JP2012231625A5 - Drive control method and drive control apparatus - Google Patents

Drive control method and drive control apparatus Download PDF

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JP2012231625A5
JP2012231625A5 JP2011099098A JP2011099098A JP2012231625A5 JP 2012231625 A5 JP2012231625 A5 JP 2012231625A5 JP 2011099098 A JP2011099098 A JP 2011099098A JP 2011099098 A JP2011099098 A JP 2011099098A JP 2012231625 A5 JP2012231625 A5 JP 2012231625A5
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vibration wave
drive control
frequency signal
motors
wave motors
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本発明の駆動制御方法は、電気−機械エネルギ変換素子へ周波信号を印加することにより駆動する振動波モータを複数備え、前記複数の振動波モータによって被駆動部材を駆動させる前記振動波モータを制御する駆動制御方法であって、前記複数の振動波モータに、高周波の周波信号から低周波の周波信号へシフトさせた周波信号を印加し、前記複数のモータのいずれかに異常振動が起こった時の周波信号ｆ１を求め、前記複数のモータに印加する周波信号は、いずれも前記周波信号ｆ１より所定の値Δｆだけ高い周波信号ｆ１＋Δｆよりも高い周波信号を用いることを特徴とする。The drive control method of the present invention includes a plurality of vibration wave motors that are driven by applying a frequency signal to the electromechanical energy conversion element, and controls the vibration wave motor that drives a driven member by the plurality of vibration wave motors. When a frequency signal shifted from a high frequency signal to a low frequency signal is applied to the plurality of vibration wave motors, and abnormal vibration occurs in any of the plurality of motors. The frequency signal f1 is obtained, and the frequency signals applied to the plurality of motors are all higher than the frequency signal f1 + Δf higher than the frequency signal f1 by a predetermined value Δf.
また、本発明の駆動制御装置は、電気−機械エネルギ変換素子への周波信号の印加により駆動する振動波モータを複数備え、前記複数の振動波モータによって被駆動部材を駆動する駆動制御装置であって、前記複数の振動波モータのそれぞれに印加される周波信号は、前記複数の振動波モータの中で最も共振周波数が高い振動波モータの共振周波数よりも高い周波数であることを特徴とする。The drive control apparatus of the present invention is a drive control apparatus that includes a plurality of vibration wave motors that are driven by applying a frequency signal to the electromechanical energy conversion element and that drives a driven member by the plurality of vibration wave motors. The frequency signal applied to each of the plurality of vibration wave motors is higher than the resonance frequency of the vibration wave motor having the highest resonance frequency among the plurality of vibration wave motors.

Claims (6)

電気−機械エネルギ変換素子へ周波信号を印加することにより駆動する振動波モータを複数備え、前記複数の振動波モータによって被駆動部材を駆動させる前記振動波モータを制御する駆動制御方法であって、A drive control method for controlling the vibration wave motor that includes a plurality of vibration wave motors that are driven by applying a frequency signal to an electromechanical energy conversion element, and that drives a driven member by the plurality of vibration wave motors,
前記複数の振動波モータに、高周波の周波信号から低周波の周波信号へシフトさせた周波信号を印加し、前記複数のモータのいずれかに異常振動が起こった時の周波信号ｆ１を求め、A frequency signal shifted from a high frequency signal to a low frequency signal is applied to the plurality of vibration wave motors to obtain a frequency signal f1 when abnormal vibration occurs in any of the plurality of motors,
前記複数のモータに印加する周波信号は、いずれも前記周波信号ｆ１より所定の値Δｆだけ高い周波信号ｆ１＋Δｆよりも高い周波信号を用いることを特徴とする駆動制御方法。A drive control method characterized in that a frequency signal higher than a frequency signal f1 + Δf higher than the frequency signal f1 by a predetermined value Δf is used as a frequency signal applied to the plurality of motors. 前記複数の振動波モータのそれぞれは、２枚以上の前記電気−機械エネルギ変換素子を含み、前記２枚以上の電気−機械エネルギ変換素子の１枚は、センサ相であり、前記センサ相からの出力により前記異常振動を検知することを特徴とする請求項１記載の駆動制御方法。Each of the plurality of vibration wave motors includes two or more electro-mechanical energy conversion elements, and one of the two or more electro-mechanical energy conversion elements is a sensor phase, and from the sensor phase The drive control method according to claim 1, wherein the abnormal vibration is detected by an output. 前記複数の振動波モータは、前記複数の振動波モータによってそれぞれ回転するギヤを有し、前記それぞれ回転するギヤによって前記被駆動部材を駆動させることを特徴とする請求項１または２記載の駆動制御方法。3. The drive control according to claim 1, wherein the plurality of vibration wave motors have gears respectively rotated by the plurality of vibration wave motors, and the driven member is driven by the respective rotation gears. Method. 電気−機械エネルギ変換素子への周波信号の印加により駆動する振動波モータを複数備え、前記複数の振動波モータによって被駆動部材を駆動する駆動制御装置であって、A drive control device comprising a plurality of vibration wave motors driven by application of frequency signals to the electro-mechanical energy conversion element, wherein the driven member is driven by the plurality of vibration wave motors;
前記複数の振動波モータのそれぞれに印加される周波信号は、The frequency signal applied to each of the plurality of vibration wave motors is
前記複数の振動波モータの中で最も共振周波数が高い振動波モータの共振周波数よりも高い周波数であることを特徴とする駆動制御装置。The drive control device characterized in that the frequency is higher than the resonance frequency of the vibration wave motor having the highest resonance frequency among the plurality of vibration wave motors. 前記複数の振動波モータのそれぞれは、２枚以上の前記電気−機械エネルギ変換素子を含み、前記２枚以上の電気−機械エネルギ変換素子の１枚は、センサ相であることを特徴とする請求項４記載の駆動制御装置。Each of the plurality of vibration wave motors includes two or more electro-mechanical energy conversion elements, and one of the two or more electro-mechanical energy conversion elements is a sensor phase. Item 5. The drive control device according to Item 4. 前記複数の振動波モータは、前記複数の振動波モータによってそれぞれ回転するギヤを有し、前記それぞれ回転するギヤによって前記被駆動部材が駆動することを特徴とする請求項４または５記載の駆動制御装置。6. The drive control according to claim 4, wherein the plurality of vibration wave motors have gears respectively rotated by the plurality of vibration wave motors, and the driven member is driven by the respective rotation gears. apparatus.
JP2011099098A 2011-04-27 2011-04-27 Drive control method and drive control apparatus Expired - Fee Related JP5854630B2 (en)

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CN116300415A (en) * 2022-09-07 2023-06-23 瑞声开泰声学科技(上海)有限公司 Output consistency control method and device for multiple vibrators and electronic equipment

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JP2996483B2 (en) * 1990-04-05 1999-12-27 キヤノン株式会社 Vibration type motor
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JP2863280B2 (en) * 1990-07-04 1999-03-03 アスモ株式会社 Driving method of ultrasonic motor
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