JP2010057212A5 - - Google Patents
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- JP2010057212A5 JP2010057212A5 JP2008216261A JP2008216261A JP2010057212A5 JP 2010057212 A5 JP2010057212 A5 JP 2010057212A5 JP 2008216261 A JP2008216261 A JP 2008216261A JP 2008216261 A JP2008216261 A JP 2008216261A JP 2010057212 A5 JP2010057212 A5 JP 2010057212A5
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Claims (16)
前記振動型アクチュエータの変位、又は、前記振動型アクチュエータに駆動される被駆動体の変位の少なくとも一方に基づいて前記振動型アクチュエータの速度及び前記被駆動体の移動量を求める駆動状態検出手段と、
前記振動型アクチュエータに印加する周波信号の周波数を徐々に変更する掃引制御手段とを備え、
前記駆動状態検出手段は、前記振動型アクチュエータの速度を一定、又は、前記周波数を一定として駆動される定常駆動速度まで前記掃引制御手段が加速するとき、前記振動型アクチュエータの速度が前記定常駆動速度よりも低い速度の基準速度に達してから前記定常駆動速度に達するまでの加速移動量を検出し、
前記掃引制御手段は、前記加速移動量に基づいて減速開始位置を決定すること、
を特徴とする振動型アクチュエータ制御装置。 A vibration type actuator controller that controls a vibration type actuator that converts electric energy into mechanical energy and outputs a driving force by applying a frequency signal,
Driving state detection means for determining the speed of the vibration type actuator and the amount of movement of the driven body based on at least one of the displacement of the vibration type actuator or the displacement of the driven body driven by the vibration type actuator;
Sweep control means for gradually changing the frequency of the frequency signal applied to the vibration actuator,
When the sweep control means accelerates to a steady drive speed that is driven with the speed of the vibration actuator being constant or the frequency being constant, the drive state detection means is configured such that the speed of the vibration actuator is the steady drive speed. Detecting the amount of acceleration movement from reaching the lower reference speed to the steady driving speed,
The sweep control means determines a deceleration start position based on the acceleration movement amount;
A vibration type actuator control device characterized by the above.
を特徴とする請求項１に記載の振動型アクチュエータ制御装置。 The reference speed is a speed at which the vibration actuator can be stopped without overrun at a position where the application of the frequency signal is finished,
The vibration type actuator control device according to claim 1.
を特徴とする請求項１又は請求項２に記載の振動型アクチュエータ制御装置。 The deceleration start position is a position before the target position by an amount obtained by adding the acceleration movement amount and the movement amount moved at the reference speed immediately before stopping,
The vibration type actuator control device according to claim 1, wherein
加速を行うときに前記周波信号の周波数を徐々に下げる割合として、第１の掃引レートと、前記第１の掃引レートよりも周波数の掃引レートが高い第２の掃引レートとに基づいた制御を行うことができ、
前記振動型アクチュエータの起動時には掃引レートを前記第１の掃引レートとし、
前記駆動状態検出手段が前記振動型アクチュエータの起動開始から予め設定された起動時移動量だけ駆動したことを検出したときに掃引レートを前記第２の掃引レートに変更し、
前記駆動状態検出手段は、前記掃引制御手段が用いる掃引レートを前記第１の掃引レートから前記第２の掃引レートに変更した後に、前記加速移動量を検出すること、
を特徴とする請求項１から請求項３のいずれか１項に記載の振動型アクチュエータ制御装置。 The sweep control means includes
Control is performed based on a first sweep rate and a second sweep rate having a frequency sweep rate higher than the first sweep rate, as a rate of gradually decreasing the frequency of the frequency signal when accelerating. It is possible,
When starting the vibration type actuator, the sweep rate is the first sweep rate,
Changing the sweep rate to the second sweep rate when the driving state detecting means detects that the vibration type actuator has been driven by a predetermined starting movement amount from the start of activation of the vibration actuator;
The drive state detection means detects the acceleration movement amount after changing the sweep rate used by the sweep control means from the first sweep rate to the second sweep rate;
The vibration type actuator control device according to any one of claims 1 to 3, wherein:
を特徴とする請求項１から請求項４のいずれか１項に記載の振動型アクチュエータ制御装置。 The movement amount at the time of starting is an amount based on the backlash amount of a transmission mechanism that transmits a driving force from the vibration actuator to the driven body.
The vibration type actuator control device according to any one of claims 1 to 4, wherein:
を特徴とする請求項１から請求項５のいずれか１項に記載の振動型アクチュエータ制御装置。 The sweep control means changes a sweep rate by a load that changes in accordance with the amount of movement of the driven body detected by the drive state detection means,
The vibration type actuator control device according to any one of claims 1 to 5, wherein:
前記掃引制御手段は、前記温度検出手段の検出結果により掃引レートを変更すること、
を特徴とする請求項１から請求項６のいずれか１項に記載の振動型アクチュエータ制御装置。 Has a temperature detecting means for detecting the temperature of the vibration type actuator or the environment,
The sweep control means changes a sweep rate according to a detection result of the temperature detection means;
The vibration type actuator control device according to any one of claims 1 to 6, wherein:
前記掃引制御手段は、前記定速制御手段によって求められた制御量に応じて、前記掃引制御手段によって制御する周波数の掃引レートを変更すること、
を特徴とする請求項１から請求項６のいずれか１項に記載の振動型アクチュエータ制御装置。 Comprising constant speed control means for controlling the speed of the vibration type actuator to be constant by changing the frequency of the frequency signal applied to the vibration type actuator;
The sweep control means changes a sweep rate of a frequency controlled by the sweep control means according to a control amount obtained by the constant speed control means,
The vibration type actuator control device according to any one of claims 1 to 6, wherein:
前記掃引制御手段は、前記定速制御手段によって求められた制御量に応じて、減速開始位置を補正すること、
を特徴とする請求項１から請求項６のいずれか１項に記載の振動型アクチュエータ制御装置。 Comprising constant speed control means for controlling the speed of the vibration type actuator to be constant by changing the frequency of the frequency signal applied to the vibration type actuator;
The sweep control means corrects a deceleration start position according to a control amount obtained by the constant speed control means;
The vibration type actuator control device according to any one of claims 1 to 6, wherein:
を特徴とする請求項４から請求項９のいずれか１項に記載の振動型アクチュエータ制御装置。 The sweep control means uses the second sweep rate when decelerating;
The vibration type actuator control device according to any one of claims 4 to 9, wherein:
前記撮影光学系を駆動する振動型アクチュエータと、
前記振動型アクチュエータを制御する請求項１から請求項１０のいずれか１項に記載の振動型アクチュエータ制御装置と、
を備えるレンズ鏡筒。 Photographic optics,
A vibration type actuator for driving the imaging optical system;
The vibration type actuator control device according to any one of claims 1 to 10, which controls the vibration type actuator;
A lens barrel comprising:
前記撮影光学系を駆動する振動型アクチュエータと、
前記振動型アクチュエータを制御する請求項４から請求項１０のいずれか１項に記載の振動型アクチュエータ制御装置と、
前記撮影光学系により得られる像を撮像する撮像部と、
を備える撮像装置であって、
音声とともに動画像を記録する動画像記録部を備え、
前記前記掃引制御手段は、前記動画像記録部が音声とともに動画像の記録を行わないときには、前記振動型アクチュエータの起動時から前記第２の掃引レートを用いること、
を特徴とする撮像装置。 Photographic optics,
A vibration type actuator for driving the imaging optical system;
The vibration type actuator control device according to any one of claims 4 to 10, wherein the vibration type actuator is controlled.
An imaging unit for imaging an image obtained by the imaging optical system;
An imaging device comprising:
A moving image recording unit that records moving images together with sound,
The sweep control means uses the second sweep rate from the time of activation of the vibration actuator when the moving image recording unit does not record moving images together with sound.
An imaging apparatus characterized by the above.
前記振動型アクチュエータ、又は、前記振動型アクチュエータに駆動される被駆動体の変位の少なくとも一方に基づいて前記振動型アクチュエータの速度及び前記被駆動体の移動量を求め、
前記振動型アクチュエータの速度を一定、又は、前記周波数を一定として駆動される定常駆動速度まで加速するとき、前記振動型アクチュエータの速度が前記定常駆動速度よりも低い速度の基準速度に達してから前記定常駆動速度に達するまでの加速移動量を検出し、
前記加速移動量に基づいて減速開始位置を決定すること、
を特徴とする振動型アクチュエータの制御方法。 A control method of a vibration type actuator that controls a vibration type actuator that converts electric energy into mechanical energy and outputs a driving force by applying a frequency signal,
Obtaining the speed of the vibration type actuator and the amount of movement of the driven body based on at least one of the vibration type actuator or the displacement of the driven body driven by the vibration type actuator;
When accelerating the vibration type actuator to a constant driving speed or a constant driving speed driven at a constant frequency, the speed of the vibration type actuator reaches a reference speed that is lower than the steady driving speed. Detect the amount of acceleration movement until the steady drive speed is reached,
Determining a deceleration start position based on the acceleration movement amount;
A control method of a vibration type actuator characterized by the above.
前記振動型アクチュエータの起動時には掃引レートを前記第１の掃引レートとし、
前記駆動状態検出手段が前記振動型アクチュエータの起動開始から予め設定された起動時移動量だけ駆動したことを検出したときに掃引レートを前記第２の掃引レートに変更し、
前記掃引制御手段が使用する掃引レートを前記第１の掃引レートから前記第２の掃引レートに変更した後に、前記加速移動量を検出すること、
を特徴とする請求項１３に記載の振動型アクチュエータの制御方法。 Control is performed based on a first sweep rate and a second sweep rate having a frequency sweep rate higher than the first sweep rate, as a rate of gradually decreasing the frequency of the frequency signal when accelerating. It is possible,
When starting the vibration type actuator, the sweep rate is the first sweep rate,
Changing the sweep rate to the second sweep rate when the driving state detecting means detects that the vibration type actuator has been driven by a predetermined starting movement amount from the start of activation of the vibration actuator;
Detecting the acceleration movement amount after changing the sweep rate used by the sweep control means from the first sweep rate to the second sweep rate;
The method for controlling a vibration type actuator according to claim 13 .
コンピュータを、
前記振動型アクチュエータ、又は、前記振動型アクチュエータに駆動される被駆動体の変位の少なくとも一方に基づいて前記振動型アクチュエータの速度及び前記被駆動体の移動量を求める駆動状態検出手段と、
前記振動型アクチュエータに印加する周波信号の周波数を徐々に変更する掃引制御手段として機能させるための振動型アクチュエータの制御プログラムであって、
前記駆動状態検出手段は、前記振動型アクチュエータの速度を一定、又は、前記周波数を一定として駆動される定常駆動速度まで前記掃引制御手段が加速するとき、前記振動型アクチュエータの速度が前記定常駆動速度よりも低い速度の基準速度に達してから前記定常駆動速度に達するまでの加速移動量を検出し、
前記掃引制御手段は、前記加速移動量に基づいて減速開始位置を決定すること、
を特徴とする振動型アクチュエータの制御プログラム。 In a vibration actuator control program for controlling a vibration actuator that outputs electrical driving force by converting electrical energy into mechanical energy by applying a frequency signal,
Computer
Driving state detecting means for determining the speed of the vibration type actuator and the amount of movement of the driven body based on at least one of the vibration type actuator or the displacement of the driven body driven by the vibration type actuator;
A control program for a vibration actuator for functioning as a sweep control means for gradually changing the frequency of a frequency signal applied to the vibration actuator,
When the sweep control means accelerates to a steady drive speed that is driven with the speed of the vibration actuator being constant or the frequency being constant, the drive state detection means is configured such that the speed of the vibration actuator is the steady drive speed. Detecting the amount of acceleration movement from reaching the lower reference speed to the steady driving speed,
The sweep control means determines a deceleration start position based on the acceleration movement amount;
A control program for a vibration type actuator characterized by
加速を行うときに前記周波信号の周波数を徐々に下げる割合として、第１の掃引レートと、前記第１の掃引レートよりも周波数の掃引レートが高い第２の掃引レートとに基づいた制御を行うことができ、
前記振動型アクチュエータの起動時には掃引レートを前記第１の掃引レートとし、
前記駆動状態検出手段が前記振動型アクチュエータの起動開始から予め設定された起動時移動量だけ駆動したことを検出したときに掃引レートを前記第２の掃引レートに変更し、
前記駆動状態検出手段は、前記掃引制御手段が使用する掃引レートを前記第１の掃引レートから前記第２の掃引レートに変更した後に、前記加速移動量を検出すること、
を特徴とする請求項１５に記載の振動型アクチュエータの制御プログラム。 The sweep control means includes
Control is performed based on a first sweep rate and a second sweep rate having a frequency sweep rate higher than the first sweep rate, as a rate of gradually decreasing the frequency of the frequency signal when accelerating. It is possible,
When starting the vibration type actuator, the sweep rate is the first sweep rate,
Changing the sweep rate to the second sweep rate when the driving state detecting means detects that the vibration type actuator has been driven by a predetermined starting movement amount from the start of activation of the vibration actuator;
The driving state detecting means detects the acceleration movement amount after changing the sweep rate used by the sweep control means from the first sweep rate to the second sweep rate;
The vibration actuator control program according to claim 15 .
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2008216261A JP5371323B2 (en) | 2008-08-26 | 2008-08-26 | Vibration type actuator control device, lens barrel, imaging device, vibration type actuator control method, vibration type actuator control program |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2008216261A JP5371323B2 (en) | 2008-08-26 | 2008-08-26 | Vibration type actuator control device, lens barrel, imaging device, vibration type actuator control method, vibration type actuator control program |
Publications (3)
| Publication Number | Publication Date |
|---|---|
| JP2010057212A JP2010057212A (en) | 2010-03-11 |
| JP2010057212A5 true JP2010057212A5 (en) | 2011-10-13 |
| JP5371323B2 JP5371323B2 (en) | 2013-12-18 |
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| Application Number | Title | Priority Date | Filing Date |
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| JP2008216261A Expired - Fee Related JP5371323B2 (en) | 2008-08-26 | 2008-08-26 | Vibration type actuator control device, lens barrel, imaging device, vibration type actuator control method, vibration type actuator control program |
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Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP5825833B2 (en) * | 2011-04-27 | 2015-12-02 | キヤノン株式会社 | Drive control method, pan head device and stage |
| JP6089495B2 (en) | 2012-08-23 | 2017-03-08 | セイコーエプソン株式会社 | Lens position adjusting device, projector and lens position adjusting method |
| DE102012109465B4 (en) * | 2012-10-05 | 2015-05-13 | Egt Eppinger Getriebe Technologie Gmbh | Method and device for real-time control of a drive train |
| JP6225489B2 (en) * | 2013-05-31 | 2017-11-08 | 株式会社ニコン | Drive control device for vibration actuator and optical instrument |
| JP6669538B2 (en) * | 2016-03-11 | 2020-03-18 | 株式会社トプコン | Control method of ultrasonic motor provided in surveying instrument and surveying instrument therefor |
| JP6536650B2 (en) * | 2017-10-12 | 2019-07-03 | 株式会社ニコン | Drive control device for vibration actuator and optical apparatus |
| JP7039257B2 (en) * | 2017-11-14 | 2022-03-22 | キヤノン株式会社 | Control device, lens device, image pickup device, control method, and program |
| JP7263874B2 (en) * | 2019-03-25 | 2023-04-25 | セイコーエプソン株式会社 | Piezoelectric driving device control method and piezoelectric driving device |
| JP7363615B2 (en) * | 2020-03-16 | 2023-10-18 | セイコーエプソン株式会社 | Piezoelectric drive device and its control method |
| WO2024180863A1 (en) * | 2023-02-27 | 2024-09-06 | 旭化成エレクトロニクス株式会社 | Drive circuit, optical unit, and drive method |
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| JP2814147B2 (en) * | 1990-12-10 | 1998-10-22 | アンリツ株式会社 | Ultrasonic motor drive controller |
| JPH1010421A (en) * | 1996-06-24 | 1998-01-16 | Nikon Corp | Automatic focusing device |
| JPH1115530A (en) * | 1997-06-24 | 1999-01-22 | Tokyo Technol:Kk | Stage driving electric control system for electron beam plotting device |
| JP4265493B2 (en) * | 2004-07-02 | 2009-05-20 | セイコーエプソン株式会社 | Drive device for piezoelectric actuator, electronic device |
| JP2006180632A (en) * | 2004-12-22 | 2006-07-06 | Canon Inc | Control method and device for drive source |
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