JP2017090821A - Imaging device and control method of driving device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To accurately perform position control even when sensors do not correspond to driving forces one by one.SOLUTION: A hand shake correction device SR of a digital camera 10 controls the position of a movable body 1 through feedback control in which a Y-direction driving coil 12 and a θ-direction driving coil 41, a Hall sensor H1, and a Hall sensor H2 are provided to form a pair of loops. During the control, a non-interference compensation element G is provided in a control system to convert a duty ratio so as to cancel mutual interference.SELECTED DRAWING: Figure 8

Description

  The present invention relates to a drive device that moves a movable body in a predetermined direction, such as a camera shake correction device, and more particularly to drive control for a movable body that can move in multiple directions.

  In a digital camera or the like, a camera shake correction mechanism that moves an optical lens or an image sensor so as to cancel camera shake is provided in order to prevent image quality deterioration due to camera shake. In the image pickup device shift type camera shake correction mechanism, it is possible to move a movable body (stage) on which the image pickup device is mounted along the optical axis vertical plane.

  The movable body can be moved along the X-axis, Y-axis directions (horizontal and vertical directions) defined on the plane, and the θ direction around the optical axis. In this case, in order to reduce the size of the driving device, a configuration is known in which a permanent magnet that generates driving force is shared and movement control in two directions is performed using a plurality of driving coils (see Patent Document 1).

  Specifically, a pair of Y-direction drive coils that generate a driving force along the Y direction are arranged in parallel so as to face the permanent magnets, and are translated in the Y direction by using the same driving force. The movable body is rotated around the optical axis by making the driving force different. A pair of hall sensors is arranged in accordance with the arrangement of the pair of Y-direction drive coils.

JP 2007-25616 A

  When feedback control is performed with a configuration in which a plurality of drive coils are installed and a plurality of position detection sensors are arranged accordingly, the control system becomes a multivariable control system, and the driving force generated by one drive coil affects the output of the plurality of position detection sensors. To do. In a control system in which such mutual interference occurs, it is difficult to perform accurate feedback control.

  Therefore, when performing position control by providing a plurality of drive coils and a plurality of position detection sensors, it is required to perform accurate feedback control.

  The imaging device of the present invention is based on the interaction between a magnet and a movable body that can move relative to a fixed support member in a biaxial direction perpendicular to the optical axis vertical plane and a rotational direction around the center. A plurality of drive coils that generate driving force for the movable body in different directions, a plurality of position detection sensors that are provided according to the plurality of drive coils and detect the position of the movable body, and each drive coil and the corresponding position And a control unit that forms a loop with the detection sensor and feedback-controls the position of the movable body by adjusting the current value for each of the plurality of drive coils.

  For example, the control unit can perform PWM control on the current value and calculate the duty ratio as the current value. In addition, the movable body has an image sensor or an optical lens, and the control unit may perform the camera shake correction process by moving the movable body along the optical axis vertical plane.

  In the present invention, the control unit converts the current value calculated based on the output signal of each position detection sensor so as to cancel the mutual interference, and the driving force ratios of the plurality of drive coils with respect to the converted current value. Multiply by a coefficient based on. Thereby, accurate feedback control can be performed.

  For example, the plurality of drive coils may include an axial drive coil that generates a driving force in one axial direction of two axes orthogonal to each other and a rotational direction drive coil that generates a driving force in the rotational direction. Is possible. In this case, the control unit is based on the output signal of the rotational direction position detection sensor corresponding to the rotational direction drive coil with respect to the current value calculated based on the output signal of the axial direction position detection sensor corresponding to the axial direction drive coil. The current value calculated based on the output signal of the axial position detection sensor can be subtracted from the current value calculated based on the output signal of the rotational direction position detection sensor. It is.

  For example, the control unit can have a filter function. For example, the average value of the added current value and the reduced current value can be multiplied by ½.

  The control unit can multiply the coefficient based on the thrust ratio between the axial direction drive coil and the rotational direction drive coil. For example, the control unit multiplies the coefficient based on the ratio of the number of turns of the axial direction drive coil and the rotational direction drive coil.

  According to another aspect of the present invention, there is provided a control method for a driving device, wherein a movable body is movable relative to a fixed support member in a biaxial direction perpendicular to the optical axis vertical plane and a rotational direction around the center. A plurality of drive coils that generate a driving force for the movable body in different directions by interaction with the magnet, and a plurality of position detection sensors that are provided according to the plurality of drive coils and detect the position of the movable body. In this control method, a loop is formed between each drive coil and the corresponding position detection sensor for the drive device, and the position of the movable body is feedback controlled by adjusting the current value for each of the plurality of drive coils. By providing a non-interference compensation element that cancels mutual interference, the current value calculated based on the output signal of each position detection sensor is converted and changed. To current value, to adjust the current value according to the drive force ratio of the plurality of drive coils.

  As described above, according to the present invention, even when the sensor and the driving force are not in a one-to-one correspondence, the position can be accurately controlled.

It is a block diagram of the digital camera which is 1st Embodiment. It is the top view seen from the front (photographing lens side) of a camera shake correction device. It is the top view seen from the downward direction (camera bottom face side) of a camera shake correction apparatus. It is a schematic disassembled perspective view of the component of a camera shake correction apparatus. It is sectional drawing of the camera-shake correction apparatus along AA of FIG. It is sectional drawing of the camera-shake correction apparatus along BB of FIG. It is a top view of FPC which formed the (theta) direction drive coil. It is a block diagram of the position control system comprised by a Y direction drive part, (theta) direction drive part, and a Hall sensor. Driving force F _R, which is a diagram illustrating by comparison a driving force in the configuration in which configurations and it is assumed that the driving coil relative to F _L are present separately, the Y-direction drive coils and θ-direction driving coil of the present embodiment. It is the schematic plan view seen from the camera front side of the camera-shake correction apparatus in 2nd Embodiment. It is a block diagram of the control system in 2nd Embodiment.

  Hereinafter, the present embodiment will be described with reference to the drawings.

  FIG. 1 is a block diagram of a digital camera according to the first embodiment.

  The digital camera 10 includes a camera body 120 and a photographing lens 130 that is detachably attached to the camera body 120. A system control circuit 40 including a DSP (Digital Signal Processor) includes a mode dial, a release button, In response to an input operation with respect to a power button (none of which is shown), operation control of the entire camera such as photographing operation, image recording processing, reproduction display processing is performed. A program relating to camera operation control is stored in a memory such as a ROM (not shown).

  When the shooting mode is set with the power turned on, a through image is displayed. The light passing through the photographing optical system 131 and the diaphragm 132 composed of a plurality of lens groups forms an image on the light receiving surface of the image sensor IS. Thereby, a subject image is formed on the light receiving surface of the image sensor IS. The system control circuit 40 performs image signal processing such as white balance adjustment and color conversion processing on the pixel signals for one field or one frame sequentially read from the image sensor IS to generate color image data. A real-time moving image is displayed on the LCD 24 as a through image based on the generated image data.

  When the release button is half-pressed, the system control circuit 40 detects the half-press operation by a signal from the photographing operation switch 26, and executes AF processing by the contrast method. Thereby, the focusing lens group included in the photographic optical system 131 is driven to perform focus adjustment. Further, the exposure value such as the shutter speed and the aperture value is calculated by detecting the brightness of the subject image from the generated image data.

  Further, when the system control circuit 40 detects that the release button is fully pressed, the system control circuit 40 controls the diaphragm / shutter driving circuit 23 to drive the diaphragm 132, the shutter 121, and the like based on the calculated exposure value. When an image signal for one frame is read from the image sensor IS, the system control circuit 40 generates still image data based on the pixel signal for one frame read from the image sensor IS. Still image data is recorded in the image memory 25. When the reproduction mode is set, the data of the image selected by the user from the series of recorded images stored in the image memory 25 is read, and the recorded image is reproduced and displayed on the LCD 24.

  The photographing lens 130 includes a communication memory 33 that stores data such as information regarding the resolving power of the photographing optical system 131 and the aperture diameter of the aperture 132. When the taking lens 130 is attached to the camera body 120, the stored data is sent to the system control circuit 40.

  In the camera body 120, a camera shake correction device SR is disposed behind the photographing optical system 131 along the optical axis. The camera shake correction device SR can move the image sensor IS along the horizontal direction (horizontal direction) of the camera along a plane perpendicular to the optical axis of the imaging optical system 131 and along the vertical direction of the camera (vertical direction) perpendicular to the camera. In addition, it can be rotated around the optical axis.

  The gyro sensor 28 detects an attitude change (such as yawing or pitching) of the camera 10 and outputs an angular velocity signal. The hall sensors H1 to H3 detect a change in the relative position of the image sensor IS by a magnetic field change. The system control circuit 40 calculates an image blur amount (displacement amount) based on the output signal from the gyro sensor 28 and the output signals of the hall sensors H1 to H3, and outputs a control signal to the stage drive circuit 60, thereby correcting camera shake. Execute.

  FIG. 2 is a plan view of the camera shake correction device SR viewed from the front (photographing lens side). FIG. 3 is a plan view seen from below (camera bottom side) of the camera shake correction apparatus SR. FIG. 4 is a schematic exploded perspective view of the component parts. Hereinafter, the configuration of the camera shake correction apparatus SR will be described. Note that the horizontal and vertical directions of the camera are the X and Y directions, respectively.

  As shown in FIG. 4, the camera shake correction device SR includes a movable body 1 that holds an image sensor IS, a front yoke plate 2 that is disposed opposite to the movable body 1 on the front side of the camera, and a movable body on the rear side of the camera. 1 and a rear yoke plate 3 disposed opposite to each other. The front yoke plate 2 and the rear yoke plate 3 formed of a ferromagnetic material are fixedly supported in the camera body 120.

  As shown in FIGS. 2 to 4, the movable body 1 is in contact with the rolling balls 20 installed on the front yoke plate 2 and the rolling balls 30 installed on the rear yoke plate 3. There are three places where the rolling ball 20 and the rolling ball 30 face each other. The movable body 1 can be moved along the optical axis vertical plane by being held by the rolling ball 20 and the rolling ball 30.

  As shown in FIG. 4, the front yoke plate 2 forms an opening in accordance with the imaging surface of the image sensor IS. On the back surface facing the image sensor IS, elongated rectangular permanent magnet pairs 21 and 22 are arranged on the right side and the lower side as viewed from the rear of the camera. On the other hand, on the front surface of the rear yoke plate 3 that is rectangular, permanent magnet pairs 31 and 32 are respectively arranged on the right side and the lower side when viewed from the rear of the camera. The permanent magnet pair 21 and 31 and the permanent magnet pair 22 and 32 have different magnetic poles.

  On the other hand, on the movable body 1, drive coils 11 and 12 wound with conductive wires are arranged at positions facing the permanent magnet pairs 21 and 32, respectively (see FIG. 4). The drive coils 11 and 12 are arranged in a state of being embedded in a rectangular frame formed on the movable body 1, the drive coil 11 is arranged in the magnetic field of the permanent magnet pairs 21 and 31, and the drive coil 12 is The permanent magnet pairs 22 and 32 are disposed in the magnetic field. Hereinafter, the drive coil 11 is referred to as an X direction drive coil, and the drive coil 12 is referred to as a Y direction drive coil.

  The permanent magnet pair 21, the X direction drive coil 11, and the permanent magnet pair 31 are configured as a voice coil motor (hereinafter referred to as an X direction drive unit) 5X that generates thrust in the X direction. The permanent magnet pair 22, the Y-direction drive coil 12, and the permanent magnet pair 32 are configured as a voice coil motor (hereinafter referred to as a Y-direction drive unit) 5Y that generates thrust in the Y direction.

  The driving of the X-direction drive unit 5X and the Y-direction drive unit 5Y is PWM-controlled, and the stage drive circuit 60 (not shown) is based on the control signal from the system control circuit 40, and the X-direction drive coil 11 An AC drive signal is supplied to the drive coil 12.

  On the other hand, an FPC (printed circuit board) 4 is integrally attached to the rear surface of the movable body 1 on the rear side of the camera (see FIG. 4). A θ-direction drive coil 41 is disposed on the front surface of the FPC 4 on the camera so as to face the Y-direction drive coil 12. Here, a θ-direction drive coil 41 is formed as a part of the printed circuit. The θ-direction drive coil 41 is composed of a pair of spiral coils 41a and 41b and is arranged side by side in the X direction. Further, as shown in FIG. 4, Hall sensors H1 to H3 for detecting a magnetic field change are arranged on the front surface of the FPC 4.

  FIG. 5 is a cross-sectional view of the camera shake correction apparatus SR along AA in FIG. 6 is a cross-sectional view of the camera shake correction apparatus SR along BB in FIG. As shown in FIGS. 2 and 5, the hall sensor H <b> 3 is disposed in the gap between the permanent magnet pair 21 (permanent magnet pair 31) and at the center position of the X-direction drive coil 11. As shown in FIGS. 2 and 6, the hall sensors H <b> 1 and H <b> 2 are disposed in the gap between the permanent magnet pair 22 (permanent magnet pair 32) and near the inner left and right ends of the Y-direction drive coil 12. As shown in FIG. 2, the hall sensors H1 and H2 are disposed at positions symmetrical with respect to the optical axis Ox along the X direction.

  FIG. 7 is a plan view of the FPC 4 in which the θ-direction drive coil 41 is formed. A pair of spiral coils 41a and 41b constituting the θ-direction drive coil 41 are wound in the same direction and connected in series. The θ-direction drive coil 41 is positioned so as to overlap the Y-direction drive coil 12 along the optical axis Ox, and within the magnetic field of the permanent magnet pair 22 of the front yoke plate 2 and the permanent magnet pair 32 of the rear yoke plate 3. Has been placed. The permanent magnet pair 22, the θ-direction drive coil 41, and the permanent magnet pair 32 are configured as a voice coil motor (hereinafter referred to as a θ-direction drive unit) 5θ that generates thrust in the θ direction.

  In the X-direction drive unit 5X, when a current flows through the X-direction drive coil 11, a thrust (Lorentz force) is generated in the X direction, whereby the movable body 1 on which the image sensor IS is mounted moves in the X direction. Further, in the Y-direction drive unit 5Y, a current flows through the Y-direction drive coil 12, so that a thrust is generated in the Y direction. Note that the movable body 1 moves in the opposite direction of X and Y by reversely controlling the direction of the current. Further, the thrust is adjusted by controlling the current value. On the other hand, in the θ-direction drive unit 5θ, a couple of forces is generated when a current flows through the θ-direction drive coil 41 (see FIG. 7). Thereby, the movable body 1 rotates around the optical axis Ox.

  By controlling the X-direction drive unit 5X, the Y-direction drive unit 5Y, and the θ-direction drive unit 5θ, the image sensor IS should be moved from camera shake, that is, from the image blur amount obtained from the output signal from the gyro sensor 28. The position is calculated as a target position, and the position of the movable body 1 is feedback-controlled based on output signals from the hall sensors H1 to H3. In the present embodiment, non-interference control is performed when feedback control is performed by the Y-direction drive unit 5Y and the θ-direction drive unit 5θ. This will be described below.

  FIG. 8 is a block diagram of a position control system including a Y-direction drive unit, a θ-direction drive unit, and Hall sensors H1 and H2.

As shown in FIG. 8, the position control system of the present embodiment is provided with two feedback loops, and the hall sensor H1 and the hall sensor H2 each function as a position detector for different feedback loops. The first control loop LP1 includes a PID controller P1, and a target position for the hall sensor H1 is input as a target value (Y _R ). This target value is a value obtained from the output signal of the gyro sensor 28, and is updated here in units of 1 ms.

In the PID controller P1, a correction value corresponding to the difference between the output value from the hall sensor H1 and the target value is calculated, and a current value is obtained as an operation amount by the stage drive circuit 60 (not shown in FIG. 8). Since the PWM control is executed as described above, the duty ratio is obtained. Also in the other control loop LP2, the target value (Y _L ) of the hall sensor H2 is input to the PID controller P2, and the duty ratio is output based on the difference value from the output value of the hall sensor H2.

The object controlled by the control loops LP1 and LP2 is a common movable body 1 (image sensor IS). If the driving forces for the hall sensors H1 and H2 are F _R and F _L , the driving forces F _R and _FL Are generated by the Y-direction drive coil 12 and the θ-direction drive coil 41, respectively (indicated as Y coil and T coil in FIG. 8).

  Here, the control target of the camera shake correction device SR is a two-to-two multivariate system, and the operation amount, that is, the duty ratio from the PID controller P1 in one control loop LP1 is the Hall sensor H2 of the other control loop LP2. Affects the output value. Similarly, the operation amount in the PID controller P2 also affects the output value of the hall sensor H1.

  In order to cancel such mutual interference, a non-interference compensation element (decoupller) G is provided. The non-interference compensation element G adds the duty ratio of the control loop LP1 and the duty ratio of the control loop LP2 in the control loop LP1, while the control loop LP2 calculates the duty ratio of the control loop LP1 from the duty ratio of the control loop LP2. Is reduced.

This duty ratio corresponding to the driving force F _L to the driving force F _R and the Hall sensor H2 for Hall sensor H1, to convert the duty ratio for driving force in the Y-direction drive coil 12 and the θ-direction driving coil 41 Deserve. This will be described below.

FIG. 9 compares the driving force in the configuration in which the driving coils for the driving forces F _R and F _L are assumed to be separate from the configuration in which the Y-direction driving coil 12 and the θ-direction driving coil 41 of the present embodiment are provided. FIG.

The driving forces F _R and F _L when the driving coils exist separately for the target positions Y _R and Y _L of the hall sensors H1 and H2 are obtained by the following equations, respectively. However, T _R and T _L are thrust constants, and represent a driving force with respect to a reference current value (here, a duty ratio of 1%). V is a voltage value, and R _R and R _L are resistance values. “a” and “b” are duty ratios that are manipulated variables.

F _R = T _R × V / R _R × a / 100
_FL = _TL * V / _RL * b / 100
... (1)

On the other hand, if the driving forces by the Y direction driving coil 12 and the θ direction driving coil 41 are F _Y and F _T , the driving forces F ′ _R and F ′ _L are expressed by the expressions of F _Y and F _T as shown below. be able to. However, T _Y and T _T are thrust constants, V is a voltage value, and R _Y and R _T represent resistance values. c and d are duty ratios that are manipulated variables.

F ′ _R = F _Y −F _T
= T _Y × V / R _Y × c / 100−T _T × V / R _T × d / 100
F ′ _L = F _Y + F _T
= T _Y × V / R _Y × c / 100 + T _T × V / R _T × d / 100
... (2)

In this embodiment, when F ′ _R = F _R and F ′ _L = F _L , it is possible to obtain a driving force equivalent to the driving forces F _R and F _L when the driving coils exist separately, Based on the idea that the interference can be canceled, the duty ratios c and d satisfying F ′ _R = F _R and F ′ _L = F _L are obtained. That is, the duty ratios a and b are converted into the duty ratios c and d by the non-interference compensation element G.

  The duty ratios c and d obtained by the non-interference compensation element G are each multiplied by 1/2 in the filter P3 at P4. Specifically, the duty ratios c and d are multiplied by 1/2. However, the PID controllers P1 and P2 may be halved, and a non-interference compensator that multiplies ½ may be provided in the non-interference compensation element G.

By the way, the rotational force of the movable body 1 can be realized with a relatively small force as compared with the driving force in the Y direction, and a small thrust is desirable as compared with the Y direction driving coil 12 from the viewpoint of camera miniaturization. Therefore, the number of coil turns is different between the Y-direction drive coil 12 and the θ drive coil 41, and the thrust constants T _Y and T _T are also different. Therefore, even if the same current value is supplied, the driving forces of the Y direction driving coil 12 and the θ driving coil 41 do not match. In order to compensate for such a thrust difference, the values of the duty ratios c and d halved are corrected by the correction units P5 and P6.

The correction units P5 and P6 multiply the values of the duty ratios c and d that have been halved by coefficients, respectively. The coefficient is determined based on the ratio between the number of turns W _Y of the Y direction drive coil 12 and the number of turns W _T of the θ direction drive coil 41. Here, since the ratio of the number of coil turns = W _Y : W _T is 10: 1, the correction unit P5 multiplies the duty ratio c by 1, and the correction unit P6 multiplies the duty ratio d by 10.

By constructing such a non-interference control system, it is possible to cancel the mutual interference of the movable body 1 to be controlled and perform servo control with high accuracy without causing oscillation. Note that the filter units P3 and P4 are not limited to doubling the duty ratios c and d obtained by the non-interference compensation element G, but the frequency response characteristics from the θ drive coil 41 to Y _R , Based on the frequency response characteristics from the Y-direction drive coil 12 to Y _L , a filter function that cancels the mutual interference may be used.

  Further, the correction units P5 and P6 are multiplied by a coefficient based on the coil turns ratio, but this is due to other driving forces (Lorentz force) such as the configuration of the permanent magnet pairs 22 and 32 in the camera shake correction device SR. This is based on the premise that the components to be generated have the same conditions regarding the generation of the driving force. Therefore, a more accurate position can be obtained by multiplying the reference current value, for example, a current value having a duty ratio of 1%, by a coefficient based on the ratio of the driving force when the Y direction driving coil 12 and the θ direction driving coil 41 are passed. Control can be performed.

  Next, a second embodiment will be described with reference to FIGS. In the second embodiment, a camera shake correction apparatus in which drive coils are separately provided on the YR side and the YL side is configured.

  FIG. 10 is a schematic plan view of the camera shake correction apparatus according to the second embodiment viewed from the front side of the camera. The front yoke plate 2 and the rear yoke plate 3 are not shown.

  A pair of drive coils (voice coils) 11 ′ and 12 ′ are arranged at a predetermined interval below the image sensor IS protruding from the opening 54 a of the movable body 1 ′. A drive coil 11A is disposed on the left side of the image sensor IS as viewed from the front of the camera. On the back surface of the front yoke plate (not shown), permanent magnets (not shown) are arranged at positions facing the drive coils 11 ', 12', 11A. The drive coil 11A generates a driving force in the X direction. On the other hand, the drive coils 11 ′ and 12 ′ generate driving force when rotating in the Y direction and θ direction.

  FIG. 11 is a block diagram of a control system in the second embodiment.

On the Y _R side, the drive coil 11 ′ and the hall sensor H1, and on the Y _L side, the drive coil 12 ′ and the hall sensor H2 are paired to form a loop. In order to prevent one duty ratio from affecting the output signal of the other Hall sensor, a non-interference compensation element G1 is provided. Here, a value obtained by multiplying the mutual duty ratio by 0.05 is reduced as a correction value. This makes it possible to perform accurate position control. Here, the driving forces of the drive coils 11 ′ and 12 ′ are the same, but if they are different, a correction unit may be provided as in the first embodiment. Further, the current value converted according to the driving force ratio is adjusted, for example, when the driving force of the driving coils 11 ′ and 12 ′ is the same, by multiplying both by 1 when the driving force is the same. May be.

  The first and second embodiments are directed to a control system between drive coils that generates drive force in the Y direction and θ direction, but drive force is applied in the X direction and θ direction, or in the X direction and Y direction. A control system between generated drive coils may be targeted. Further, the present invention can be applied to a lens-driven camera shake correction device that drives a correction lens instead of an image sensor, and the arrangement of permanent magnets and the like may be appropriately set according to the configuration of the camera.

  Further, the present invention can be applied not only to a camera shake correction device but also to a case where a level level is adjusted by a camera, and if the movable body is moved along a predetermined plane using a drive coil and a position detection sensor, the camera It is possible to construct the control system also in devices other than the above. The position may be detected by a sensor other than the hall sensor.

DESCRIPTION OF SYMBOLS 1 Movable body 10 Digital camera 12 Y direction drive coil 41 θ direction drive coil SR Camera shake correction device IS Image sensor G, G1 Non-interference compensation element

Claims (8)

A movable body that can move relative to a fixed support member in a biaxial direction orthogonal to each other along a plane perpendicular to the optical axis and a rotational direction around the center;
A plurality of drive coils for generating a driving force for the movable body in different directions by interaction with a magnet;
A plurality of position detection sensors provided in accordance with the plurality of drive coils and detecting the position of the movable body;
A control unit that forms a loop between each drive coil and a corresponding position detection sensor, and feedback-controls the position of the movable body by adjusting a current value for each of the plurality of drive coils;
The control unit converts the current value calculated based on the output signal of each position detection sensor so as to cancel the mutual interference, and based on the driving force ratio of the plurality of driving coils with respect to the converted current value An imaging apparatus characterized by multiplying a coefficient. The plurality of driving coils include an axial driving coil that generates a driving force in one axial direction of two axes orthogonal to each other, and a rotational driving coil that generates a driving force in the rotational direction,
The control unit is based on the output signal of the rotational direction position detection sensor corresponding to the rotational direction drive coil with respect to the current value calculated based on the output signal of the axial direction detection sensor corresponding to the axial direction drive coil. The current value calculated based on the output signal of the axial direction position detection sensor is subtracted from the current value calculated based on the output signal of the rotational direction position detection sensor. The imaging apparatus according to claim 1.   The imaging apparatus according to claim 2, wherein the control unit multiplies the added current value and the reduced current value by ½.   The imaging apparatus according to claim 2, wherein the control unit multiplies a coefficient based on a thrust ratio between the axial direction drive coil and the rotational direction drive coil.   The imaging apparatus according to claim 4, wherein the control unit multiplies a coefficient based on a ratio of the number of turns of the axial direction drive coil and the rotational direction drive coil.   The imaging apparatus according to claim 1, wherein the control unit performs PWM control on a current value and calculates a duty ratio as a current value. The movable body has an image sensor or an optical lens,
The imaging apparatus according to claim 1, wherein the control unit executes a camera shake correction process by moving the movable body along a plane perpendicular to the optical axis. With respect to the fixed support member, a movable body relatively movable in a biaxial direction orthogonal to each other along a predetermined plane and a rotational direction around the center, and the interaction of the magnet with each other, a driving force is applied to the movable body. Each drive coil and corresponding to a drive device provided with a plurality of drive coils generated in different directions and a plurality of position detection sensors provided according to the plurality of drive coils and detecting the position of the movable body A control method for forming a loop with a position detection sensor that performs feedback control of the position of the movable body by adjusting a current value for each of the plurality of drive coils,
By providing a non-interference compensation element that cancels mutual interference with each other, the current value calculated based on the output signal of each position detection sensor is converted, and the driving force ratio of the plurality of drive coils to the converted current value A method for controlling the driving device, wherein the current value is adjusted according to the control method.

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