JP2023179019A - Control device for vibration type driving device, and apparatus including vibration type driving device - Google Patents

Abstract

To stably drive a to-be-driven body with good responsiveness even if the attitude of the to-be-driven body changes.SOLUTION: A control device 500 controls a vibration type driving device 300 that moves to-be-driven bodies 200, 201 by applying frequency signals of multiple phases having a phase difference thereamong to an electricity-machine energy conversion element 311, so as to excite vibration of a vibrator 301. The control device includes detection means 700 for detecting the attitude of a to-be-driven body, storage means 506 for storing information about a first control amount with respect to the frequency signals of multiple phases at a first time point when movement of the to-be-driven body is started or stopped, and about an attitude detected at the first time point, and processing means 500 for defining a second control amount with respect to the frequency signals of multiple phases for starting movement of the to-be-driven body at a second time point after the first time point, by using the stored information and an attitude detected at the second time point.SELECTED DRAWING: Figure 1

Description

The present invention relates to control of a vibration type drive device.

A vibration-type drive device that relatively drives a vibrating body whose vibration is excited by an electro-mechanical energy conversion element and a contact body that comes into contact with the vibrating body is used for driving lenses and other driven bodies in optical equipment. Such a vibration type drive device has a dead zone region in which the drive does not start unless the control amount, such as the phase difference between the multiple phase frequency signals input to the electro-mechanical energy conversion element, is increased to a certain extent. The existence of the dead zone area leads to a delay in starting driving and a decrease in the accuracy of position control.

Patent Document 1 discloses that the control amount when the drive of the driven object was started last time is stored, and the previous control amount is added as an offset amount to the control amount when the current drive is started. A control method for improving delays and the like is disclosed.

Japanese Patent Application Publication No. 2011-176967

However, in the control method of Patent Document 1, when the drive load on the driven object increases due to a change in the posture of the driven object compared to when the previous controlled amount was stored, the stored offset amount is added to the current controlled amount. However, it will not be possible to improve the current delay in starting the drive.

The present invention provides a control method for a vibration type drive device that allows a driven body to be stably driven with good responsiveness even if the posture of the driven body changes.

A control device according to one aspect of the present invention is a vibration-type drive that moves a driven object by applying multi-phase frequency signals having phase differences to an electro-mechanical energy conversion element to excite vibration in a vibrating object. Control the device. The control device includes a detection means for detecting the posture of the driven object, a first control amount for a plurality of phase frequency signals when the driven object starts or stops moving at a first point in time, and a first a storage means for storing information regarding the posture detected at the time point; and a second control amount for the multi-phase frequency signal for starting the movement of the driven body at a second time point after the first time point. The apparatus is characterized in that it has a processing means for setting using the stored information and the posture detected at the second time point. Note that a device or optical device having the above-mentioned control device and a vibration-type drive device that drives a driven body also constitutes another aspect of the present invention.

Further, in a control method according to another aspect of the present invention, a driven object is moved by applying a plurality of phase frequency signals having mutual phase differences to an electro-mechanical energy conversion element to excite vibration in a vibrating object. This is a method of controlling a vibration type drive device. The control method includes the steps of: detecting the posture of the driven body; a first control amount for a plurality of phase frequency signals when the driven body starts moving or stops moving at a first time point; a second control amount for a multi-phase frequency signal for starting movement of the driven body at a second time point after the first time point; , and a step of setting using the stored information and the posture detected at the second time point. Note that a program that causes a computer to execute processing according to the above control method also constitutes another aspect of the present invention.

According to the present invention, in a vibration type drive device that drives a driven body, the driven body can be stably driven with good responsiveness even if the posture of the driven body changes.

FIG. 2 is a block diagram showing the configuration of a lens device in an example. The figure which shows the structure of the focus lens drive mechanism in an Example. FIG. 3 is a diagram showing the configuration and operation of a vibration type actuator in an example. FIG. 7 is a diagram showing external force depending on the attitude angle of the focus lens unit in the example. 5 is a flowchart showing position control processing in the embodiment. 5 is a flowchart showing a process of storing the previous movement start control amount and posture and a process of calculating the current offset control amount in the embodiment.

Embodiments of the present invention will be described below with reference to the drawings.

<About vibration type actuator>
FIG. 3(a) shows a schematic configuration of a vibration type actuator 300 as a vibration type drive device. The vibration type actuator 300 is composed of a vibrating body 301 and a contact body 302. The vibrating body 301 is composed of a piezoelectric element (electro-mechanical energy conversion element) 311 and an elastic body 312 to which the piezoelectric element (electrical-mechanical energy conversion element) is fixed with adhesive. The elastic body 312 is formed as a thin plate-like member from metal such as stainless steel. Two protrusions 312a are provided on the surface of the elastic body 312 on the movable body side. The contact body 302 is pressed into contact with the tips (upper surfaces) of the two projections 312a by a pressing force generated by a pressing means (not shown).

As shown in FIG. 3(b), two electrode regions are formed in the piezoelectric element 311, and the polarization direction in each electrode region is the same + direction. An alternating current voltage VB as a frequency signal is applied to one of these two electrode regions, and an alternating current voltage VA as a frequency signal is applied to the other. When AC voltages VB and VA have frequencies near the resonance frequency of the first vibration mode and have the same phase, vibration of the first vibration mode occurs in the vibrating body 301 as shown in FIG. 3(c). do. The vibration in the first vibration mode is vibration in the Z direction, which is the direction in which the protrusion 312a is in contact with the contact body 302, and will be referred to as "up-up vibration" in the following description.

Furthermore, if the AC voltages VB and VA are AC voltages with frequencies near the resonance frequency of the second vibration mode and whose phases are shifted from each other by 180°, the second vibration voltage is applied to the vibrating body 301 as shown in FIG. Vibration mode vibration occurs. The vibration in the second vibration mode causes the tips of the two protrusions 312a to vibrate in the X direction, which is the direction in which these protrusions 312a are lined up, thereby generating a driving force in the X direction. In the following description, the vibration in the second vibration mode will be referred to as "feeding vibration."

By applying AC voltages VB and VA with frequencies close to the respective resonance frequencies of the first vibration mode and the second vibration mode to the piezoelectric element 311, the thrust vibration and the feed vibration are combined, and the tip of the protrusion 312a moves to ZX. Moves in an elliptical plane. The elliptical movement of the tip of the protrusion 312a generates a driving force that continuously moves the vibrating body 301 and the contact body 302 relative to each other in the X direction through friction between the tip of the protrusion 312a and the contact body 302. . By fixing one of the vibrating body 301 and the contact body 302 and holding the other movably, these can be relatively moved in the moving direction shown in FIG. 3(a).

By changing the frequency and amplitude of the alternating current voltages VB and VA applied to the piezoelectric element 311, the amplitudes of the thrust vibration and the feed vibration can be changed, thereby controlling the moving speed of the contact body 302. I can do it. Further, by changing the phase difference between the AC voltages VB and VA, the amplitude ratio of the thrust vibration and the feed vibration can be changed, and the moving speed of the contact body 302 can also be controlled by this. Any parameter among the frequency, amplitude, and phase difference of AC voltages VB and VA is controlled by a control amount described later. In this embodiment, a case will be described in which the phase difference between AC voltages VB and VA is controlled by a control amount.
<About the lens device>
FIG. 1 shows the configuration of a lens device 100 as an optical device that drives a focus lens unit as an optical member using the vibration type actuator described above. FIG. 2 shows the configuration of a focus lens drive mechanism provided within the lens device 100. Note that the lens device 100 may be an interchangeable lens that is detachably attached to a camera (not shown), or may be provided integrally with the camera (optical device).

The lens device 100 includes a focus lens barrel 200, a fixed lens barrel 102, a vibration type actuator 300, a drive circuit 400, a lens microcomputer (processing means) 500, a position detecting section 600, and an attitude detecting section (detecting means) 700. A focus lens barrel 200 holds a focus lens 201. The focus lens 201 is composed of one or more lenses. The focus lens barrel 200 and the focus lens 201 constitute a focus lens unit. The focus lens barrel 200 has a guided portion 202 . The guided portion 202 is slidably engaged with a guide shaft (guide member) 204 fixed to the fixed lens barrel 102 . As a result, the focus lens barrel 200 is guided straight in the optical axis direction, which is the direction in which the optical axis O extends.

Note that the lens device 100 includes optical members such as a zoom lens and a diaphragm in addition to the focus lens 201, but these are not shown in FIGS. 1 and 2.

The vibrating body 301 of the vibrating actuator 300 is fixed to the focus lens barrel 200 via a fixing member 203 including a pressurizing means (not shown). The contact body 302 of the vibration type actuator 300 is fixed to the fixed lens barrel 102. Therefore, by exciting the vibration described above in the vibrating body 301, the focus lens unit (200, 201) as a driven body can be moved in the optical axis direction with respect to the fixed lens barrel 102.

The drive circuit 400 performs a switching operation at the output timing of a two-phase pulse signal from a drive signal generation unit 509 in the lens microcomputer 500, and boosts a DC voltage supplied from a power source (not shown) to a predetermined voltage. Phase sinusoidal AC voltages VA and VB are generated. These two-phase AC voltages VA and VB are applied to the vibrating body 301 (piezoelectric element 311) as described above.

The position detection unit 600 is a sensor that detects the position of the focus lens unit in the optical axis direction, and outputs a signal according to the position to the lens microcomputer 500. The position detection unit 600 includes, for example, a reflective scale fixed to the focus barrel 200 and a photosensor consisting of a light emitting unit and a light receiving unit fixed to the fixed barrel 102, and is capable of reading reflected light from the scale. It consists of an optical encoder that detects the position. As the position detection unit 600, an optical encoder or a magnetic encoder that reads transmitted light from a slit plate having a plurality of slits may be used.

The attitude detection section 700 is a sensor that detects the attitude of the focus lens unit, and is configured with, for example, a 3-axis acceleration sensor, and outputs a signal corresponding to acceleration in the 3-axis directions to the lens microcomputer 500. The acceleration sensor is fixed on the fixed lens barrel 102 and is not affected by the inertial force generated by driving the focus lens unit by the vibration actuator 300.

Lens microcomputer 500 is a microcomputer that controls the entire lens device 100. The lens microcomputer 500 includes a target position generation section 501, a subtracter 503, a position calculation section 502, a control amount calculation section 504, an adder 505, a storage section (storage means) 506, a correction section 508, a phase difference conversion section 507, and the above-described components. It includes a drive signal generation section 509 and an attitude calculation section 510.

The target position generation unit 501 generates a target position signal indicating a target position to which the focus lens unit is to be moved based on a position command signal received from the camera or from an operation unit provided in the lens device 100. The position calculation unit 502 converts the signal output from the position detection unit 600 into a position signal indicating the position of the focus lens unit.

The subtracter 503 calculates a positional deviation that is the difference between the target position signal generated by the target position generation unit 501 and the position signal calculated by the position calculation unit 502. The control amount calculation unit 504 is configured with a PID controller or the like, and calculates a control amount MV that reduces the positional deviation calculated by the subtracter 503.

The attitude calculation unit 510 calculates an attitude angle θ indicating the attitude of the focus lens unit based on the acceleration in the three-axis directions output from the attitude detection unit 700. As shown in FIG. 4, the attitude angle θ is an angle between the horizontal axis and the driving direction (optical axis direction) of the focus lens unit (200, 201). FIG. 4 shows a state in which the lens device 100 is tilted so that the driving direction of the focus lens unit is diagonally upward.

The storage unit 506 stores the control amount (first control amount: hereinafter referred to as the previous movement start control amount) MVmem and attitude output from the adder 505, which will be described later, when the focus lens unit started moving last time (first time point). Information that associates the attitude angle θmem calculated by the calculation unit 510 with each other is stored. This information may be any information regarding the previous movement start control amount MVmem and attitude angle θmem, such as information directly indicating the previous movement start control amount MVmem and attitude angle θmem, or information that can be converted into these.

The correction unit 508 uses the previous attitude angle θmem in the information stored in the storage unit 506 and the attitude angle θ at the start of movement of the focus lens unit this time (second time point) to calculate the previous movement start control amount MVmem. The offset control amount MVpre corrected is calculated using the following equation (1). This offset control amount MVpre is a correction amount for correcting the current control amount.

In equation (1), g is the gravitational acceleration, m is the mass of the focus lens unit, and μ is the friction coefficient between the guided portion 202 and the guide shaft 204. Further, α is a conversion coefficient for converting the force into a value corresponding to the control amount. In this embodiment, since the control amount is converted into a phase difference, the conversion coefficient α is set by understanding in advance the relationship between the phase difference between the two-phase AC voltages VA and VB and the driving force of the vibration type actuator 300. can do.

MVmem in the first term of equation (1) is the previous movement start control amount stored in the storage unit 506, and conventionally this is used for the current drive without being corrected based on the attitude. Of the four terms enclosed in square brackets in equation (1), the second term enclosed in minus signs is an external force that acts in the direction opposite to the driving direction of the focus lens unit at the stored attitude angle θmem. Furthermore, the two terms enclosed in plus signs are external forces that act in the direction opposite to the driving direction at the current (current) attitude angle θ. As shown in FIG. 4, one of the two external forces is the component force (gravitational component) parallel to the driving direction of the gravity acting on the focus lens unit, and the other external force is the force that acts on the focus lens unit and the guided part 202. This is the frictional force that acts between the guide shaft 204 and the guide shaft 204 that contacts (slides). Equation (1) subtracts the control amount corresponding to the external force at the time of storage from the stored control amount MVmem, and adds the control amount corresponding to the current external force. By using equation (1), it is possible to calculate the offset control amount according to the current attitude from the stored control amount MVmem.

In this embodiment, the offset control amount MVpre is sequentially calculated using equation (1) each time the focus lens unit is driven. However, an offset control amount calculated in advance for each attitude angle θ may be stored in a look-up table (LUT) with respect to the control amount MVmem for each attitude angle θmem. In this case, each time the focus lens unit is driven, the previously stored attitude angle θmem, the movement start control amount MVmem, and the offset control amount corresponding to the current attitude angle θ may be read from the LUT.

The adder 505 adds the offset control amount MVpre from the correction section 508 to the current control amount MV calculated by the control amount calculation section 504, and calculates the corrected control amount (MV+MVpre: second control amount: , correction control amount). The phase difference conversion unit 507 converts the corrected control amount output from the adder 505 into a phase difference between AC voltages VB and VA applied to the vibrating body 301. The drive signal generation section 509 generates two-phase pulse signals having the phase difference converted by the phase difference conversion section 507 and outputs these pulse signals to the drive circuit 400.

By setting the correction control amount according to the attitude of the focus lens unit in this way, it is possible to reduce the delay in the start of movement of the focus lens unit, which is affected by an external force that changes depending on the attitude.
<Processing executed by lens microcomputer 500>
The flowchart in FIG. 5 shows a process (control method) for moving the focus lens unit to the target position, which is executed by the lens microcomputer 500 according to a program.

In step S100, the lens microcomputer 500 determines whether a position command (drive command) signal has been input from the camera or from the operation unit of the lens device 100. If the position command signal has been input, the process advances to step S101, and if the position command signal has not been input, the determination in step S100 is repeated.

In step S101, the lens microcomputer 500 (target position generation unit 501) generates a target position for moving the focus lens unit based on a position command signal received from the camera or the operation unit of the lens device 100. At this time, the lens microcomputer 500 also calculates the time required for the focus lens unit to reach the target position.

Next, in step S102, the lens microcomputer 500 performs a process of correcting the previous movement start control amount stored in the storage unit 506 to obtain an offset control amount. This correction process will be described later.

Next, in step S103, the lens microcomputer 500 (position calculation section 502) acquires the current position of the focus lens unit through the position detection section 600.

Next, in step S104, the lens microcomputer 500 (control amount calculation unit 504) calculates the current control amount based on the positional deviation between the target position generated in step S101 and the current position acquired in step S103.

Next, in step S105, the lens microcomputer 500 (adder 505) calculates a correction control amount by adding the offset control amount obtained by the correction process in step S102 to the current control amount calculated in step S103. and set as the control amount for conversion to phase difference.

Next, in step S106, the lens microcomputer 500 (phase difference converter 507) converts the control amount (correction control amount) set in step S105 into a phase difference.

Next, in step S107, the lens microcomputer 500 (drive signal generation unit 509) generates two-phase pulse signals having a phase difference converted from the control amount in step S106, and outputs these to the drive circuit 400. As a result, the current drive of the vibration type actuator 300 is started with a small delay.

Thereafter, in step S108, the lens microcomputer 500 determines whether the focus lens unit has started moving toward the target position (has started moving) for the first time after receiving the current position command signal. If it has started moving, the process advances to step S109, and if it has not started moving yet or has already started, the process advances to step S110.

In step S109, the lens microcomputer 500 performs processing to store in the storage unit 506 a movement start control amount, which is a control amount when the focus lens unit starts moving (movement start time). Details of this storage processing will be described later.

In step S110, the lens microcomputer 500 determines whether or not the required time calculated in step S101 has elapsed. If the required time has elapsed, the process proceeds to step S111; if the required time has not yet elapsed, step S103 Return to

In step S111, the lens microcomputer 500 stops the drive signal generation unit 509 from generating two-phase pulse signals, and stops the vibration actuator 300 from driving. Then, this process ends.

The flowchart in FIG. 6A shows the process of storing the movement start control amount of the focus lens unit, which is performed by the lens microcomputer 500 in step S109 in FIG.

In step S200, the lens microcomputer 500 determines the driving direction of the focus lens unit. As shown in FIG. 4, if the driving direction is the forward direction opposite to the external force, the process proceeds to step S201, and if the driving direction is the same direction as the external force, the process proceeds to step S202.

In step S201, the lens microcomputer 500 causes the storage unit 506 to store the control amount for starting to move the focus lens unit in the forward direction and the attitude angle at that time. Then, this process ends.

In step S202, the lens microcomputer 500 causes the storage unit 506 to store the control amount for starting to move the focus lens unit in the opposite direction and the attitude angle at that time. Then, this process ends.

In this manner, in this embodiment, the movement start control amount and attitude angle in the forward direction and in the reverse direction are stored in the storage unit 506 separately.

The flowchart in FIG. 6(b) shows the process performed by the lens microcomputer 500 in step S102 in FIG. 5 to calculate (obtain) the offset control amount by correcting the previous movement start control amount stored in the storage unit 506. There is.

In step S300, the lens microcomputer 500 determines the driving direction of the focus lens unit toward the target position generated in step S101. If the drive direction is the forward direction, the process proceeds to step S301, and if the drive direction is the reverse direction, the process proceeds to step S302.

In step S301, the lens microcomputer 500 acquires the previous forward movement control amount and attitude angle of the focus lens unit from the storage unit 506, and proceeds to step S303.

In step S302, the lens microcomputer 500 acquires the previous movement start control amount and attitude angle of the focus lens unit in the opposite direction from the storage unit 506, and proceeds to step S303.

In step S303, the lens microcomputer 500 (attitude calculation section 510) obtains the current attitude angle of the focus lens unit through the attitude detection section 700.

In step S304, the lens microcomputer 500 substitutes the previous movement start control amount and attitude angle obtained in step S301 or step S302, and the current attitude angle obtained in step S303 into the above-mentioned equation (1). . Thereby, the offset control amount MVpre is calculated by correcting the previous movement start control amount. Then, this process ends.

As explained above, in this embodiment, when the orientation of the focus lens unit differs between when the focus lens unit started moving last time and when it starts moving this time, the vibration type Driving of the actuator 300 is started. Therefore, it is possible to obtain good responsiveness and position control performance in which delays in the start of movement of the focus lens unit and deterioration in position accuracy are suppressed.
<Modified example>
In the first embodiment described above, a configuration was described in which the contact body 302 is fixed and the vibrating body 301 moves together with the focus lens unit that is the driven body. It is also possible to adopt a configuration in which the device is moved integrally with the device.

Further, in the first embodiment, a case has been described in which the phase difference between the AC voltages VA and VB is controlled by a control amount, but the frequency and amplitude of the AC voltages VA and VB may be controlled by a control amount.

Furthermore, in Embodiment 1, a case has been described in which the control amount for the previous movement of the focus lens unit is stored and corrected according to the current attitude. This may be corrected.

In addition, in Example 1, a case was explained in which the correction control amount was calculated by adding the offset control amount depending on the attitude to the control amount calculated this time. The correction control amount may be calculated by other methods such as multiplying the movement start control amount.

Further, the previous movement (first time point) of the focus lens unit in Example 1 is not limited to one movement before the current movement (second time point), but may be movement several times before the current movement (second time point). Good too.

Furthermore, in the first embodiment, the case where the driven object is a focus lens unit that moves in the optical axis direction is explained, but the driven object is a vibration type actuator such as a lens or an image sensor that moves in a direction other than the optical axis direction. Any item that can be moved is fine.

Further, in the first embodiment, an optical device having a vibration type actuator has been described, but various devices other than optical devices in which a driven body is moved by a vibration type actuator are also included in the embodiments of the present invention.

Furthermore, in the first embodiment, a case has been described in which position control is performed using position feedback of the vibration type actuator 300, but speed control may be performed using speed feedback.

Further, in the first embodiment, a case has been described in which two-phase frequency signals are applied to the vibration-type actuator 300, but frequency signals of three or more phases having mutual phase differences may be applied to the vibration-type actuator.

The above embodiment includes the following configurations.
(Configuration 1)
A control device that controls a vibration-type drive device that moves a driven body by applying a plurality of phase frequency signals having mutual phase differences to an electro-mechanical energy conversion element to excite vibration in a vibrating body, the control device comprising:
detection means for detecting the posture of the driven body;
Store information regarding a first control amount for the multi-phase frequency signal when the driven body starts or stops moving at a first time and the attitude detected at the first time. storage means,
A second control amount for the multi-phase frequency signal for starting movement of the driven body at a second time point after the first time point is determined based on the stored information and the second time point. A control device comprising processing means that uses the detected posture to perform a setting.
(Configuration 2)
The processing means calculates a correction amount using the stored information and the attitude detected at the second time point, and calculates the correction amount using a deviation between a target position and a current position of the driven body. 2. The control device according to configuration 1, wherein the second control amount is set by adding the second control amount to the control amount calculated.
(Configuration 3)
The processing means calculates the second control amount by multiplying the first control amount by a coefficient corresponding to the attitude detected at the first time point and the attitude detected at the second time point. The control device according to configuration 1, wherein the control device sets:
(Configuration 4)
The first and second control amounts are control amounts for the plurality of phase frequency signals for starting movement of the driven body on which an external force that changes depending on the posture acts. 4. The control device according to any one of 1 to 3.
(Configuration 5)
The control device according to configuration 4, wherein the external force is a gravitational component and a frictional force between the driven body and a member in contact with the driven body.
(Configuration 6)
Any one of configurations 1 to 5, wherein the first and second control amounts are control amounts for controlling at least one of the frequency, amplitude, and phase difference of the plurality of phase frequency signals. The control device according to one.
(Configuration 7)
The control device according to any one of configurations 1 to 6,
An apparatus comprising: the vibration type drive device that drives the driven body.
(Configuration 8)
The control device according to any one of configurations 1 to 6,
An optical device comprising: the vibration type drive device that drives the optical member as the driven body.
(Other examples)
The present invention provides a system or device with a program that implements one or more of the functions of the embodiments described above via a network or a storage medium, and one or more processors in the computer of the system or device reads and executes the program. This can also be achieved by processing. It can also be realized by a circuit (for example, ASIC) that realizes one or more functions.

The embodiments described above are merely representative examples, and various modifications and changes can be made to each embodiment when implementing the present invention.

300 Vibration type actuator 301 Vibrating body 302 Contact body 500 Lens microcomputer 506 Storage unit 700 Posture detection unit

Claims (10)

A control device that controls a vibration-type drive device that moves a driven body by applying a plurality of phase frequency signals having mutual phase differences to an electro-mechanical energy conversion element to excite vibration in a vibrating body, the control device comprising:
detection means for detecting the posture of the driven body;
Store information regarding a first control amount for the multi-phase frequency signal when the driven body starts or stops moving at a first time and the attitude detected at the first time. storage means,
A second control amount for the multi-phase frequency signal for starting movement of the driven body at a second time point after the first time point is determined based on the stored information and the second time point. A control device comprising processing means that uses the detected posture to perform a setting. The processing means calculates a correction amount using the stored information and the attitude detected at the second time point, and calculates the correction amount using a deviation between a target position and a current position of the driven body. 2. The control device according to claim 1, wherein the second control amount is set by adding the second control amount to the control amount calculated by the calculation. The processing means calculates the second control amount by multiplying the first control amount by a coefficient corresponding to the attitude detected at the first time point and the attitude detected at the second time point. The control device according to claim 1, wherein the control device sets: The first and second control amounts are control amounts for the plurality of phase frequency signals for starting movement of the driven body on which an external force that changes depending on the posture acts. The control device according to item 1. 5. The control device according to claim 4, wherein the external force is a gravitational component and a frictional force between the driven body and a member in contact with the driven body. The control according to claim 1, wherein the first and second control amounts are control amounts for controlling at least one of the frequency, amplitude, and phase difference of the plurality of phase frequency signals. Device. A control device according to any one of claims 1 to 6,
An apparatus comprising: the vibration type drive device that drives the driven body. A control device according to any one of claims 1 to 6,
An optical device comprising: the vibration type drive device that drives the optical member as the driven body. A control method for controlling a vibration-type drive device that moves a driven body by applying a plurality of phase frequency signals having mutual phase differences to an electro-mechanical energy conversion element to excite vibration in a vibrating body, the method comprising:
detecting the posture of the driven body;
Store information regarding a first control amount for the multi-phase frequency signal when the driven body starts or stops moving at a first time and the attitude detected at the first time. step and
A second control amount for the multi-phase frequency signal for starting movement of the driven body at a second time point after the first time point is determined based on the stored information and the second time point. A control method comprising the step of setting using the detected posture. A program that causes a computer to execute processing according to the control method according to claim 9.