator. The storage medium according to claim 22. 24. The gain setting step, wherein the frequency, amplitude, and the like of a drive voltage applied to the vibration type actuator are set.
24. The storage medium according to claim 21, wherein a difference between at least one change amount of a phase and a predetermined value is obtained, and the control gain is set according to the difference. 25. The gain setting step, wherein the driving voltage applied to the vibration type actuator has a frequency, an amplitude,
Comparing at least one change amount of the phase with a predetermined value;
24. The storage medium according to claim 21, wherein the control gain is increased when the change amount is larger than the predetermined value, and the control gain is reduced when the change amount is smaller. . 26. The gain setting step performs a filter operation on the monitoring information obtained twice or more in the monitoring step, and sets a control gain of the operation control circuit based on the operation result. The storage medium according to any one of claims 21 to 25, wherein: 27. A driving device for a vibration-type actuator device for obtaining a driving force by applying frequency signals having different phases to an electro-mechanical energy conversion element, wherein the vibration-type actuator device has a target speed. When the speed of the actuator is detected and the frequency signal is controlled by speed feedback control to drive at a constant speed, a change in the frequency signal of the driven body driven by the vibration type actuator device is monitored. And a control gain for determining an output characteristic of the vibration type actuator device with respect to the applied frequency signal of the vibration type actuator device based on the monitoring information. 28. The driving device according to claim 27, wherein the monitoring information is at least one of a frequency, a voltage, and a phase of a frequency signal. 29. The vibration-type actuator device,
Driving an operating member of the image forming apparatus, performing the monitoring operation until a predetermined operation is performed a plurality of times by the operating member, and controlling the monitoring member based on monitoring information monitored until the predetermined operation is performed a plurality of times. 29. The driving device according to claim 27, wherein a gain is set.