JP2021182666A - Imaging apparatus, method for controlling imaging apparatus, and program - Google Patents

Abstract

To provide an imaging apparatus that drives an antivibration device for the imaging apparatus to remove dust attached to an image pick-up device more effectively than before.SOLUTION: An imaging apparatus 1 has: an imaging unit that picks up an image of a subject with an image pick-up device 6; an antivibration mechanism 14 that moves the image pick-up device 6; and a camera system control circuit 5 that performs model standard type adaptive control of matching the control characteristics of the antivibration mechanism 14 to be controlled with the control characteristics of a standard model 62. The standard model 62 is a standard model having a resonance point, and the camera system control circuit 5 inputs, to the standard model 62, an operation signal having a frequency component higher than the resonance point defined by the standard model 62 to resonantly oscillate the antivibration mechanism 14 and thereby vibrate the image pick-up device 6.SELECTED DRAWING: Figure 3

Description

The present invention relates to an image pickup apparatus, and more particularly to an image pickup apparatus and a control method and program for the image pickup apparatus that effectively removes dust adhering to the image pickup element.

Conventionally, there is a problem that dust adhering to an image pickup element of an image pickup apparatus or an optical member configured on the image pickup element adheres. Therefore, various methods of driving an anti-vibration device of an image pickup device to remove dust have been proposed (see, for example, Patent Documents 1 to 3). In order to effectively remove dust by vibrating the image sensor, a large acceleration / deceleration (hereinafter referred to as acceleration) is required.

Patent Document 1 has two parameters for vibration isolation and dust removal, and switches between vibration isolation and dust removal. Also, in dust removal, the movable range is made larger than in the case of vibration isolation. The method is proposed.

Patent Document 2 and Patent Document 3 propose a method of vibrating in a specific direction multiple times, a method of driving / stopping in the direction of gravity for the purpose of increasing acceleration by using gravity, and a method of hitting the stroke end. There is.

Japanese Unexamined Patent Publication No. 2005-159711 Japanese Unexamined Patent Publication No. 2008-28543 Japanese Unexamined Patent Publication No. 2008-28544

However, the methods disclosed in the above-mentioned Patent Documents 1 and 2 are limited to the proposal of generating acceleration, and are insufficient for effectively removing dust such as generating a large acceleration. Further, although the method of hitting the stroke end disclosed in Patent Document 3 can obtain a large acceleration, there is a concern about the problem of durable life and the generation of new dust.

Therefore, an object of the present invention is to provide an image pickup device that removes dust adhering to the image pickup device more effectively than before by driving the anti-vibration device of the image pickup device.

In order to achieve the above object, the image pickup apparatus in the present invention is
An image pickup unit that captures a subject with an image sensor,
A moving mechanism for moving the image sensor and
An image pickup apparatus having a control unit that performs model normative adaptive control that matches the control characteristics of the movement mechanism to be controlled with the control characteristics of the normative model.
The normative model has a resonant point and
The control unit is characterized in that the moving mechanism is resonantly vibrated and the image pickup element is vibrated by inputting an operation signal having a frequency component higher than the resonance point defined by the normative model into the normative model. And.

According to the present invention, by driving the vibration isolator of the image pickup device, dust adhering to the image pickup device can be removed more effectively than before.

It is a block diagram which shows the central sectional view and the electric structure of an image pickup apparatus. It is a Bode diagram and the graph of a waveform explaining the vibration waveform generation in 1st Embodiment. It is a block diagram of a model normative adaptive controller. It is a flowchart which shows the switching method of vibration-proof operation and dust removal operation in 1st Embodiment. It is a Bode diagram which shows the example of the characteristic of the norm model set by the vibration isolation operation and the dust removal operation in 1st Embodiment. It is a Bode diagram of a normative model having different resonance points in the second embodiment. It is a graph which shows the example of the input waveform in 2nd Embodiment. It is a graph which shows the response waveform when the resonance point of the normative model in 2nd Embodiment is different. It is a flowchart which shows the switching method of the resonance frequency of the norm model in 2nd Embodiment. It is a Bode diagram of the norm model which has different gains in 2nd Embodiment. It is a graph which shows the example of the input waveform in 2nd Embodiment. It is a graph which shows the response waveform when the gain of the normative model in 2nd Embodiment is different. It is a flowchart which shows the method of switching the gain of the norm model in 2nd Embodiment. It is a flowchart which shows the method of limiting the target position by the identification result in 3rd Embodiment.

[First Embodiment]
Hereinafter, the image pickup apparatus according to the first embodiment of the present invention will be described with reference to FIGS. 1 to 5. In the first embodiment, as a norm model of model norm-type adaptive control, a norm model having a resonance point (increasing the gain of a specific frequency) is created. Then, the controlled object is intentionally resonated and vibrated by amplifying the harmonic component of the manipulated variable. It will be explained that this makes it possible to stably vibrate the controlled object with a large acceleration and effectively remove dust.

FIG. 1 is a central sectional view of the image pickup apparatus 1 and a block diagram showing an electrical configuration. 1 (A) is a central sectional view of the image pickup apparatus 1 of the present invention, and FIG. 1 (B) is a block diagram showing an electrical configuration of the image pickup apparatus 1 and the lens unit 2. The corresponding elements in FIGS. 1 (A) and 1 (B) have the same reference numerals. Hereinafter, as an example of the image pickup apparatus 1, an interchangeable lens type camera used by mounting the lens unit 2 on the main body of the apparatus will be described.

As shown in FIG. 1A, the lens unit 2 includes an image pickup optical system 3 including a plurality of lenses and an aperture. The optical axis of the imaging optical system 3 is indicated by the optical axis 4. The lens system control circuit 12 can communicate with the control means in the main body of the device via the electric contact 11.

The device main body of the image pickup device 1 includes an image pickup element 6, and a rear display device 9a and an electronic viewfinder (EVF) 9b are provided on the back surface of the device main body. The user can observe the subject by EVF9b. The main body of the device includes a vibration isolation mechanism 14 (moving mechanism) that corrects image blurring of captured images, and a blur detection unit 15 that detects camera shake of the device due to camera shake or the like. The shutter mechanism 16 is arranged on the subject side with respect to the image pickup element 6 and is used for controlling the exposure time. The lens system control circuit 12 is a circuit that controls drive of the focal lens 17, the diaphragm 18, the image stabilization lens 19, and the like via the lens drive unit 13. The image pickup element 6 receives light from the subject via the image pickup optical system 3 and the shutter mechanism 16, and outputs an electric signal by photoelectric conversion.

FIG. 1B is a block diagram showing an electrical configuration of the image pickup apparatus 1. A camera system including an image pickup device 1 and a lens unit 2 includes an image pickup unit, an image processing unit 7, a recording / reproduction unit, and control means. Next, the details of each part will be described in order.

The image pickup unit includes an image pickup optical system 3, an image pickup element 6, and a shutter mechanism 16. The image pickup unit is an optical processing system that forms an image of light from an object on the image pickup surface of the image pickup element 6 via the image pickup optical system 3. From the image sensor 6, a signal of focus evaluation amount / appropriate exposure amount is obtained. By appropriately adjusting the image pickup optical system 3 based on this signal, a subject image is formed in the vicinity of the image pickup element 6, and object light having an appropriate amount of light is exposed to the image pickup element 6. The shutter mechanism 16 controls whether or not the subject image reaches the image pickup device 6 by traveling the rear curtain of the shutter. The shutter mechanism 16 includes at least a curtain (mechanical rear curtain) for blocking the subject image, and performs exposure completion processing.

Further, the shutter mechanism 16 of the present embodiment has an electronic front curtain mode in addition to the shutter rear curtain. The electronic front curtain mode is a mode in which the image pickup device 6 controls the exposure start timing by resetting the electric charge for each line prior to the traveling of the shutter rear curtain. In the electronic front curtain mode, exposure control is performed by operating the charge reset (electronic front curtain) of the image sensor 6 and the shutter rear curtain of the shutter mechanism 16 in synchronization with each other. Since many prior arts have been disclosed regarding the electronic front curtain, further details will be omitted.

The image processing unit 7 has an A / D converter, a white balance adjustment circuit, a gamma correction circuit, an interpolation calculation circuit, and the like inside. The image processing unit 7 generates an image for recording. The image processing unit 7 has a color interpolation processing unit. The color interpolation processing unit performs color interpolation (demosiking) processing from the signals of the Bayer array to generate a color image. The image processing unit 7 compresses an image, a moving image, an audio, or the like by using a predetermined method.

The recording / reproducing unit includes a storage unit 8 and a display unit 9. The display unit 9 includes a rear display device 9a and an EVF 9b. The rear display device 9a is a touch panel and is connected to the operation detection unit 10. By controlling the operation of each unit of the image pickup apparatus 1 according to the user operation detected by the operation detection unit 10, it is possible to shoot still images and moving images. The storage unit 8 is provided with a non-volatile memory and can hold the acquired image.

The control means includes a camera system control circuit 5, an operation detection unit 10, a lens system control circuit 12, a lens drive unit 13, an anti-vibration mechanism 14, and a blur detection unit 15. The lens driving unit 13 can drive the focal lens 17, the diaphragm 18, the image stabilization lens 19, and the like.

The camera system control circuit 5 controls the image pickup system, the image processing system, and the recording / reproduction system in response to an external operation. For example, the camera system control circuit 5 generates and outputs a timing signal or the like at the time of imaging. Then, when the operation detection unit 10 detects the pressing of the shutter release button (not shown), the camera system control circuit 5 controls the drive of the image sensor 6, the operation of the image processing unit 7, the compression processing, and the like. Further, the camera system control circuit 5 outputs to the recording unit of the storage unit 8 and displays the image presented to the user on the display unit 9. Further, the camera system control circuit 5 controls the state of each segment of the information display device that displays information by the display unit 9.

The blur detection unit 15 can detect rotational blur of the device including rotation around the optical axis 4, and can use a vibration gyro or the like. The vibration isolation mechanism 14 is a mechanism that translates the image pickup element 6 in a plane orthogonal to the optical axis 4 and rotates the image pickup element 6 around the optical axis 4. The specific structure of the anti-vibration mechanism 14 will be described later.

The adjustment operation of the optical system by the control means will be described. An image processing unit 7 is connected to the camera system control circuit 5, and an appropriate focal position and aperture value are obtained based on a signal from the image sensor 6. That is, the camera system control circuit 5 controls the exposure by performing the light measurement / distance measurement operation based on the signal of the image sensor 6 and determining the exposure conditions (F number, shutter speed, etc.).

The camera system control circuit 5 issues a command to the lens system control circuit 12 via the electric contact 11. The lens system control circuit 12 appropriately controls the lens drive unit 13. Further, in the mode of performing image stabilization, the camera system control circuit 5 appropriately controls the image stabilization lens via the lens drive unit 13 based on the signal obtained from the image sensor 6 described later.

The camera system control circuit 5 operates the vibration isolation mechanism 14, which will be described later, based on the signal from the blur detection unit 15. The camera system control circuit 5 is responsible for generating the target value from the blur detection unit 15 and controlling the drive of the vibration isolation mechanism 14. That is, the camera system control circuit 5 is a control unit that controls blur correction.

The flow of control of the anti-vibration mechanism 14 will be briefly described. The operation detection unit 10 detects an operation (S1) in which the shutter release button (not shown) is pressed down halfway to enter the preparatory shooting operation. The preparatory shooting motion is a so-called composition-defining aiming motion. At this time, in order to facilitate composition determination, vibration isolation is performed using the vibration isolation mechanism 14. That is, vibration isolation is realized by the control unit appropriately controlling the vibration isolation mechanism 14 based on the signal from the blur detection unit 15.

After that, the operation detection unit 10 detects an operation (S2) in which the shutter release button is completely pressed down to start the shooting operation. At this time, in order to suppress blurring of the subject image acquired by exposure, the control unit controls the vibration isolation mechanism 14 based on the signal from the blur detection unit 15. The vibration isolation operation is stopped after a certain period of time has passed after the exposure.

Next, the operation of removing dust (dust removal operation) will be described. In the present embodiment, the dust removing operation is performed by vibrating the vibration isolator mechanism 14. The vibration isolation mechanism 14 moves the image pickup device 6 to at least one axis or more. As described above, the vibration isolation mechanism 14 in the present embodiment is a mechanism that translates the image pickup device 6 in a plane orthogonal to the optical axis 4 and rotates the image sensor 6 around the optical axis 4.

FIG. 3 is a block diagram of a model normative adaptive controller. A control method (control process) in the model normative adaptive control realized by the camera system control circuit 5 will be described with reference to FIG. Model-norm-type adaptive control is control that matches the control characteristics of the controlled object with the control characteristics of the norm model. The input 61 is a target value.

The normative model 62 is a model of a controlled object, and generally, a central value or the like of a characteristic of the controlled object is described by a mathematical model such as a transfer function. In this embodiment, only the block of the normative model 62 is described, but a controller may be included so as to obtain a desired response, or a feedback loop may be provided.

The norm model response 63 is a response output when an input 61 is given to the norm model 62. Since the norm model 62 is a mathematical model, factors such as individual differences and disturbances that cause problems in the actual control target do not occur, and an ideal response output can be obtained.

H (s) 64 is a calculation unit that back-calculates the manipulated variable from the normative model response 63. The operation amount calculation unit 65 is a calculation unit that further adjusts the operation amount calculated by H (s) 64 according to the result of the identifyr 67 described later.

The control target 66 is a control target controlled by the present proposal. The control target 66 is, for example, the vibration isolation mechanism 14. The identifier 67 is an identifyr for identifying the controlled object 66, and the controlled object 66 is estimated by a mathematical model such as a transfer function. The control target response 68 is a response result of the control target 66, and is, for example, the position of the vibration isolation mechanism 14. The above is the description of the model norm type adaptive controller, but since the details are known, it is not described here.

The model norm type adaptive controller changes and controls the parameters of the manipulated variable calculation unit 65 so as to match the output specified in the norm model 62. Therefore, the controlled object response 68 and the normative model response 63 have the same characteristics. Further, since the parameter of the manipulated variable calculation unit 65 is changed so as to match the norm model response 63 defined in the norm model 62, even if the control target 66 contains an error, the control target response The output characteristics do not change. On the other hand, in PID control of classical control or the like, the characteristics of the controller are not adjusted to the individual control targets, so that the characteristics of the entire control system change when the characteristics of the control target change.

FIG. 2 is a Bode diagram and a waveform graph illustrating the generation of vibration waveforms.
FIG. 2 shows the results of simulating this method using the model-based adaptive controller shown in FIG. This method will be described using the simulation results of FIG.

In the dust removing operation, for example, a normative model having a resonance point shown in FIG. 2A is used as the normative model 62. Further, as an input signal, a signal having a frequency component higher than the resonance point is input. Here, for example, a rectangular wave shown in FIG. 2B is input. By amplifying the harmonic component of the square wave according to the characteristics of the normative model 62, the normative model response 63 can obtain the response as shown in FIG. 2 (C) so as to vibrate in the vicinity of the resonance point.

As described above, the manipulated variable calculation unit 65 is adjusted to match the normative model response 63. Therefore, the controlled object response 68 obtains the same result as the normative model response 63 as shown in FIG. 2 (D). For example, when the control target 66 is the vibration isolation mechanism 14, the image pickup device 6 can be vibrated by arbitrary resonance vibration, so that the image sensor 6 can be stably vibrated at a larger acceleration than the conventional control method. As a result, dust is effectively removed.

At this time, it is necessary to input an operation signal having a frequency component higher than the resonance point of the reference model 62 to the reference model 62. For example, in the case of a square wave, many harmonic components are included in addition to the frequency component of the fundamental wave, and of course, the resonance frequency component specified in the normative model 62 is also included, so that resonance vibration is generated. Can be made to. On the other hand, in the sine wave, since it is only the frequency component of the repetition period of the sine wave, there is no signal component of the resonance frequency defined by the normative model 62, and resonance vibration cannot be generated.

An example of switching between the vibration isolation operation and the dust removal operation will be described with reference to FIGS. 4 and 5. FIG. 4 is a flowchart showing a method of switching between the vibration isolation operation and the dust removal operation. FIG. 5 is a Bode diagram showing an example of the characteristics of the normative model set in the vibration isolation operation and the dust removal operation.

First, the camera system control circuit 5 switches the operation mode of the vibration isolation mechanism 14 (movement mechanism) (S11). Here, it is determined whether the operation mode to be switched is the vibration isolation operation or the dust removal operation (S12). When switching the operation mode to the vibration isolation operation, the normative model 62 is set to, for example, a normative model as shown in FIG. 5A (S13). When the normative model shown in FIG. 5A is used, an operation without resonance vibration (vibration-proof operation) can be performed.

On the other hand, when switching the operation mode to the dust removal operation, the normative model 62 is set to, for example, a normative model as shown in FIG. 5B (S14). When the normative model shown in FIG. 5B is used, it is possible to generate resonance vibration in the vibration isolation mechanism 14 and generate a large acceleration required for the dust removal operation in the vibration isolation mechanism 14.

[Second Embodiment]
A second embodiment of the present invention will be described. The same components as described above are designated by the same reference numerals and the description thereof will be omitted. In the second embodiment, it will be described that the resonance frequency and the amplitude of the response of the controlled object 66 are changed by changing the frequency characteristic of the normative model 62. It will be described according to the second embodiment that, for example, depending on the size and mass of the dust adhering to the image pickup device, the dust can be shaken at a vibration frequency and an amplitude in which the dust can easily fall, and the dust can be removed more effectively.

It will be described that the response of the controlled object 66 is changed by changing the resonance frequency of the normative model 62 with reference to FIGS. 6 to 8. FIG. 6 is a Bode diagram of a normative model having different resonance points. FIG. 6 shows an example of the frequency characteristics of the normative model when the resonance frequency is set as shown in the graph (a), the graph (b), and the graph (c). FIG. 7 is a graph showing an example of an input waveform. FIG. 8 is a graph showing response waveforms when the resonance points of the normative model are different.

Assuming that the input 61 is as shown in FIG. 7, the normative model response 63 amplifies the harmonic component of the manipulated variable according to the characteristics of the normative model 62, as described above. Therefore, the frequency of the output waveform of the control target response 68 also changes depending on the value of the resonance frequency. Therefore, the control target 66 shows the response as shown in FIGS. 8A, 8B, and 8C. At this time, the responses to the normative models of the graph (a), the graph (b), and the graph (c) shown in FIG. 6 are FIG. 8 (A), FIG. 8 (B), and FIG. 8 (C). In this way, by changing the resonance frequency of the normative model 62, the response of the controlled object 66 can be changed. That is, by changing the resonance point of the normative model 62 in the direction of the frequency axis, the resonance vibration of the vibration isolation mechanism 14 which is the control target 66 can be changed.

An example of changing the resonance frequency in the present embodiment will be described with reference to FIG. 9. FIG. 9 is a flowchart showing a method of switching the resonance frequency of the normative model. First, the step size Fstep of the resonance frequency is set (S31), and this set value is set, for example, one in which dust is easily removed from the result of the preliminary measurement. For example, Fstep = 17 Hz (F0) is set.

Further, in order to set the range of resonance frequency to vibrate, the maximum frequency High and the minimum frequency Flow of the resonance frequency to be vibrated are set (S32). For example, this set value is set so that dust can easily fall from the result of the preliminary measurement. For example, Flow = 22 Hz (F1) and High = 80 Hz (F2) are set. Next, the vibration duration T at one resonance frequency is set (S33). For example, T = 1 sec (T0) is set. At this point, the preparation for the dust removal operation is complete.

The resonance frequency F of the normative model is set to Flow = 22 Hz (F1) set in S32 (S34). This normative model has, for example, the characteristics shown in the graph (a) shown in FIG. After that, a dust removing operation is performed (S35). The dust removal operation is continued at the same resonance frequency until the vibration duration T is reached (S36). When the vibration duration T is reached, the resonance frequency F of the normative model is raised by the Fstep set in S31 to vibrate (S37). For example, the resonance frequency F at n = 1 is 22 Hz + 17 Hz * 1, which is a characteristic as shown in the graph (b) shown in FIG. This is repeated up to the maximum frequency High set in S32 (S38). For example, if High = 80Hz, the process is repeated up to 22Hz + 17Hz * 3 = 73Hz. The normative model at this time has, for example, the characteristics shown in the graph (c) shown in FIG. When the repetition condition of S38 is completed, the dust removal operation is terminated (S39). Here, an example of increasing the frequency for each Fstep is shown, but the frequency may be decreased from the maximum frequency, or a predetermined predetermined frequency may be sequentially set.

Next, it will be described that the response of the controlled object 66 is changed by changing the gain of the normative model 62 with reference to FIGS. 10 to 12. FIG. 10 is a Bode diagram of normative models with different gains. FIG. 10 shows an example of the frequency characteristics of the normative model when the gain is set as shown in the graph (a), the graph (b), and the graph (c).

Assuming that the input 61 is as shown in FIG. 11, the normative model response 63 amplifies the harmonic component of the manipulated variable according to the characteristics of the normative model 62 as described above. Therefore, the amplitude of the output waveform of the controlled object response 68 also changes depending on the gain value. Therefore, the control target 66 shows the response as shown in FIGS. 12A, 12B, and 12C. At this time, the responses to the normative models of the graph (a), the graph (b), and the graph (c) shown in FIG. 10 are FIG. 12 (A), FIG. 12 (B), and FIG. 12 (C). In this way, the response of the controlled object 66 can be changed by changing the gain of the normative model 62. That is, by changing the gain of the normative model 62, the resonance vibration of the vibration isolation mechanism 14 which is the control target 66 can be changed.

FIG. 13 is a flowchart showing a method of switching the gain of the normative model. First, the step size step of the gain is set (S51). For this set value, for example, a value that allows dust to easily fall from the result of the preliminary measurement is set. For example, Step = 2 dB (A0) is set.

Further, in order to set the range of gain to vibrate, the maximum gain and the minimum gain of the gain of the normative model 62 are set (S52). For example, this set value is set so that dust can easily fall from the result of the preliminary measurement. For example, this set value is set so that dust can easily fall from the result of the preliminary measurement. For example, Arrow = 8 dB (A1) and Ahigh = 12 dB (A2) are set. Next, the vibration duration T at one set gain is set (S53). For example, T = 1 sec (T0) is set. At this point, the preparation for the dust removal operation is complete.

The gain A of the normative model is set to Allow = 8 dB set in S52 (S54). This normative model has, for example, the characteristics shown in the graph (a) shown in FIG. After that, a dust removing operation is performed (S55). The dust removal operation is continued with the same gain until the vibration duration T is reached (S56). When the vibration duration T is reached, the gain A of the normative model is increased by the Astep set in S51 to vibrate (S57). For example, the gain A at n = 1 is 8 dB + 2 dB * 1, which is a characteristic as shown in the graph (b) shown in FIG. This is repeated up to the maximum gain Ahigh set in S52 (S58). For example, if Ahigh = 12 dB, the process is repeated up to 8 dB + 2 dB * 2 = 12 dB. The normative model at this time has, for example, the characteristics shown in the graph (c) shown in FIG. When the repetition condition of S58 is completed, the dust removal operation is terminated (S59). Here, an example of increasing the gain for each step is shown, but the gain may be decreased from the maximum gain, or a predetermined gain may be sequentially set.

As described above, by changing the frequency characteristic of the normative model 62, it is possible to swing at an arbitrary vibration frequency or amplitude. Due to these effects, for example, depending on the size and mass of the dust adhering to the image sensor, the dust can be shaken at a vibration frequency and amplitude at which the dust easily falls, and the dust can be removed more effectively.

In the second embodiment, an example in which the resonance frequency and the gain are changed separately is shown, but the present invention is not limited to this, and the resonance frequency and the gain may be changed at the same time. Further, the result of the pre-measurement is to measure one representative value, not individually. The pre-measurement of the present embodiment is, for example, measuring the value of the frequency and the gain that are easily dropped by adhering dust to the image sensor 6 and shaking it at each frequency and gain.

[Third Embodiment]
A third embodiment of the present invention will be described. The same components as described above are designated by the same reference numerals and the description thereof will be omitted. In the third embodiment, a method of limiting the input 61 according to the identification state of the identifyr 67 of the model normative adaptive controller will be described. It will be described that the third embodiment can improve the problem of hitting the stroke end of the anti-vibration mechanism 14, for example, when the identification of the controlled object 66 is insufficient.

FIG. 14 is a flowchart showing a method of limiting the target position by the identification result. Specifically, it is an example of a method of limiting the input 61 according to the identification state of the identifyr 67 of the model normative adaptive controller.

First, the permissible error ε0, which is the permissible range of the estimation error ε between the position of the vibration isolation mechanism 14 and the position estimated from the identification result, is set (S71). The smaller the estimation error ε, the better the classifier can estimate the controlled object. Further, the target position u and the target position limit ul are set (S72). The target position limit ul is set to a value that does not correspond to the stroke end of the vibration isolation mechanism 14, for example, from the result of the preliminary measurement.

Next, it is determined whether or not the target position u is larger than the value of the target position limit ul (S73). Here, if the target position u is smaller than the value of the target position limit ul, the target position u is set as the input 61 (S76). On the other hand, if the target position u is larger than the value of the target position limit ul, the estimation error ε and the permissible error ε0 are compared (S74). If ε is larger, the target position u is changed to the value of the target position limit ul (S75). The vibration isolation mechanism 14 is driven with the target position u determined in the above process as the input 61 (S76). It should be noted that this flow is always carried out when the anti-vibration mechanism 14 is operated.

As described above, when the identification of the control target 66 is insufficient by determining to limit the range (input range) of the input 61 according to the identification state of the identification device 67 of the model normative adaptive controller, Problems such as hitting the stroke end of the anti-vibration mechanism 14 can be improved. Here, the target position limit ul is explained as a fixed value, but for example, a method of gradually increasing the target position limit ul according to the reciprocal of the estimation error ε, or a target position limit ul according to the elapsed time from the result of the preliminary measurement. A variable value may be used depending on a method of increasing the value. The result of the pre-measurement is to measure one representative value, not individually.

The present invention supplies a program that realizes one or more functions of the above-described embodiment to a system or device via a network or storage medium, and one or more processors in the computer of the system or device reads and executes the program. It can also be realized by the processing to be performed. It can also be realized by a circuit (for example, ASIC) that realizes one or more functions.

Although the preferred embodiments of the present invention have been described above, the present invention is not limited to these embodiments, and various modifications and modifications can be made within the scope of the gist thereof.

1 Image pickup device 5 Camera system control circuit 6 Image pickup element 14 Anti-vibration mechanism 62 Normative model 66 Control target

Claims (8)

An image pickup unit that captures a subject with an image sensor,
A moving mechanism for moving the image sensor and
An image pickup apparatus having a control unit that performs model normative adaptive control that matches the control characteristics of the movement mechanism to be controlled with the control characteristics of the normative model.
The normative model has a resonant point and
The control unit is characterized in that by inputting an operation signal having a frequency component higher than the resonance point defined in the reference model into the reference model, the movement mechanism is resonantly vibrated and the image pickup element is vibrated. Image sensor. The image pickup apparatus according to claim 1, wherein the control unit changes the resonance vibration of the moving mechanism by changing the resonance point of the normative model. The first or second aspect of the present invention, wherein the control unit sequentially resonates and vibrates the moving mechanism by one or a plurality of predetermined frequencies of the resonance frequency of the normative model to vibrate the image pickup element. Imaging device. The imaging device according to any one of claims 1 to 3, wherein the control unit changes the resonance vibration of the moving mechanism by changing the gain of the normative model. Any of claims 1 to 4, wherein the control unit sequentially causes the moving mechanism to resonate and vibrate the gain of the normative model by one or a plurality of predetermined gains to vibrate the image pickup device. The image pickup device according to item 1. The invention according to any one of claims 1 to 5, wherein the control unit determines an input range in the model normative adaptive control according to an estimation error of the identifyr in the model normative adaptive control. Imaging device. It is a control method of an image pickup apparatus having an image pickup unit that images a subject by an image pickup element and a moving mechanism that moves the image pickup element.
It has a control process that performs model normative adaptive control that matches the control characteristics of the movement mechanism to be controlled with the control characteristics of the norm model.
The normative model has a resonant point and
In the control step, by controlling the input of an operation signal having a frequency component higher than the resonance point specified in the reference model to the reference model, the movement mechanism is resonantly vibrated and the image pickup element is vibrated. A control method for an image pickup device, characterized in that. A program comprising causing a computer to execute the control method of the image pickup apparatus according to claim 7.

Images