JP2021012253A - Imaging apparatus and method for controlling the same - Google Patents

Abstract

To prevent a through current from flowing in a driving circuit in image shake correction and remove an output dead zone of a PWM (pulse width modulation) signal as much as possible to improve accuracy.SOLUTION: PWM generation units 100, 105 to 107 generate a plurality of PWM signals in response to a control command from a CPU 124 and output the signals to an actuator driver unit 108. The actuator driver unit 108 has an H-bridge type circuit configuration including a plurality of switching elements (109 to 112) and drives the actuator 117 according to the PWM signals. An image pick-up device is moved (or rotated) by the actuator 117 and image shake correction is performed. The CPU 124 generates dead time for the PWM signals with a dead time generation unit 119, and performs control of inserting the dead time into a PWM signal selected according to an amount of movement and a state of the image pick-up device with a dead time insertion unit 104 in the PWM generation units.SELECTED DRAWING: Figure 1

Description

The present invention relates to an image pickup apparatus that moves an image pickup device to correct image blur during photography and a control method thereof.

An image pickup device having an image blur correction function includes a device equipped with a camera shake correction mechanism (image plane vibration isolation mechanism) that moves the image sensor in parallel. The amount of blurring of the imaging device due to camera shake or the like is detected, and the target position is calculated based on the amount of image movement related to the imaged subject. The image sensor moves in parallel according to the target position, and image blur correction is performed by feedback control. An actuator using a VCM (Voice Coil Motor) is generally used for the image plane vibration isolation mechanism unit.

In order to drive the actuator with high accuracy and move the image sensor to the target position, it is necessary to finely control the ON / OFF period of the PWM (pulse width modulation) signal used for controlling the actuator. The positive-phase PWM output and the negative-phase PWM output are complementary to each other, and when one is in the ON state, the other is in the OFF state. However, when the positive-phase PWM output and the negative-phase PWM output are turned on at the same time, a short-circuit state (turn-on state) occurs. In this case, a through current may flow between the power supply of the actuator control unit and the ground, which may cause the actuator control unit to be destroyed.

Patent Document 1 discloses a method of accurately performing feedback control of a camera shake correction mechanism even in an output dead zone by PWM drive control. Specifically, a correction unit that removes the output dead zone by correcting the duty ratio of the PWM signal in the PWM drive control is disclosed. Further, Patent Document 2 discloses a control method for comparing the pulse widths of PWM signals in order to suppress a through current and changing the pulse widths to avoid a turn-on state.

Japanese Unexamined Patent Publication No. 2013-3403 Japanese Unexamined Patent Publication No. 2013-81114

In the control method disclosed in Patent Document 1, adjustment is performed so that the PWM signal can be output even if the pulse width becomes small by correction based on a predetermined calculation formula. However, if the dead time cannot be secured and a through current flows through the drive circuit constituting the camera shake correction mechanism, the device may be destroyed.

In the control method disclosed in Patent Document 2, the penetration current can be suppressed by inserting a dead time, but the PWM signal is masked (inactive) depending on the state of the PWM signal of the positive phase and the negative phase. Fine drive control may not be possible.

Therefore, it is required to perform detailed PWM control while suppressing the through current of the drive circuit. An object of the present invention is to suppress the flow of a through current through a drive circuit in image blur correction, eliminate the output dead zone of a PWM signal as much as possible, and further improve the accuracy.

The image pickup apparatus of the embodiment of the present invention controls a generation means for generating a plurality of pulse width modulation signals, a drive means for driving an actuator for moving an image pickup element, and the generation means using the pulse width modulation signals. A control means for controlling image blur correction is provided. The control means selects one of the plurality of pulse width modulation signals, and controls the generation means to insert a dead time into the selected pulse width modulation signal.

According to the present invention, it is possible to suppress the flow of a through current through the drive circuit in the image blur correction, eliminate the output dead zone of the PWM signal as much as possible, and further improve the accuracy.

It is a block diagram which shows the structural example of the drive control part which concerns on embodiment of this invention. It is explanatory drawing of a dead time. It is a flowchart explaining the dead time insertion which concerns on 1st Embodiment. It is a timing chart which shows the waveform at the time of dead time insertion. It is a timing chart which shows the PWM waveform when the image sensor is stopped. It is a timing chart which shows the PWM waveform when the image sensor is minute-driven from the stopped state. It is a flowchart explaining the dead time insertion which concerns on 2nd Embodiment. It is a timing chart which shows the waveform at the time of the dead time insertion which concerns on 2nd Embodiment.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. In each embodiment, an application example to a system in which image blur correction is performed by driving an image sensor included in an image sensor is shown. It is possible to accurately move the image sensor to the target position by performing feedback control on the image plane vibration isolation mechanism by a drive control method using a plurality of pulse width modulation signals. The image pickup apparatus includes an image pickup optical system, an image pickup element, an image pickup signal processing unit, a control unit, an operation detection unit, a display unit, and the like. In the following embodiments, components related to the present invention will be mainly described.

[First Embodiment]
FIG. 1 is a block diagram showing a configuration example of the drive control unit 1 of the present embodiment. The drive control unit 1 controls an image blur correction mechanism (image plane vibration isolation mechanism) in the image pickup apparatus. The image plane vibration isolation mechanism is a mechanism that translates the image sensor to be driven into a plane orthogonal to the optical axis of the image pickup optical system. In this case, it may have a mechanism for translating the image sensor and rotating it around the optical axis.

The drive control unit 1 includes a plurality of PWM generation units 100, 105, 106, 107. These PWM generation units have the same configuration, and output pulse width modulation signals PWM0, PWM1, PWM2, and PWM3 to the actuator driver unit 108, respectively.

The actuator driver unit 108 has, for example, an H-bridge type circuit configuration. Vc represents the power supply voltage supplied to the drive control unit 1. A circuit in which two switching elements are connected in series is arranged in parallel between the power supply and the ground. For example, the first circuit in which the transistors Tr0 and Tr1 are connected in series and the second circuit in which the transistors Tr2 and Tr3 are connected in series are arranged in parallel with each other, and ON / OFF control of each transistor is performed. Is done. The actuator 117 is connected to the output line drawn from the connection point between the transistors Tr0 and Tr1 and the output line drawn from the connection point between the transistors Tr2 and Tr3.

The PWM generation unit 100 supplies PWM0 to the transistor Tr0 (109) constituting the actuator driver unit 108. The PWM generation unit 105 supplies PWM1 to the transistor Tr1 (110). The PWM generation unit 106 supplies PWM2 to the transistor Tr2 (111), and the PWM generation unit 107 supplies PWM3 to the transistor Tr3 (112). At this time, the PWM0 output by the PWM generation unit 100 and the PWM1 signals output by the PWM generation unit 105 are in a complementary relationship with each other. Further, the PWM2 output by the PWM generation unit 106 and the PWM3 output by the PWM generation unit 107 are in a complementary relationship with each other.

Since the PWM generation unit 100 and each PWM generation unit 105 to 107 have the same configuration, only the PWM generation unit 100 will be described. The PWM generation unit 100 includes a frequency setting unit 101, a duty setting unit 102, a signal generation unit 103, and a dead time insertion unit 104. The frequency setting unit 101 sets the frequency information according to the control command of the CPU (Central Processing Unit) 124. The duty setting unit 102 sets the duty information according to the control command of the CPU 124. The signal generation unit 103 generates a PWM signal based on the frequency information set by the frequency setting unit 101 and the duty information set by the duty setting unit 102. The dead time insertion unit 104 adds the output of the signal generation unit 103 and the output of the dead time generation unit 119, which will be described later, to generate PWM0 and output it to the actuator driver unit 108.

The PWM generation units 100, 105 to 107 generate pulse width modulation signals PWM0, PWM1, PWM2, and PWM3 based on the frequency information and the duty information, respectively. ON / OFF control of transistors Tr0 to Tr3 is performed according to these PWM signals. Table 1 below shows the state of each transistor.

表１は、トランジスタＴｒ０〜Ｔｒ３のＯＮ、ＯＦＦのスイッチング状態の組み合わせを示す。「１」はトランジスタがＯＦＦの状態を表し、「０」はトランジスタがＯＮの状態を表す。表１にしたがって正方向、逆方向、第１の停止状態（停止１）、第２の停止状態（停止２）にてアクチュエータ１１７を駆動制御することができる。

Table 1 shows a combination of ON / OFF switching states of transistors Tr0 to Tr3. "1" represents a state in which the transistor is OFF, and "0" represents a state in which the transistor is ON. According to Table 1, the actuator 117 can be driven and controlled in the forward direction, the reverse direction, the first stopped state (stop 1), and the second stopped state (stop 2).

The diodes 113, 114, 115, and 116 shown in the actuator driver unit 108 of FIG. 1 are freewheeling diodes for preventing a reverse current from flowing in when the transistors Tr0, Tr1, Tr2, and Tr3 are switched. The diodes 113, 114, 115, and 116 are connected in parallel to the transistors Tr0, Tr1, Tr2, and Tr3, respectively. For example, the diode 113 has its anode connected to the power supply side with respect to Tr0, and its cathode connected to the side where Tr0 is connected to Tr1. Tr1 connected to the transistor Tr0 is grounded via the resistor R1, and Tr3 connected to the transistor Tr2 is grounded via the resistor R2. One end of the actuator 117 is connected to the connection point between Tr0 and Tr1 via the resistor R3, and the other end is connected to the connection point between Tr2 and Tr3.

The sensor 118 includes a Hall element or the like, and outputs a voltage value that fluctuates according to the magnetic force to the position detection unit 121. The position detection unit 121 detects the position of the actuator 117 (corresponding to the position of the image sensor) based on the detection signal of the sensor 118.

The angular velocity sensor 123 is a gyro sensor or the like, and detects the angular velocity of the runout applied to the image pickup apparatus and outputs a detection signal. For example, the image pickup device main body or the lens device is provided with an angular velocity sensor 123, and can detect vibrations such as camera shake. The target position setting unit 122 sets the target position for image blur correction based on the detection signal acquired from the angular velocity sensor 123.

The comparison unit 120 compares the output of the target position setting unit 122 with the output of the position detection unit 121. The CPU 124 acquires and processes a signal indicating a comparison result between the target position for image blur correction and the current position (detection position). The CPU 124 controls the dead time generation unit 119 based on the output signal of the comparison unit 120. The dead time generation unit 119 generates a signal for inserting the dead time into the PWM signal to the PWM generation units 100, 105 to 107. The generated signal is sent to the dead time insertion unit 104 provided in each of the PWM generation units 100 and 105 to 107. The dead time insertion unit 104 performs a process of inserting a dead time into the PWM signal.

Next, the insertion of the dead time will be described. When Tr0 (or Tr2) and Tr1 (or Tr3) constituting the actuator driver unit 108 are turned on at the same time, a short-circuit state (turn-on state) occurs. In this case, if a through current flows between the power supply (Vc) of the actuator control unit in the image plane vibration isolation mechanism and the ground, the actuator control unit may be destroyed. Therefore, in the present embodiment, a dead time period is provided when switching ON and OFF of Tr0 (or Tr2) and Tr1 (or Tr3) to suppress the flow of a through current. The dead time period corresponds to a period in which both the transistors Tr0 (or Tr2) and Tr1 (or Tr3) are turned off. A specific description will be given with reference to FIG.

FIG. 2 shows an example of each PWM signal supplied to the transistors Tr0 (or Tr2) and Tr1 (or Tr3). PWM0 (or PWM2) and PWM1 (or PWM3) are generated as signals in which ON and OFF are complementary. A period (td) provided so that these signals do not reach the HIGH level at the same time, that is, a period during which the corresponding transistors are turned off so that both signals reach the LOW level is provided as a dead time. If the dead time corresponding to the length of the period td is long, it causes a decrease in efficiency and the like. For example, the linearity of control in the image plane vibration isolation mechanism may decrease, and the torque in driving the actuator 117 may decrease, resulting in a decrease in controllability. Therefore, the shorter the dead time, the better.

Next, the process of the dead time generation unit 119 will be described with reference to the flowchart of FIG. After the power of the image pickup apparatus is turned on, the user presses down the shutter release button (denoted by SW1) (not shown) by half to instruct the preparatory shooting operation. In S001, an aiming operation for determining a so-called composition is in progress. At this time, in order to facilitate the composition determination by the user, the drive control unit 1 in the image pickup apparatus controls the movement of the image pickup element by using the image plane vibration isolation mechanism. Vibration isolation (image blur correction) can be realized by controlling the frequency and duty ratio of the PWM signal based on the target position corresponding to the amount of motion blur and the current position. That is, the comparison unit 120 in FIG. 1 compares the target position with the current position. The CPU 124 determines the control amount of the actuator 117 based on the comparison result (positional deviation), and performs a process of converting the control amount into a duty ratio with respect to the PWM signal.

After that, the CPU 124 compares the duty ratio with respect to the converted PWM signal with a predetermined threshold value (denoted as Δth) (S002). Here, a process of calculating the absolute value of the deviation (difference) of the duty ratio of the PWM signal and comparing it with the threshold value is executed. That is, the determination process is performed to determine whether or not the absolute value of the deviation (difference) between the duty ratio of PWM0 (or PWM2) and the duty ratio of PWM1 (or PWM3) is larger than the threshold value. If the absolute value of the deviation of the duty ratio is larger than the threshold value Δth, the process proceeds to S003. In S003, the dead time generation unit 119 performs a dead time generation process (S003). Further, when the absolute value of the deviation of the duty ratio is equal to or less than the threshold value Δth in S002, the dead time is not generated and the process shifts to S001.

Proceeding to the process of S004 after S003, the CPU 124 determines which PWM signal to insert the dead time generated in S003 among the plurality of PWM signals. At this time, the CPU 124 compares the duty ratio with respect to the calculated PWM signal based on the control amount of the actuator 117 or the drive direction (the direction of the current supplied to the actuator 117). Among the PWM signals supplied to the transistors Tr0 (or Tr2) and Tr1 (or Tr3), the PWM signal having the largest duty ratio is selected. For example, when the duty ratio of PWM0 is described as duty0 and the duty ratio of PWM1 is described as duty1, when “duty0> duty1”, the process proceeds to S005. The dead time insertion unit 104 inserts a dead time with respect to PWM0. On the other hand, in the case of “duty0 ≦ duty1”, the process proceeds to S006, and the dead time insertion unit 104 inserts the dead time into PWM1.

After the processing of S005 and S006, a PWM signal is generated in S007, and the PWM signal with the dead time inserted is supplied to the corresponding transistor. The dead time is not inserted for the PWM signal that is not selected.

An example of inserting a dead time for a PWM signal will be described with reference to FIG. FIG. 4A is a timing chart showing PWM0 (or PWM2) and PWM1 (or PWM3), and shows a case where a dead time is inserted for PWM1 (or PWM3). When the actuator 117 is driven by the PWM signal, the deviation of the duty ratio of the PWM signal is compared with the threshold value Δth. When it is determined that the absolute value of the deviation of the duty ratio is larger than the threshold value, it is determined that the dead time insertion is performed. Here, it is assumed that the PWM signal having the smaller duty ratio is selected when the dead time is inserted. In the example of FIG. 4A, the duty ratio of PWM1 (or PWM3) is smaller than that of PWM0 (or PWM2). Therefore, when a dead time (td) is inserted with respect to PWM1 (or PWM3), the HIGH level period in the PWM signal is further shortened as shown in FIG. 4A. As a result, detailed control of the actuator 117 may not be possible, the drive torque of the actuator 117 may decrease, and drive control for moving the image sensor from the current position to the target position may not be possible.

In order to avoid this, in the present embodiment, when inserting the dead time, a process of selecting the PWM signal having the larger duty ratio is performed. FIG. 4B is a timing chart showing each signal of PWM0 (or PWM2) and PWM1 (or PWM3), and shows a case where a dead time is inserted for PWM0 (or PWM2). PWM0 (or PWM2) has a larger duty ratio than PWM1 (or PWM3). Therefore, PWM0 (or PWM2) having a large duty ratio is selected, and a dead time (td) is inserted into the PWM signal supplied to the transistor Tr0 (or Tr2). On the other hand, the dead time is not inserted into the pulse width modulation signal supplied to Tr1 (or Tr3), that is, PWM1 (or PWM3).

In this way, when the control amount of the actuator 117 is larger than the threshold value or the PWM signal having a large duty ratio is selected according to the drive direction of the actuator 117 and a dead time is inserted, the HIGH level period in the PWM signal is inserted. Can be secured. As a result, the ratio of the dead time period in the PWM signal can be reduced, so that the decrease in the driving torque of the actuator 117 can be suppressed, and the image sensor can be moved to the target position.

[Second Embodiment]
Next, a second embodiment of the present invention will be described with reference to FIGS. 1, 5 to 7. In this embodiment, the same items as those in the first embodiment will be omitted by diverting the symbols and symbols already used, and the differences will be mainly described.

In the image pickup apparatus, the image plane vibration isolation mechanism stops the movement of the image pickup element before the camera shake correction is performed. FIG. 5 is a timing chart showing PWM0 (or PWM2) and PWM1 (or PWM3) in the stopped state. The duty ratio of each PWM signal supplied to the transistors Tr0 (or Tr2) and Tr1 (or Tr3) is 50%.

FIG. 7 is a flowchart illustrating the processing of the dead time generation unit 119 of the present embodiment. When the user presses down the shutter release button (SW1) (not shown) halfway from the stopped state shown in FIG. 5 to instruct the preparatory shooting operation (S101), the driving of the image sensor is started.

In S102, the CPU 124 determines the state of the image sensor. When the image sensor is in the stopped state or when the micro drive is performed from the stopped state, the process proceeds to S103. When the image sensor is in the driving state, the process proceeds to the process of S002 in FIG. 3, and the process described in the first embodiment is executed.

The process of S103 is a process of comparing the deviation (difference) of the duty ratio with respect to the PWM signal with a predetermined threshold value Δth. A process of calculating the absolute value of the deviation (difference) of the duty ratio of the plurality of PWM signals and comparing it with the threshold value is executed. For example, a process of determining whether or not the absolute value of the deviation (difference) between the duty ratio of PWM0 (or PWM2) and the duty ratio of PWM1 (or PWM3) is smaller than the threshold value is performed. If the absolute value of the deviation is less than the threshold value, the process proceeds to S104, and if the absolute value of the deviation is greater than or equal to the threshold value, the process proceeds to S101.

Dead time generation processing is performed in S104. The comparison unit 120 compares the current position (stop position) of the image sensor with the target position (movement blur amount), calculates the comparison value (difference value), and drives the actuator 117 calculated based on this. Dead time is generated from the quantity.

After S104, the processes of S105 to S108 are executed. The difference from S004 to S007 in FIG. 3 is that, in the case of the present embodiment, the PWM signal having a small duty ratio is selected, and the dead time is inserted into the selected PWM signal in the dead time insertion unit 104. .. The details will be described below.

FIG. 6 is a timing chart showing PWM0 (or PWM2) and PWM1 (or PWM3) when the image sensor is slightly driven from the stopped state. For example, the duty ratio of PWM0 (or PWM2) supplied to the transistor Tr0 (or Tr2) is 51%, and the duty ratio of PWM1 (or PWM3) supplied to the transistor Tr1 (or Tr3) is 49%.

An example of inserting a dead time for each PWM signal for which the duty ratio shown in FIG. 6 is set will be described with reference to FIG. FIG. 8A shows an example of inserting a dead time with respect to PWM0 (or PWM2). The duty ratio of PWM0 (or PWM2) supplied to the transistor Tr0 (or Tr2) is 50%. The duty ratio of PWM1 (or PWM3) supplied to the transistor Tr1 (or Tr3) is 49%. Therefore, the difference (1%) between the two duty ratios becomes small. Therefore, when the image sensor is minutely driven from the stopped state, if the effect of insufficient torque due to static friction becomes significant, it may not be possible to drive the image sensor to the target position.

Therefore, in the present embodiment, a process is performed in which the PWM signal having the smaller duty ratio is selected and the dead time is inserted into the selected PWM signal. FIG. 8B shows an example of inserting a dead time with respect to PWM1 (or PWM3). The duty ratio of PWM0 (or PWM2) supplied to the transistor Tr0 (or Tr2) is 51%. The duty ratio of PWM1 (or PWM3) supplied to the transistor Tr1 (or Tr3) is 48%. The difference between the two duty ratios is 3%, which is larger than the difference (1%) shown in FIG. 8 (A).

In FIG. 7, when the drive amount of the image sensor from the stopped state is smaller than the threshold value and it is determined that the image sensor is a minute drive (S102), the process proceeds to S103. In S103, the CPU 124 compares the deviation (difference) of the duty ratio with respect to the generated PWM signal based on the control amount when the actuator 117 is minutely driven. Here, the absolute value of the deviation (difference) of the duty ratio of the PWM signal is compared with the threshold value Δth. That is, the deviation (difference) between the duty ratio of PWM0 (or PWM2) and the duty ratio of PWM1 (or PWM3) is calculated. If it is determined that the absolute value of the deviation of the duty ratio is smaller than the threshold value Δth, the process proceeds to S104. When it is determined that the absolute value of the deviation of the duty ratio is equal to or greater than the threshold value, the dead time is not generated and the process proceeds to S101.

In S104, the dead time generation process is performed, and the process proceeds to S105. In S105, the CPU 124 determines which PWM signal to insert the dead time generated in S104 among the plurality of PWM signals. At the time of inserting the dead time, the CPU 124 compares the duty ratio with respect to the calculated PWM signal based on the control amount of the actuator. Among the PWM signals supplied to the transistors Tr0 (or Tr2) and Tr1 (or Tr3), the PWM signal having the smallest duty ratio is selected. For example, the duty ratio duty0 of PWM0 and the duty ratio duty1 of PWM1 are compared. If the condition of "duty0> duty1" is satisfied, the process proceeds to S106, and if the condition is not satisfied, the process proceeds to S107.

In S106, the dead time insertion unit 104 inserts the dead time into the PWM1 which is the selected PWM signal. Further, in S107, the dead time insertion unit 104 inserts the dead time into the PWM0 which is the selected PWM signal.

After S106 and S107, in S108, the PWM signal with the dead time inserted is supplied to the corresponding transistor. The dead time is not inserted into the PWM signal that is not selected. After S108, the process proceeds to S101.

In the present embodiment, in image blur correction, when the image sensor is minutely driven from its stopped state, the PWM signal having the smaller duty ratio is selected at the timing when the image sensor starts to move, and the dead time is set with respect to the selected PWM signal. Is inserted. By doing so, it is possible to secure the pulse width of the PWM signal during the HIGH level period during the minute drive. As a result, more detailed PWM control can be performed, the influence of insufficient drive torque of the actuator 117 that may occur due to static friction can be suppressed, and the image sensor can be moved to the target position while being driven minutely.

Further, in the present embodiment, when the image sensor is in the stopped state, the dead time is controlled and the dead time is inserted for both the PWM signals supplied to the transistors Tr0 (or Tr2) and Tr1 (or Tr3). For example, a controlled dead time is inserted into both PWM0 (or PWM2) and PWM1 (or PWM3). The actuator 117 can be stopped by making the duty ratio the same among a plurality of PWM signals having a complementary relationship.

In the above embodiment, a process of selecting a pulse width modulation signal according to the amount of movement (or rotation amount) of the image sensor in the image plane vibration isolation mechanism and the state of the image sensor and inserting a dead time is performed, and a dead time period is performed. Is controlled. As a result, it is possible to suppress the flow of a through current through the circuit portion of the image plane vibration isolation mechanism, eliminate the output dead zone of the pulse width modulation signal as much as possible, improve the accuracy, and realize the optimum image blur correction performance.

100, 105, 106, 107 PWM generation unit 101 Frequency setting unit 102 Duty setting unit 103 Signal generation unit 104 Dead time insertion unit 108 Actuator driver unit 117 Actuator 119 Dead time generation unit 124 CPU

Claims (10)

A generation means for generating a plurality of pulse width modulated signals, and
Using the pulse width modulation signal, a driving means for driving an actuator for moving the image sensor and
A control means for controlling image blur correction by controlling the generation means is provided.
The control means is an imaging device that selects one of the plurality of pulse width modulation signals and controls the generation means to insert a dead time into the selected pulse width modulation signal. The control means is characterized in that the duty ratios of the plurality of pulse width modulated signals are compared according to the movement amount of the image sensor or the state of the image sensor, and the pulse width modulated signal into which the dead time is inserted is selected. The image pickup device according to claim 1. When the magnitude of the difference between the duty ratio of the first pulse width modulation signal and the duty ratio of the second pulse width modulation signal among the plurality of pulse width modulation signals is larger than the threshold value, the control means said. The imaging device according to claim 2, wherein the dead time is controlled to be inserted into the first or second pulse width modulation signal. The control means is characterized in that when the duty ratio of the first pulse width modulated signal is larger than the duty ratio of the second pulse width modulated signal, the first pulse width modulated signal is selected. The imaging apparatus according to 3. The control means acquires a detection signal from the detection means that detects the position of the image sensor, calculates the deviation between the target position of the image sensor and the current position indicated by the detection signal, and obtains the pulse width modulation signal. The image pickup apparatus according to any one of claims 1 to 4, wherein the duty ratio is determined. 5. The control means according to claim 5, wherein the control means controls to insert the dead time into the pulse width modulation signal selected when the actuator minutely drives the image sensor from a stopped state. Image sensor. When the duty ratio of the first pulse width modulation signal is smaller than the duty ratio of the second pulse width modulation signal during the minute drive, the control means selects the first pulse width modulation signal and the dead time. The imaging device according to claim 6, wherein the image pickup device is controlled to be inserted. The image pickup according to claim 5, wherein the control means controls to insert the dead time into a plurality of pulse width modulated signals having the same duty ratio while the image pickup device is stopped. apparatus The generation means includes a setting means for setting the frequency and duty ratio of the pulse width modulation signal by a control command from the control means, and an insertion means for inserting the dead time into the pulse width modulation signal. The imaging apparatus according to any one of claims 1 to 8, further comprising. This is a control method executed by an image pickup device that corrects image blur by moving the image sensor.
The image pickup device
A generation means for generating a plurality of pulse width modulated signals, and
A driving means for driving an actuator for moving the image sensor using the pulse width modulation signal, and
A control means for controlling image blur correction by controlling the generation means is provided.
The control method includes a step of the control means selecting one of the plurality of pulse width modulation signals and a step of controlling the generation means to insert a dead time into the selected pulse width modulation signal. A method for controlling an imaging device, which comprises having.

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