JP2010175974A - Imaging apparatus, imaging method, program and medium - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To solve a problem that, when a power supply switch is turned on and a voice coil motor for driving a shift lens is in an energized state, a shift lens is held to float, but when power is not supplied, holding force of the shift lens is released, and the shift lens drops by gravity, consequently, a lens holding frame holding the shift lens happens to collide with an inner wall of a lens barrel, thereby possibly causing a shock and offensive collision sound in such a case. <P>SOLUTION: By decreasing a feedback gain in shift lens control stepwise during feedback control stopping operation, the shock and the collision sound caused between the inner wall of the lens barrel and a movable lens when the movable lens floated by vibration-proof control drops by the gravity are avoided. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to an imaging apparatus for correcting camera shake.

  2. Description of the Related Art Conventionally, in the field of camera equipment such as cameras and video cameras, automation and other functions have been achieved in all respects, such as exposure setting and focus adjustment, so that good shooting can be easily performed. In recent years, a shake correction function for correcting camera shake has been put into practical use. In particular, in an image pickup apparatus employing a high-magnification lens, camera shake on the telephoto side is conspicuous, and the quality of the image is remarkably reduced. Therefore, the shake correction function has become an essential function.

  FIG. 11 shows a simple configuration of a lens having a shake correction function. In the figure, 101 is a lens barrel, 102 is a fixed first lens group, 103 is a second lens group for performing a zooming operation, and 104 is a stop. Reference numeral 105 denotes a third lens group (hereinafter referred to as a shift lens) for correcting image blur caused by camera shake and the like. Reference numeral 106 denotes a fourth lens having both a focus surface correction and a focus adjustment function by the zoom lens 103. It is a lens group. Reference numeral 107 denotes an image sensor, and light passing through the lens is imaged here.

  FIG. 12 is a perspective view showing a configuration of an image stabilization unit that includes the shift lens 105 and holds the shift lens 105 so as to be movable in a direction orthogonal to the optical axis.

  The shift lens unit 201 is a voice coil motor that drives the drive magnet 203 integrated with the lens by energizing the drive coil 202 to generate a magnetic field. Then, the position of the correction lens is detected by the position sensor 204, and the position of the lens is controlled by feedback control. In this way, the components shown in FIG. 12 constitute one image stabilization unit, and the shift lens 105 that performs the shake correction moves in the vertical and horizontal directions orthogonal to the optical axis, and the magnitude of the shake of a device such as a camera is large. In accordance with this, the optical axis is changed to correct camera shake.

  In the conventional imaging apparatus, as described above, since the shift lens unit 201 is configured by a voice coil motor, the shift lens 105 is floated by the voice coil motor when the power switch is turned on and in the energized state. Held. However, when the power is turned off, the holding force of the shift lens 105 by the voice coil motor is released and it falls due to its own weight, and the impact that the lens holding frame holding the shift lens 105 collides with the inner wall of the lens barrel and There was a problem that an unpleasant collision sound was generated.

Therefore, in the conventional invention, if the power switch is turned off or the image stabilization function is turned off, the gain driving the shift lens is lowered, and as a result, the direction in which the lens moves up, down, left and right is detected. The shift lens is driven stepwise in the direction in which the shift lens moves. Then, after the operation of the shift lens is completed, for example, the configuration is such that the power of the camera is actually turned off, and this occurs between the lens barrel and the lens barrel due to the fall of the shift lens due to its own weight when the power is turned off. Techniques have been proposed to prevent impacts and harsh sounds. (For example, see Patent Document 1)
The conventional example as in Patent Document 1 is effective when the camera equipped with the shake correction function as described above is held in the posture at the time of pressing the power button until the power is turned off.
Japanese Unexamined Patent Publication No. 2000-250086

  However, the shake correction function in the imaging apparatus as described above does not match the direction of movement of the lens and the direction of gravity when the camera posture is changed after the shift lens drive direction is detected after the power-off button is pressed. For this reason, there has been a problem that it is impossible to obtain an effect of preventing impact and harsh sound generated between the lens barrel due to the shift lens falling due to its own weight.

  In addition, since the shift lens drive direction is detected after the power-off button is pressed and the shift lens is driven stepwise based on the detected drive direction, there are many conditional branches being processed as the shift lens drive direction detection is set in detail. Become. Therefore, in order to accurately detect the shift lens falling direction and drive the shift lens according to the detected direction, there is a problem that a large program capacity is required.

  In order to solve the above-described problems and achieve the object, the present invention is an imaging apparatus having a function of performing a shake correction operation by driving a movable correction optical system, and detects a shake applied to the imaging apparatus. A shake detection means, a position detection means for detecting the position of the correction optical means, and the position of the correction optical system detected by the position detection means is moved according to the output of the shake detection means. Feedback control means for performing feedback control so as to move to a target position, and change means for changing the characteristics of the output from the feedback control means, the change means, when the feedback control is stopped, The output of the feedback control means is lowered stepwise.

  As described above, according to the present invention, when the camera posture is changed after the shift lens driving direction is detected after the power-off button is pressed, it occurs between the lens barrel and the lens barrel due to the weight of the shift lens. Can prevent shock and harsh sounds.

  Further, since it is not necessary to change the process according to the direction in which the shift lens is dropped without detecting the direction in which the shift lens is dropped, the program capacity can be saved.

Example 1
Hereinafter, an embodiment of the present invention will be described.

  FIG. 1 is a configuration diagram of the entire imaging apparatus of the present invention. Reference numeral 301 denotes a zoom lens unit having a zoom lens for zooming. Reference numeral 302 denotes a zoom lens drive control unit that drives and controls the zoom lens unit 301. Reference numeral 303 denotes a shift lens unit that can change the angle of view, and the specific configuration in this embodiment may be as shown in FIG. Reference numeral 304 denotes a shift lens drive control unit that drives and controls the shift lens unit 303. Reference numeral 306 denotes an aperture / shutter controller that controls driving of the aperture / shutter unit 305. Reference numeral 307 denotes a focus lens unit having a lens for performing focus adjustment. A focus lens drive control unit 308 drives and controls the focus lens unit 307. Reference numeral 309 denotes an imaging unit that converts an optical image that has passed through each lens group into an electrical signal. An imaging signal processing unit 310 converts the electrical signal from the imaging unit 309 into a video signal. Reference numeral 311 denotes a video signal processing unit that processes the video signal from the imaging signal processing unit 310 according to the application. A display unit 312 displays a signal from the video signal processing unit 311 as necessary. Reference numeral 313 denotes a power supply unit that supplies power according to the application used in the entire system. Reference numeral 314 denotes an external input / output terminal unit for inputting / outputting external communication and video signals. Reference numeral 315 denotes an operation unit for operating the system. A storage unit 316 stores various data such as video information. A control unit 317 controls the entire system.

  A system of the entire image pickup apparatus of the present invention will be described with reference to FIG.

  The operation unit 315 has a shutter release button configured so that the first switch and the second switch are sequentially turned on according to the amount of pressing. The shutter release button has a structure in which the first switch is turned on when the shutter release button is pressed about halfway, and the second switch is turned on when the shutter release button is pushed down to the end. When the first switch is turned on by the operation unit 315, the control unit 317 performs focus adjustment by driving the focus lens unit 307 via the focus lens driving unit 308 based on the image information. At the same time, the control unit 317 sets the exposure amount more appropriately by driving the aperture / shutter unit 305 via the aperture / shutter unit adjusting unit 306 based on the image information. Further, when the second switch is turned on by the operation unit 315, an optical image is exposed to the imaging unit 309, and the control unit 317 processes the obtained image information in the image signal processing unit 310 and stores it in the storage unit 316. Reference numeral 318 denotes a shake detection unit that detects the degree of shake given to the photographing apparatus. At this time, if there is an image stabilization on instruction from the operation unit 315, the control unit 317 instructs the shift lens drive control unit 304 to perform image stabilization, and the shift lens unit 303 is instructed until the image stabilization operation is instructed to turn image stabilization off. To correct camera shake. In addition, when the operation unit 315 is not operated for a certain period of time, the control unit 317 issues an instruction to shut off the power source of the display for power saving.

  In the image pickup apparatus according to the present embodiment, either the still image mode or the moving image mode can be selected from the operation unit 315, and the operation conditions of each actuator can be changed in each mode.

  In the image pickup apparatus according to the present exemplary embodiment, the zoom lens drive control unit 302 that has received an instruction from the control unit 317 when an instruction for zooming magnification is given from the operation unit 315 drives the zoom lens unit, and the designated zoom position. The zoom lens unit 301 is moved. At the same time, the focus lens drive control unit 308 drives the focus lens unit 307 and performs focus adjustment based on the image information processed by the signal processing units (310, 311) from the imaging unit 3 crisis awareness 09.

  FIG. 2 is a block diagram showing an example of a circuit configuration of a shift lens drive control unit 304 including an image stabilization unit that holds the shift lens unit 303 so as to be movable in a direction orthogonal to the optical axis and its control system. In shift lens control, the vertical (pitch) and horizontal (yaw) directions are controlled separately. The symbol in the figure indicates A for vertical control and B for horizontal control. A description will be added.

  Reference numeral 401A denotes a pitch direction gyro unit that detects vibration in the vertical direction (pitch direction) of the imaging apparatus in the normal posture (the posture in which the length direction of the image frame substantially matches the horizontal direction). Reference numeral 402B denotes a yaw direction gyro unit that detects vibration in the horizontal direction (yaw direction) of the image pickup apparatus in a normal posture.

  Reference numerals 402A and 402B denote high-pass filters (hereinafter referred to as HPFs), which are high-pass filters with a fixed cutoff frequency for cutting off DC components. Reference numerals 403A and 403B denote amplifiers (hereinafter referred to as Amps) for amplifying signals from the gyro sensor. 404A and 404B are low-pass filters (hereinafter referred to as LPFs), which are anti-aliasing filters before the angular velocity signal is converted from an analog signal to a digital signal. As a result, the output signals of the vibration gyros 401A and 401B are subjected to predetermined frequency limitation and amplification, and a shake signal is generated. The shake signal is input to a microcomputer (hereinafter, IS microcomputer 415) that performs control related to shake correction.

  On the other hand, the position detection sensors 412A and 412B are composed of Hall elements, for example, and detect the movement of the shift lens in the shift lens unit 303. Amps (amplifiers) 413A and 413B are position detection sensor amplification amplifiers, and amplify signals from the position detection sensors 412A and 412B. LPFs (low-pass filters) 417A and 417B are anti-aliasing filters before position detection signal AD conversion.

  Of the internal structure of the IS microcomputer 415, analog-to-digital converters (hereinafter referred to as A / D converters) 405A and 405B convert shake information signals passed from the gyro unit 401 to the HPF 402, Amp 403, and LPF 404 into digital signals. HPFs (high-pass filters) 406A and 406B are high-pass filters whose cut-off frequency can be changed according to the shake amount, and are signals in the low-frequency region of the signals digitally converted by the A / D converters 405A and 405B. To cut. The phase compensation circuits 407A and 407B adjust the phase lag and phase advance of the gyro signal processing system which is a signal from the HPFs 406A and 406B. The integrator 408A (B) converts the angular velocity signal that has passed through the phase compensation circuits 407A and 407B into an angle signal. Thus, the shift lens drive control unit 304 calculates a shift lens movement target position signal for driving the shift lens unit 303 (including the shift lens) which is a correction optical system.

  On the other hand, the shift lens position signal output from the position detection sensor 412 and passed through Amps (amplifiers) 413A and 413B and LPFs (low pass filters) 417A and 417B is digitally converted into a position detection signal by an A / D converter 414. The Then, in the PID units 409A and 409B, the shift lens is determined by the shift lens position signal in the pitch direction and the yaw direction that have passed through the A / D converter 414 and the shift lens movement target position signal calculated by the shift lens drive control unit 304. A driving amount is calculated. This shift lens drive signal is output as an output from the IS microcomputer 415, for example, as a PWM output. The variable gain Amp 410 is a feedback gain changing amplifier for reducing the weight drop impact, and the output from the PID unit 409 passes through the variable gain Amp 410 to the lens driver 411 which is a driver for driving the shift lens unit 303. Entered.

  In the control method of the present invention, the feedback gain gradually decreases by gradually decreasing the gains of the variable gains Amp 410A and 410B, and a force sufficient to hold the shift lens unit 303 including the shift lens at the center position is obtained. It becomes impossible. As a result, the shift lens unit 303 is displaced by gravity, and the shift lens is finally in the mechanical end position. Therefore, by using this displacement, when the feedback control is stopped, the shift lens is always moved in the direction of gravity.

  FIG. 3 is a block diagram showing an internal configuration of the PID unit 409A (B). In FIG. 3, reference numeral 501 denotes an integral compensator (Ki), which calculates an integral term by integrating deviations and multiplies the integral term by an integral gain. A proportional compensation unit (Kp) 502 multiplies the deviation directly by a gain. A differential compensation unit (Kd) 503 calculates a differential term by calculating a difference between a deviation in the previous control calculation and a deviation in the current control calculation, and multiplies the differential term by a differential gain. Reference numeral 504 denotes a feedback control stop instruction unit. Reference numeral 505 denotes a changeover switch.

  Here, control characteristics of PID control used for feedback control will be described. PID control is a kind of feedback control, and is a control in which an input value is controlled by three elements: a deviation between an output value and a target value, its integration, and differentiation. In PID control, an operation that changes an input value in proportion to a deviation is called a proportional operation or a P operation. The constant Kp is called a proportional gain.

This proportional operation controls the input value as a linear function of the deviation between the output value and the target value. That is, when an input value at a certain time t is x (t), an output value is y (t), and a target value is y0, x (t) = Kp (y (t) −y0) + x0 (Expression 1) )
It becomes. x0 is an input value necessary to maintain it when y (t) = y0.

If Δx (t) = x (t) −x0 and Δy (t) = y (t) −y0,
Δx (t) = KpΔy (t) (Formula 2)
Thus, the operation of changing the input value in proportion to the deviation Δy (t) is called a proportional operation or P operation.

  In proportional operation, unless Kp is changed, the input value is always determined with respect to the output value. However, when the control is actually performed, it is sometimes necessary to change the input value for the same output value depending on the surrounding environment. Therefore, the output value cannot reach the target value in the proportional operation. The deviation between the output value thus generated and the target value is referred to as residual deviation or offset. Therefore, in order to eliminate the residual deviation,

And add the second term. When there is a residual deviation, this term operates to change the input value in proportion to the time that the deviation continues. In other words, if the state with a deviation continues for a long time, the change of the input value is increased and the role of trying to approach the target value is achieved. The operation of changing the input value in proportion to the integration of the deviation is called integration operation or I operation.

  The control method combining the proportional action and the integral action as described above is called PI control. The constant Ki is called an integral gain. On the other hand, the output value may fluctuate abruptly due to changes in the surrounding environment or disturbance to the control target. Even in such a case, the PI control always tries to bring the output value close to the target value. However, since the I operation has a phase delay characteristic that it does not work until a certain amount of time has elapsed, it takes time to return the output value to the target value. Therefore, as in (Equation 4) below,

And add the third term. This term serves to resist the change by making an input in proportion to the magnitude of the change when the output value changes suddenly. The operation of changing the input value in proportion to the differential of the deviation is called differential operation or D operation. A control method combining the proportional operation, the integral operation, and the differential operation as described above is called PID control.

  The operation at the time of feedback control stop performed in the imaging apparatus configured as described above will be described with reference to the flowchart shown in FIG.

  First, when feedback control is started (S601), shift lens control is performed by PID control (S602). Next, it is determined whether or not there is a request for a feedback control stop instruction based on a signal from the feedback control stop instruction unit 504 (S603). If there is no request for a feedback control stop instruction, PID control is continued. The feedback control stop instruction is issued, for example, when the power is turned off by pressing the power button or when the playback mode is switched. If there is a request for a feedback control stop instruction, the shift lens target position calculation is stopped (S604). This is a process for reducing the calculation processing load because the camera shake correction operation is unnecessary during the feedback control stop operation.

  In the PID unit 409, the changeover switch 505 is operated by the signal from the feedback control stop instruction unit 504 to open the changeover switch, and the calculation of the I component is stopped (S605). As a result, the integral compensation value, which is the output value of the integral compensation unit (Ki) 501, is held at a constant value. Therefore, even if a displacement due to gravity occurs by reducing the gain of the variable gain Amp 410 in stages, the displacement is reduced. The compensation operation is not performed. Thereby, the shift lens can smoothly move to the mechanical end position.

  Thereafter, the variable gain Amp switch 506 changes the variable gain Amp410 (S606), and determines whether the variable gain Amp410 has been changed (S607). If the change of the variable gain Amp 410 has not been completed, the change is continued. Note that the variable gain Amp 410 is changed stepwise until the start time when the camera power is turned off and the variable gain Amp magnification at that time is 1 and the variable gain Amp magnification is 0 after a predetermined time has elapsed. The change of the variable gain Amp 410 is executed according to a function of time and the variable gain Amp magnification as shown in FIGS. 5, 6, and 7, for example. FIG. 5 shows an example in which the gain is changed at a constant change rate (the change gradient is one type). FIG. 6 is an example having two types of gain change rates (two types of change slopes). FIG. 7 shows an example in which the gain change rate is gradually changed (gradient of change is gradually changed) according to time. When the shift lens is dropped, the gain is changed by using a gain change table or a calculation formula prepared in advance as in the above example.

  Note that the changes shown in FIGS. 5, 6, and 7 are examples, and the method for changing the variable gain Amp magnification is determined in consideration of the time required to turn off the power and the impact and sound caused by the weight drop of the shift lens. When the change of the variable gain Amp magnification of the variable gain Amp 410 is completed, the feedback control is stopped (S608).

  As described above, in the first embodiment, when shifting from the case where the image stabilization function is used to the case where it is not used, the feedback gain of the shift lens control is decreased stepwise by changing the variable gain Amp410. As an example of shifting from the case of using the image stabilization function to the case of not using it, for example, when the power is turned off by pressing the power button or when the mode is switched to the reproduction mode. As a result, even if the power is turned off, the anti-vibration mechanism including the shift lens that has been in a floating state by the anti-vibration control can be dropped by its own weight, and an impact generated between the inner wall of the lens barrel can be avoided.

(Example 2)
FIG. 8 is a block diagram showing a circuit configuration of an imaging apparatus according to the second embodiment of the present invention. Components having the same functions as those in FIG.

  In the second embodiment, the PID switch 1101 changes the characteristics of the variable gain PID unit 1001 step by step. This changing method will be described in detail later. As a result, the feedback gain gradually decreases, and a force sufficient to hold the shift lens unit 303 including the shift lens at the center position cannot be obtained, and the shift lens unit 303 is displaced by gravity. Finally, the shift lens is at the mechanical end position. In the present embodiment, when the feedback control is stopped by using this displacement, the shift lens is always moved in the direction of gravity.

  FIG. 9 is a block diagram showing an internal configuration of the variable gain PID unit 1001. Components having the same functions as those in FIG.

  In FIG. 9, reference numeral 1101 denotes a PID switch, which opens and closes the changeover switch 505 and an integral compensation unit (Ki) 501, a proportional compensation unit (Kp) 502, and a differential compensation unit (Kd) according to a signal from the feedback control stop instruction unit 504. The value of 503 is changed.

  The operation at the time of feedback control stop performed in the imaging apparatus configured as described above will be described with reference to the flowchart shown in FIG.

  First, when feedback control is started (S1201), shift lens control is performed by PID control (S1202). Based on the signal from the feedback control stop instruction unit 504, it is determined whether or not there is a feedback control stop instruction request (S1203). If there is no feedback control stop request, PID control is continued. The feedback control stop instruction is issued, for example, when the power-off button is pressed or when the playback mode is switched. If there is a feedback control stop request, the shift lens target position calculation is stopped (S1204). This is a process for reducing the calculation processing load because the camera shake correction operation is unnecessary during the feedback control stop operation. After stopping the shift lens target position calculation, based on the signal from the feedback control stop instruction unit 504, the PID switch 1101 operates the switch 505 to open the switch and stop the calculation of the I component (S1205). ). As a result, the integral compensation value that is the output value of the integral compensation unit (Ki) 501 is held at a constant value. After that, it is determined whether or not the integral compensator (Ki) 501 has been changed (S1206). If the change has not been completed, the PID switch 1101 changes the value of the integral compensation unit (Ki) 501 (S1207). If the change has been completed, the process proceeds to S1208. Next, in step S1208, a change completion determination of the proportional compensation unit (Kp) 502 is performed. If the change has not been completed, the PID switch 1101 changes the value of the proportional compensation unit (Kp) 502 (S1209), and the change is made. If is completed, the process proceeds to S1210. Further, in S1210, the end of change of the differential compensation unit (Kd) 503 is determined. If the change has not been completed, the PID switch 1101 changes the value of the differential compensation unit (Kd) 503 (S1211). If the change has been completed, it is determined whether the integral compensator (Ki) 501, the proportional compensator (Kp) 502, and the differential compensator (Kd) 503 are terminated (S1212). If all the changes of the integral compensator (Ki) 501, the proportional compensator (Kp) 502, and the differential compensator (Kd) 503 have been completed in S1212, the PID switch 1101 stops feedback control ( S1213). If any one of the integral compensation unit (Ki) 501, the proportional compensation unit (Kp) 502, and the differential compensation unit (Kd) 503 has not been changed in S1212, the process returns to S1206. Then, the change completion determination of the integral compensation unit (Ki) 501 is performed again, and until all the changes in the integral compensation unit (Ki) 501, the proportional compensation unit (Kp) 502, and the differential compensation unit (Kd) 503 are completed, FIG. Run the flow.

  As described above, in the second embodiment, by setting Kp, Ki, and Kd independently of each other, the degree of freedom of parameter setting is improved, and optimal parameter setting according to the mechanical configuration is possible.

(Other examples)
The object of the present invention can also be implemented by the following method. A storage medium storing software program codes for realizing the functions of the above-described embodiments is supplied to a system or apparatus. This can also be achieved by the computer (or CPU, MPU, etc.) of the system or apparatus reading and executing 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 program code and the storage medium storing the program code constitute the present invention. .

  Examples of the storage medium for supplying the program code include a flexible disk such as a floppy (registered trademark) disk, a hard disk, and a magneto-optical disk. Further, optical disks such as CD-ROM, CD-R, CDRW, DVD-ROM, DVD-RAM, DVD-RW, DVD + RW, magnetic tape, nonvolatile memory card, ROM, and the like can be used. Alternatively, the program code may be downloaded via a network.

  The functions of the above-described embodiments are not only realized by executing the program code read by the computer. In some cases, an OS (operating system) or the like running on the computer performs part or all of the actual processing based on the instruction of the program code, and the functions of the above-described embodiments are realized by the processing. included.

  Furthermore, the program code read from the storage medium may be written in a memory provided in a function expansion board inserted into the computer or a function expansion unit connected to the computer. Then, based on the instruction of the program code, the CPU or the like provided in the extension board or extension unit with the extension function performs part or all of the actual processing, and the function of each embodiment described above is realized by the processing. This is also included.

  Further, by executing the program code read out by the computer, not only the functions of the above-described embodiments are realized, but also the OS running on the computer based on the instruction of the program code is actually Part or all of the processing may be performed. It goes without saying that the case where the functions of the above-described embodiments are realized by this processing is also included in the present invention.

  In this case, the program is supplied by downloading directly from a storage medium storing the program or from another computer or database (not shown) connected to the Internet, a commercial network, a local area network, or the like.

It is a block diagram of the whole imaging device of this invention. It is a block diagram which shows the circuit structure of the imaging device which concerns on 1st Embodiment of this invention. It is a block diagram of the PID part which concerns on 1st Embodiment of this invention. It is a flowchart which shows 1st Embodiment operation | movement of this invention. It is an example of a change of the signal amplification factor with respect to the time of the variable gain Amp. It is an example of a change of the signal amplification factor with respect to the time of the variable gain Amp. It is an example of a change of the signal amplification factor with respect to the time of the variable gain Amp. It is a block diagram which shows the circuit structure of the imaging device which concerns on the 2nd Embodiment of this invention. It is a block diagram of the PID part which concerns on the 2nd Embodiment of this invention. It is a flowchart which shows 2nd Embodiment operation | movement of this invention. It is a block diagram of a lens having a shake correction function. It is a perspective view which shows the structure of a vibration isolator unit.

410 Variable gain amplifier 415 IS microcomputer 416 Anti-vibration unit 501 Integral compensation unit (Ki)
502 Proportional compensation unit (Kp)
503 Differential compensation unit (Kd)
505 changeover switch 1001 variable gain PID section

Claims (14)

An imaging apparatus having a function of performing a shake correction operation by driving a movable correction optical system,
Shake detection means for detecting shake applied to the imaging device;
Position detecting means for detecting the position of the correcting optical means;
Feedback control means for performing feedback control so that the position of the correction optical system detected by the position detection means is moved to the movement target position of the correction optical means according to the output of the shake detection means;
Changing means for changing the characteristics of the output from the feedback control means,
The imaging device according to claim 1, wherein the changing means lowers the output of the feedback control means stepwise when the feedback control is stopped. The change means further includes a change table,
The imaging apparatus according to claim 1, wherein the changing unit lowers the output of the feedback control unit stepwise based on the change table.   The imaging apparatus according to claim 1, wherein the changing unit lowers the output of the feedback control unit stepwise at a constant rate of change.   The imaging apparatus according to claim 1, wherein the changing unit lowers the output of the feedback control unit stepwise at two kinds of change rates.   The imaging apparatus according to claim 1, wherein the changing unit gradually decreases the output of the feedback control unit by changing the rate of change gradually. An imaging apparatus having a function of performing a shake correction operation by driving a movable correction optical system,
Shake detection means for detecting shake applied to the imaging device;
Position detecting means for detecting the position of the correcting optical means;
Feedback control means for performing feedback control so that the position of the correction optical system detected by the position detection means is moved to the movement target position of the correction optical means according to the output of the shake detection means;
The imaging apparatus according to claim 1, wherein the feedback control means stepwise reduces the output of the feedback control means when the feedback control is stopped.   The imaging apparatus according to claim 1, wherein the feedback control unit further includes a proportional operation unit, an integration operation unit, and a differentiation operation unit. The feedback control means further includes feedback control stop instruction means,
The imaging apparatus according to claim 7, wherein the integration operation unit is stopped when the feedback control stop instruction unit instructs the stop of the feedback control unit.   The imaging apparatus according to claim 8, wherein when the feedback control stop instruction unit instructs the stop of the feedback control unit, the determination of the movement target position is stopped. The feedback control means further includes a proportional action means, an integral action means, and a differential action means,
The imaging apparatus according to claim 6, wherein when the feedback control is stopped, the feedback control unit changes the characteristics of the proportional operation unit, the integration operation unit, and the differentiation operation unit in a stepwise manner. A method for controlling an imaging apparatus having a function of performing a shake correction operation by driving a movable correction optical system,
A shake detection step of detecting shake applied to the imaging device;
A position detection step for detecting the position of the correction optical step;
A feedback control step for performing feedback control so that the position of the correction optical system detected by the position detection step is moved to the movement target position of the correction optical step according to the output of the shake detection step;
A change step for changing the characteristics of the output from the feedback control step,
The changing method is characterized in that, when the feedback control is stopped, the output characteristics of the feedback control step are lowered stepwise. A control method of an imaging apparatus having a function of performing a shake correction operation by driving a movable correction optical system,
A shake detection step of detecting shake applied to the imaging device;
A position detection step of detecting the position of the correction optical step;
A feedback control step for performing feedback control so that the position of the correction optical system detected by the position detection step is moved to the movement target position of the correction optical step according to the output of the shake detection step;
When the feedback control is stopped, the feedback control step lowers the output stepwise.   The program for making a computer perform the control method of Claim 11 or 12.   A computer-readable storage medium storing the program according to claim 13.