JP6914737B2 - Drives, devices, drive systems, drive methods, and programs - Google Patents

Description

The present invention relates to drive devices, devices, drive systems, drive methods, and programs.

Conventionally, an optical module having a lens mounted on a digital camera, a mobile phone, a small PC, or the like has been controlled by moving the position of the lens by an actuator or the like to execute a camera shake correction function or the like (for example, a patent document). 1).
Patent Document 1 International Publication No. 2013/087353

The drive circuit for driving such an actuator or the like generates and outputs a drive signal based on the information of the detection position of the lens and the target position of the lens. Further, the drive circuit receives information on the target position of the lens from the CPU or the like via the transmission interface. Therefore, for example, when a transmission interface controlled by an OS or the like is used, communication between the CPU and the drive circuit may become irregular, and the reception timing of the drive circuit may deviate from the periodic timing. There was something. In this case, the drive circuit continues to operate without information on the target position for the time shifted, which may make it difficult to accurately control the position of the lens.

In the first aspect of the present invention, the receiving unit that receives the control signal, the compensation processing unit that outputs the compensation control signal that compensates for the variation in the reception timing of the control signal, and the control target are controlled based on the compensation control signal. A drive device, a drive method, and a program including a control unit are provided.

In the second aspect of the present invention, there is provided a device including a position sensor for detecting the position of a controlled object and a driving device according to the first aspect.

A third aspect of the present invention provides a drive system including the device of the second aspect and an actuator that drives a controlled object in response to a drive signal from the drive device.

The outline of the above invention does not list all the necessary features of the present invention. Sub-combinations of these feature groups can also be inventions.

A configuration example of the drive system 1000 according to the present embodiment is shown together with the detection unit 2 and the processor 4. An example of an ideal control signal and a received signal of the drive system 1000 according to the present embodiment is shown. A configuration example of the drive device 100 included in the drive system 1000 according to the present embodiment is shown. An example of the operation flow of the drive device 100 according to this embodiment is shown. An example of the compensation control signal output by the drive device 100 according to the present embodiment is shown. A modification of the drive device 100 according to the present embodiment is shown. An example of a computer 1200 in which a plurality of aspects of the present invention can be embodied in whole or in part is shown.

Hereinafter, the present invention will be described through embodiments of the invention, but the following embodiments do not limit the inventions that fall within the scope of the claims. Also, not all combinations of features described in the embodiments are essential to the means of solving the invention.

FIG. 1 shows a configuration example of the drive system 1000 according to the present embodiment together with the detection unit 2 and the processor 4. The drive system 1000 receives a control signal from the outside and controls the control target based on the received control signal.

FIG. 1 shows an example in which the drive system 1000 controls the movement of optical components. The drive system 1000 receives, for example, information on the target position of the optical component from the outside and moves the optical component to the target position. FIG. 1 shows an example in which the optical component to be controlled includes the lens 10. Further, the control signal indicating the target position of the controlled object shows an example of being supplied by the detection unit 2 and the processor 4.

The detection unit 2 detects the movement of the optical component or the device on which the optical component is mounted. The detection unit 2 has, for example, an angular velocity sensor or the like, and detects the angular velocity ω of the lens 10. The processor 4 calculates a target position of the optical component based on the detection result of the detection unit 2, and transmits a control signal indicating the target position to the drive system 1000. The processor 4 transmits, for example, information on the target angle θ to the drive system 1000 as a control signal so as to restore the angle at which the lens 10 has moved.

In this case, the drive system 1000 executes camera shake correction control of the camera or the like by moving the angle of the lens 10 to the target position in response to the control signal. The drive system 1000 includes a lens 10, an actuator 20, a position sensor 30, and a drive device 100.

In the present embodiment, the lens 10 shows an example of a controlled object. Alternatively or additionally, the controlled object may be an optical component such as a prism, a mirror, and a grating. Further, the control target is not limited to the optical component. As long as the system controls the control target in response to an external control signal, the control target is not limited to optical components and can be applied.

The actuator 20 moves the controlled object. The actuator 20 drives a controlled object in response to a drive signal from the drive device, for example. The actuator 20 may move the drive target by a magnetic force. For example, the actuator 20 may include an coil and may have an electromagnet that generates a magnetic force by energizing the coil. The actuator 20 may move the drive target by generating a magnetic force so as to attract or separate the magnet provided on the drive target.

The actuator 20 changes, for example, the angle in one direction of the drive target. Further, the actuator 20 may have a plurality of actuators and may be moved so as to change the angles in a plurality of directions having different drive targets. Further, the actuator 20 may move the drive target in one direction (for example, the X direction) or in a plurality of different directions. The actuator 20 moves the drive target in, for example, two different directions (for example, the X and Y directions) or three different directions (for example, the X, Y, and Z directions). FIG. 1 shows an example in which the actuator 20 moves the lens 10 in two different directions (X and Y directions) on a plane (as an example, the XY plane) substantially perpendicular to the optical axis of the lens 10.

The position sensor 30 detects the position of the controlled object. The position sensor 30 may detect an angle and / or position in one direction of the controlled object. Further, the position sensor 30 may detect angles and / or positions in a plurality of directions to be controlled. The position sensor 30 detects the position of the controlled object by sensing, for example, a magnetic field, reflected light, eddy current, capacitance, ultrasonic waves, etc., which fluctuate according to the position of the controlled object.

As an example, when the control target has a magnet or the like, the position sensor 30 may be a magnetic sensor that detects the magnetic field of the magnet. The position sensor 30 may include a Hall element, a GMR (Giant Magneto Resistive) element, an inductance sensor, and the like. The position sensor 30 supplies the detection signal of the position to be controlled to the drive device 100. The position sensor 30 and the drive device 100 may be formed as an integrated device.

The drive device 100 moves the position of the controlled object to the target position based on the control signal indicating the information of the target position from the processor 4 and the position information of the controlled object of the position sensor 30. When the driving target is the lens 10, the driving device 100 may drive the actuator 20 so as to execute the camera shake correction control or the focus control of the lens. The drive device 100 has a reception unit 110 and a control unit 120.

The receiving unit 110 receives the control signal. The receiving unit 110 is connected to the processor 4 via, for example, a transmission interface, and receives a control signal output by the processor 4 by software processing. The receiving unit 110 supplies the received control signal to the control unit 120.

The control unit 120 controls the control target based on the control signal and the detection signal from the position sensor 30. The control unit 120 is connected to the actuator 20 and supplies a drive signal for driving the actuator 20 to the actuator 20. The control unit 120 includes a feedback circuit 122 and a drive circuit 124.

The feedback circuit 122 receives a detection signal and a control signal for detecting the position of the control target, and outputs a feedback signal for controlling the position of the control target so as to approach the position based on the control signal. The feedback circuit 122 generates, for example, a control signal based on PID (Proportional Integral Differential) control and supplies the control signal to the drive circuit 124.

The drive circuit 124 outputs a drive signal for driving the actuator 20 that moves the control target based on the feedback signal. The drive circuit 124 has, for example, an amplifier circuit or the like, and drives the actuator 20 with a drive signal corresponding to the feedback signal.

The drive system 1000 according to the present embodiment described above can accurately control the position of the controlled object according to the information on the target position. However, since such a drive system 1000 controls the control target according to the control signal from the outside, if the reception timing of the control signal fluctuates, it becomes difficult to control correctly.

For example, consider the example of using a transmission interface priority like the transmission signal is controlled by the OS such as I 2 ^C (I Square de Sea), to transmit a control signal from the processor 4 to the drive apparatus 100. In this case, even if the processor 4 generates a control signal at a predetermined cycle, if the OS prioritizes and executes transmission of, for example, music data, image data, and other control signals, the drive device 100 will perform the control signal. It becomes impossible to receive the control signal at a substantially constant cycle.

FIG. 2 shows an example of an ideal control signal and a received signal of the drive system 1000 according to the present embodiment. The horizontal axis of FIG. 2 indicates time, and the vertical axis indicates signal strength. It is desirable that the ideal control signal be generated and transmitted according to, for example, a substantially constant clock period. The ideal control signal shown in FIG. 2 shows an example in which the control signal is generated at substantially constant interval time Δt.

Even if the processor 4 generates such a control signal, a temporary irregular delay occurs depending on the control of the transmission interface of the OS. Therefore, the drive system 1000 receives the reception signal as shown in the example of FIG. Must be used as a control signal. For example, the drive system 1000 receives the control signal at _{time t 0} and t ₁ , and then receives the next control signal at time t 2'later _{than time t 2 after time t 1} to Δ t, and also receives the next control signal at time t _2'. receiving a subsequent control signal at time t _{3 'which} is delayed than the time t ₃ after Δt from the time t _2.

In this case, since the drive system 1000 _{continues to operate at time t 2} , t ₃ , ... Without information on the target position, it becomes difficult to accurately control the control target. .. Therefore, the drive device 100 according to the present embodiment generates an estimated signal to prevent a delay in internal signal transmission when a delay occurs in the reception timing of the control signal. Further, the drive device 100 compensates the delayed received control signal with a signal at a predetermined interval time. The drive system 1000 including such a drive device 100 will be described below.

FIG. 3 shows a configuration example of the drive device 100 included in the drive system 1000 according to the present embodiment. In the drive system 1000 according to the present embodiment, substantially the same operation as that of the drive system 1000 shown in FIG. 1 is designated by the same reference numerals, and the description thereof will be omitted. The drive device 100 further includes a timing generation unit 210 and a compensation processing unit 220. The drive system 1000 according to the present embodiment may be incorporated in the terminal and used. Examples of the terminal include smartphones, tablets, small PCs, and the like.

The timing generation unit 210 generates a timing signal. The timing generation unit 210 generates, for example, a timing signal having a substantially constant cycle based on the control signal. It is desirable that the timing generation unit 210 generate a timing signal having a period substantially the same as the ideal control signal period without delay. Alternatively, the timing generation unit 210 may generate a timing signal having a period longer than the ideal control signal period.

The receiving unit 110 receives the control signal at a substantially constant cycle when there is no temporary delay in the transmission interface. Therefore, the frequency characteristic of the received control signal has a larger value in the frequency component corresponding to the ideal period of the control signal. Therefore, the timing generation unit 210 may generate a timing signal having a period corresponding to the frequency characteristic of the received control signal. In this case, the timing generation unit 210, for example, frequency-converts the control signal and generates a timing signal having a frequency substantially the same as the frequency that becomes the peak value. The timing generation unit 210 may perform frequency conversion of the control signal by using arithmetic processing such as Fourier transform.

Instead, the timing generator 210 may acquire a synchronization signal from the processor 4. In this case, the timing generation unit 210 generates a timing signal based on the synchronization signal. The timing generation unit 210 supplies the generated timing signal to the compensation processing unit 220.

The compensation processing unit 220 outputs a compensation control signal that compensates for variations in the reception timing of the control signal. The compensation processing unit 220 outputs a compensation control signal based on the timing signal. For example, when the reception timing of the control signal is synchronized with the timing signal, the compensation processing unit 220 supplies the received control signal to the control unit 120 at a timing based on the timing signal. Further, when the reception timing of the control signal is delayed as compared with the timing signal, the compensation processing unit 220 generates an estimated signal based on the control signal that has already been received, and is earlier than the reception timing of the control signal. It may be output as a compensation control signal at the timing.

The compensation processing unit 220 may output an estimated signal based on the timing signal when the reception timing of the control signal is delayed. As a result, the compensation processing unit 220 can supply the control signal or the estimated signal to the control unit 120 as a compensation control signal synchronized with the timing signal regardless of whether or not the reception timing is delayed.

Further, when the receiving unit 110 receives the delayed control signal after outputting the estimated signal, the compensation processing unit 220 returns the received control signal by the delay time based on the timing signal and compensates for the periodic signal. .. That is, while the compensation processing unit 220 supplies the estimation signal to the control unit 120, the compensation processing unit 220 includes the control signal received thereafter in the history of the control signal instead of the estimation signal. As a result, the compensation processing unit 220 can estimate using the received control signal instead of the estimation signal in the next generation of the estimation signal.

The control unit 120 according to the present embodiment controls the control target based on such a compensation control signal. That is, the feedback circuit 122 receives the detection signal and the compensation control signal for detecting the position of the control target, and controls the position of the control target so as to approach the position based on the control signal.

As described above, the drive device 100 according to the present embodiment generates an estimated signal and supplies the estimated signal to the control unit 120 when the reception timing of the control signal is delayed. Therefore, the control unit 120 moves to the target position. The drive signal can be output using the estimated value of. Therefore, the drive device 100 can perform more accurate control as compared with the case where the control operation is continued without the target position or with the past target value. The control operation of such a drive device 100 will be described below.

FIG. 4 shows an example of the operation flow of the drive device 100 according to the present embodiment. The drive device 100 according to the present embodiment may execute the operation flow shown in FIG. 4 to control the position of the controlled object. First, in S310, the receiving unit 110 receives the control signal from the processor 4. The receiving unit 110 supplies the received control signal to the timing generation unit 210 and the compensation processing unit 220. The receiving unit 110 may store the received control signal in a storage unit or the like.

Next, in S320, the timing generation unit 210 generates a timing signal according to the control signal. Here, in the initial stage where the number of received control signals is so small that the frequency component of the control signal cannot be calculated, the timing generation unit 210 may output a timing signal having a predetermined period. Further, the timing generation unit 210 may output a timing signal having substantially the same period as the timing signal output in the past. Instead, the timing generator 210 does not have to output the timing signal until the frequency component can be calculated.

Next, the compensation processing unit 220 outputs a compensation control signal at a timing based on the timing signal. The compensation processing unit 220 determines a signal to be output as a compensation control signal depending on whether or not the control signal is delayed as compared with the timing signal. When the control signal is not delayed (S330: No), the compensation processing unit 220 outputs the received control signal as a compensation control signal at the timing of the timing signal (S340).

If the timing generation unit 210 does not generate a timing signal in the initial stage, the compensation processing unit 220 may output the control signal in synchronization with the timing of the received control signal. That is, in the initial stage, the compensation processing unit 220 may output the control signal without executing the compensation operation. The control unit 120 generates a drive signal based on the control signal received from the compensation processing unit 220 and supplies the drive signal to the actuator 20 (S370).

Further, when the control signal is delayed (S330: Yes), the compensation processing unit 220 outputs an estimated signal at the timing of the timing signal (S350). The compensation processing unit 220 may have a digital filter, and the digital filter may filter the control signal to generate an estimated signal. In this case, the digital filter may include an FIR filter and the like.

For example, the digital filter may generate an estimated signal based on the already received control signal and the product-sum signal of the coefficients. In this case, the digital filter uses two or more control signals to generate an estimation signal as shown in the following equation.

Here, a _i is a coefficient, and θ _i is a past control signal. Further, θ'is an estimated signal that estimates the next control signal θ _{i + 1} based on the past control signal θ _i. As the past control signal θ _i , it is desirable to use the control signal immediately before the estimated time. Further, n is the number of control signals used for estimation. For example, when n is 2, the digital filter sets the value of the estimated signal as a value corresponding to the slope of the control signals at the immediately preceding two points. The coefficient _ai may be a predetermined value. Further, the coefficient _ai may be adjusted with a plurality of estimation operations so as to reduce an error between the estimation result by the estimation operation and the actual control signal.

Next, in S360, the compensation processing unit 220 may clip the estimated estimated signal. The compensation processing unit 220 may set the magnitude of the estimated signal to a predetermined value according to the fact that the magnitude of the estimated signal exceeds a predetermined range. The compensation processing unit 220 may set an upper limit value and a lower limit value of the estimated signal in advance, and may use the upper limit value when the estimated signal exceeds the upper limit value and the lower limit value when it falls below the lower limit value as the estimated signal. As a result, it is possible to prevent the controlled object from moving too much.

Further, the compensation processing unit 220 may set the magnitude of the estimated signal to a predetermined value according to the inclination of the control signals at the immediately preceding two points exceeding the predetermined range. The compensation processing unit 220 may make the magnitude of the estimated signal the same as the magnitude of the previous control signal according to the fluctuation of the control signal exceeding the threshold value. Instead, the compensation processing unit 220 may set the magnitude of the estimated signal as the average value of the magnitude of the previous control signal and the magnitude of the signal estimated this time. As a result, when the fluctuation of the control signal is large, the fluctuation of the magnitude of the estimated signal can be reduced and the error can be prevented from increasing.

Further, the compensation processing unit 220 may set the magnitude of the estimated signal to a predetermined value according to the fact that the reception timing of the control signal exceeds a predetermined delay amount. For example, if the delay of the reception timing is delayed by several cycles, the operation of estimating using the estimation signal is continued several times, so that the error may increase. Therefore, the compensation processing unit 220 may make the magnitude of the estimated signal the same as the magnitude of the previous estimated signal in order to prevent such an error from increasing.

Instead, the compensation processing unit 220 may set the magnitude of the estimated signal as the average value of the magnitude of the previously estimated signal and the magnitude of the signal estimated this time. Instead, the drive device 100 may reset the operation of the drive device 100 when the reception timing of the control signal exceeds a predetermined delay amount.

Next, in S370, the control unit 120 generates a drive signal based on the compensation control signal and the detection signal and supplies the drive signal to the actuator 20. Based on the timing signal, the compensation processing unit 220 compensates the control signal for the estimated signal at the timing of each predetermined interval to obtain the compensation control signal, so that the control unit 120 can use the control signal even if the control signal is delayed. The actuator 20 can be controlled using the estimated signal.

Next, in S380, the compensation processing unit 220 updates the history of the compensation control signal for each timing signal. When the compensation processing unit 220 outputs a control signal as a compensation control signal corresponding to one timing signal, the compensation processing unit 220 adds the control signal as a history of the compensation control signal in the one timing signal. Further, when the compensation processing unit 220 outputs an estimated signal as a compensation control signal corresponding to one timing signal, the compensation processing unit 220 outputs a delayed control signal in place of the estimated signal as a history of the compensation control signal in the one timing signal. May be added as.

When the receiving unit 110 receives the delayed control signal during the period from the output of the estimated signal to the next timing signal, the compensation processing unit 220 adds the delayed control signal to the history of the control signal. That is, the compensation processing unit 220 returns the timing of the received control signal from the timing signal by the delay time, and sets the signal as a periodic signal as the history of the compensation control signal. As a result, when the next control signal is delayed, the compensation processing unit 220 can perform estimation based on the actually received control signal instead of the estimation signal transmitted to the control unit 120.

If the receiving unit 110 does not receive the delayed control signal during the period from the output of the estimated signal to the next timing signal, the compensation processing unit 220 uses the estimated signal transmitted to the control unit 120 as the compensation control signal. May be added to the history of. In this way, when the delay amount of the control signal exceeds one cycle of the timing signal, the history of the compensation control signal may be temporarily compensated by using the estimated signal. In this case, when the next control signal is delayed, the compensation processing unit 220 executes estimation based on the estimation signal transmitted to the control unit 120.

When the priority of transmission of the control signal is changed by the OS and the transmission of the control signal from the processor 4 is restarted, the receiving unit 110 may receive the control signal for a plurality of cycles. In this case, the compensation processing unit 220 may compensate each of the received control signals for a plurality of cycles in place of the temporarily compensated estimated signal, and update the history of the compensation control signal.

When the drive device 100 continues to control the controlled object (S390: Yes), the drive device 100 may return to S310 and receive the next control signal. Further, when the drive device 100 ends the control of the controlled object (S390: No), the drive device 100 may end the control operation. The drive device 100 may store parameters such as the period of the timing signal and the coefficient of the digital filter.

As described above, the drive device 100 according to the present embodiment updates the history of the compensation control signal while compensating for the variation in the reception timing of the control signal. The compensation control signal processed by such a drive device 100 will be described below.

FIG. 5 shows an example of the compensation control signal output by the drive device 100 according to the present embodiment. The horizontal axis of FIG. 5 indicates time, and the vertical axis indicates signal strength. Further, the solid line in FIG. 5 is an example in which the angle signal calculated in the processor 4 is shown as a continuous value. Further, the times t ₀ , t ₁ , t ₂ , ... Indicates an example of the signal timing of the timing signal generated by the timing generation unit 210. Here, it is assumed that the timing signal is a timing signal for each substantially constant interval time Δt and is synchronized with the output timing of the control signal without delay.

In FIG. 5, the signals indicated by solid circles (C ₀ , C ₁ , C ₂ , ...) Are examples of control signals received by the receiving unit 110. Further, the signals (P ₁ , P ₂ , P ₃ , ...) Shown by the solid quadrangle are examples of the estimation signals. The control signal C ₀ and the control signal C ₁ show an example of being received without delay. In this case, the compensation processing unit 220 _{supplies the control signal C 0} and the control signal C ₁ to the control unit 120 as they are. That is, the compensation control signal, and outputs a control signal C ₀ at time t _0, a signal for outputting a control signal C ₁ at time t _1.

The control signal C ₂ to the control signal C ₅ show an example of a signal delayed from the timing signal. In this case, the compensation processing unit 220 outputs the estimated signal _{P 1} at time _{t 2.} FIG. 5 shows an example in which the compensation processing unit 220 generates and outputs an estimated signal P _{1 using the control signal C 0} and the control signal C _1. That is, the compensation control signal is a signal for outputting an estimated signal P ₁ at time t _2. Then, when the receiving unit 110 receives the control signal C ₂ at the time t ₂ ', the compensation processing unit 220 replaces the history of the compensation control signal with the estimated signal P _{1 at the time t 2} and sets the control signal C ₂ at the time. Update to the signal at t _2.

Next, the compensation processing unit 220 outputs the estimated signal P _{2 at time t 3} due to the delay of the _{control signal C 3.} In this case, since the compensation processing unit 220 updates the history of the compensation control signal, the estimation signal P ₂ can be estimated _{using the control signal C 1} and the control signal C _2. When the receiving unit 110 receives the control signal C _{3 at the time t 3} ', the compensation processing unit 220 similarly uses the control signal C ₃ as the signal at the time t _{3 instead of the estimated signal P 2} . Accordingly, compensation processing unit 220 At time _{t 4,} the control signal _{C 2} and the control signal _{C 3} an estimated signal _{P 3} may output the estimation using. When the receiving unit 110 receives the control signal C _{4 at the time t 4} ', the compensation processing unit 220 similarly uses the control signal C ₄ as the signal at the time t _{4 instead of the estimated signal P 3} .

Then, the compensation processing unit 220 At time _{t 5,} estimates the estimated signal _{P 4} with a control signal _{C 3} and the control signal _{C 4.} Here, FIG. 5 _{shows an example in which the estimated signal P 4} is below the lower limit of the signal. In this case, the compensation processor 220, the clip processing, for example, the same magnitude of the signal and the control signal C ₄ at time t _4, the estimated signal P _{4 'at} time t _5.

Incidentally, FIG. 5, even at time _{t 6,} an example in which the receiving unit 110 does not receive the control signal _{C 5.} In this case, the estimated signal P _{4 'is} a history of the compensation control signal at time t _5. Accordingly, compensation processing unit 220, at time _{t 6,} using the control signals _{C 4} and the estimated signal _{P 4} ', so that the output estimates an estimated signal _{P 5.}

As described above, the drive device 100 according to the present embodiment can generate an estimated signal and stably control the control target even if the reception timing of the control signal varies. Further, when the driving device 100 receives the delayed control signal, the delayed control signal is used for generating the next estimated signal in addition to the history of the compensation control signal, so that it is possible to prevent the control accuracy from being lowered.

The compensation processing unit 220 according to the above embodiment has described an example in which the control signal received in the past is used to generate an estimated signal by linearly subtracting the control signal as in Eq. (Equation 1). Is not limited to this. For example, the compensation processing unit 220 may have a digital filter that updates the coefficient based on the error of the estimated signal with respect to the control signal in response to receiving the control signal. In this case, the digital filter may include an adaptive filter and the like.

That is, the compensation processing unit 220 may update the coefficient in time series. For example, the compensation processor 220, using the coefficients _a i _{(t j)} at time _{t j,} generates estimated signal at time _{t j} theta 'a _{(t j)} as follows.

The compensation processing unit 220 can calculate the error E of the estimated signal with respect to the control signal according to the reception unit 110 receiving the control signal θ _{i + 1} corresponding to the estimated signal θ'(t _j). Therefore, the compensation processing unit 220 uses the error E to _{update the coefficient ai} (t _j ) as shown in the following equation.

Here, μ is an update parameter that adjusts the amount to be updated in one update. The compensation processing unit 220 may update _{the coefficient ai} by using an NLMS (Normalized First Square) algorithm or the like so that the error E becomes small. The compensation processing unit 220 may update _{the coefficient ai one or more times.}

In the example case shown in FIG. 5, the compensation processing unit 220 after outputting an estimated signal _{P 1} at time _{t 2, the} receiving unit 110 receives a control signal _{C 2} at time _{t 2} '. Therefore, the compensation processing unit 220 _{calculates the error E = C 2-} P ₁ and updates the coefficient _ai for which the estimated signal P ₁ is calculated one or more times. The compensation processing unit 220, when the control signal C ₃ at time t ₃ has not been received, using the updated coefficients a _i, to calculate the estimated signal. Compensation processing unit 220, so updates the coefficients a _i to reduce the error E, can be compared to the estimated signal P ₂ by simple linear correction is calculated more accurately estimate signal.

Further, the compensation processing unit 220 may further incorporate the error in the update time between the timing signal generated by the timing generation unit 210 and the control signal of the processor 4 into the equation (Equation 3) to update _{the coefficient ai.} As a result, a more accurate estimated signal can be generated in consideration of the error of the timing signal.

FIG. 6 shows a modified example of the drive device 100 according to the present embodiment. In the modified example of the drive device 100, substantially the same operation as that of the drive device 100 shown in FIG. 3 is designated by the same reference numerals, and the description thereof will be omitted. In the modified example of the drive device 100, the coefficient updated by the equation (Equation 3) is updated. That is, the compensation processing unit 220 supplies the estimation signal to the control unit 120 and feeds it back to itself to calculate the error E.

FIG. 7 shows an example of a computer 1200 in which a plurality of aspects of the present invention can be embodied in whole or in part. The program installed on the computer 1200 causes the computer 1200 to function as an operation associated with the device according to an embodiment of the present invention or as one or more "parts" of the device, or the operation or the one or more "parts". A unit can be run and / or a computer 1200 can be made to perform a process according to an embodiment of the present invention or a stage of the process. Such a program may be executed by the CPU 1212 to cause the computer 1200 to perform a specific operation associated with some or all of the blocks of the flowcharts and block diagrams described herein.

The computer 1200 according to this embodiment includes a CPU 1212, a RAM 1214, a graphic controller 1216, and a display device 1218, which are interconnected by a host controller 1210. The computer 1200 also includes an input / output unit such as a communication interface 1222, a hard disk drive 1224, a DVD-ROM drive 1226, and an IC card drive, which are connected to the host controller 1210 via the input / output controller 1220. The computer also includes legacy I / O units such as the ROM 1230 and keyboard 1242, which are connected to the I / O controller 1220 via the I / O chip 1240.

The CPU 1212 operates according to the programs stored in the ROM 1230 and the RAM 1214, thereby controlling each unit. The graphic controller 1216 acquires image data generated by the CPU 1212 in a frame buffer or the like provided in the RAM 1214 or in the graphic controller 1216 itself, and displays the image data on the display device 1218.

The communication interface 1222 communicates with other electronic devices via a network. The hard disk drive 1224 stores programs and data used by the CPU 1212 in the computer 1200. The DVD-ROM drive 1226 reads the program or data from the DVD-ROM 1201 and provides the program or data to the hard disk drive 1224 via the RAM 1214. The IC card drive reads the program and data from the IC card and / or writes the program and data to the IC card.

The ROM 1230 internally stores a boot program or the like executed by the computer 1200 at the time of activation, and / or a program depending on the hardware of the computer 1200. The I / O chip 1240 may also connect various I / O units to the I / O controller 1220 via a parallel port, serial port, keyboard port, mouse port, and the like.

The program is provided by a computer-readable storage medium such as a DVD-ROM 1201 or an IC card. The program is read from a computer-readable storage medium, installed on a hard disk drive 1224, RAM 1214, or ROM 1230, which is also an example of a computer-readable storage medium, and executed by the CPU 1212. The information processing described in these programs is read by the computer 1200 and provides a link between the program and the various types of hardware resources described above. The device or method may be configured to implement the operation or processing of information in accordance with the use of the computer 1200.

For example, when communication is executed between the computer 1200 and an external device, the CPU 1212 executes a communication program loaded in the RAM 1214, and performs communication processing on the communication interface 1222 based on the processing described in the communication program. You may order. Under the control of the CPU 1212, the communication interface 1222 reads and reads transmission data stored in a transmission buffer area provided in a recording medium such as a RAM 1214, a hard disk drive 1224, a DVD-ROM 1201, or an IC card. The data is transmitted to the network, or the received data received from the network is written to the reception buffer area or the like provided on the recording medium.

Further, the CPU 1212 makes the RAM 1214 read all or necessary parts of a file or database stored in an external recording medium such as a hard disk drive 1224, a DVD-ROM drive 1226 (DVD-ROM1201), or an IC card. Various types of processing may be performed on the data on the RAM 1214. The CPU 1212 may then write back the processed data to an external recording medium.

Various types of information, such as various types of programs, data, tables, and databases, may be stored on recording media for information processing. The CPU 1212 describes various types of operations, information processing, conditional judgment, conditional branching, unconditional branching, and information retrieval described in various parts of the present disclosure with respect to the data read from the RAM 1214. Various types of processing may be performed, including / replacement, etc., and the results are written back to the RAM 1214. Further, the CPU 1212 may search for information in a file, a database, or the like in the recording medium. For example, when a plurality of entries each having an attribute value of the first attribute associated with the attribute value of the second attribute are stored in the recording medium, the CPU 1212 is the first of the plurality of entries. The attribute value of the attribute of is searched for the entry that matches the specified condition, the attribute value of the second attribute stored in the entry is read, and the first attribute satisfying the predetermined condition is selected. You may get the attribute value of the associated second attribute.

The program or software module described above may be stored on a computer 1200 or in a computer-readable storage medium near the computer 1200. In addition, a recording medium such as a hard disk or RAM provided in a dedicated communication network or a server system connected to the Internet can be used as a computer-readable storage medium, whereby the program can be sent to the computer 1200 via the network. offer.

Although the present invention has been described above using the embodiments, the technical scope of the present invention is not limited to the scope described in the above embodiments. It will be apparent to those skilled in the art that various changes or improvements can be made to the above embodiments. It is clear from the description of the claims that such modified or improved forms may also be included in the technical scope of the present invention.

The order of execution of operations, procedures, steps, steps, etc. in the devices, systems, programs, and methods shown in the claims, specification, and drawings is particularly "before" and "prior to". It should be noted that it can be realized in any order unless the output of the previous process is used in the subsequent process. Even if the scope of claims, the specification, and the operation flow in the drawings are explained using "first", "next", etc. for convenience, it means that it is essential to carry out in this order. It's not a thing.

2 detector, 4 processor, 10 lens, 20 actuator, 30 position sensor, 100 drive, 110 receiver, 120 controller, 122 feedback circuit, 124 drive circuit, 210 timing generator, 220 compensation processing unit, 1000 drive system 1200 Computer, 1201 DVD-ROM, 1210 Host Controller, 1212 CPU, 1214 RAM, 1216 Graphic Controller, 1218 Display Device, 1220 I / O Controller, 1222 Communication Interface, 1224 Hard Disk Drive, 1226 DVD-ROM Drive, 1230 ROM, 1240 I / O chip, 1242 controller

Claims (17)

A receiver that receives control signals and
A timing generator that generates and supplies timing signals,
A compensation processing unit that outputs a compensation control signal that compensates for variations in reception timing of the control signal based on the timing signal supplied from the timing generation unit.
A control unit that controls a control target based on the compensation control signal is provided.
When the reception timing of the control signal is delayed, the compensation processing unit generates an estimated signal based on the control signal that has already been received, and is earlier than the reception timing of the control signal based on the timing signal. When the estimated signal is output at the timing and the receiving unit receives the delayed control signal after the estimated signal is output, the received control signal is periodically returned by the delay time based on the timing signal. A drive device that uses a signal as a history of the compensation control signal. The control unit is connected to an actuator that moves the control target, and is connected to the actuator.
The driving device according to claim 1, wherein the control signal indicates a target position of the controlled object. The driving device according to claim 1 or 2, wherein the receiving unit is connected to a processor via a transmission interface and receives the control signal output by the processor by software processing. The compensation processing unit according to any one of claims 1 to 3, wherein the compensation processing unit compensates the control signal with an estimated signal at a predetermined interval timing to obtain the compensation control signal based on the timing signal. Drive device. The driving device according to any one of claims 1 to 4 , wherein the compensation processing unit includes a digital filter that generates the estimated signal. The drive device according to claim 5 , wherein the digital filter generates an early estimation signal based on the product-sum signal of the control signal and the coefficient already received. The driving device according to claim 6 , wherein the digital filter updates the coefficient based on an error of the estimated signal with respect to the control signal in response to receiving the control signal. Any one of claims 1 to 7, wherein the compensation processing unit sets the magnitude of the early estimation signal to a predetermined value according to the reception timing of the control signal exceeding a predetermined delay amount. The driving device according to one item. Any one of claims 1 to 8 , wherein the compensation processing unit sets the magnitude of the early estimation signal to a predetermined value in response to the magnitude of the control signal exceeding a predetermined range. The drive according to the section. The driving device according to any one of claims 1 to 9 , wherein the timing generation unit generates the timing signal having a period corresponding to the frequency characteristic of the control signal. The control unit
A feedback circuit in which a detection signal for detecting the position of the control target and the compensation control signal are input and a feedback signal for controlling the position of the control target to approach a position based on the control signal is output.
A drive circuit that outputs a drive signal that drives an actuator that moves the control target based on the feedback signal.
The driving device according to any one of claims 1 to 10. When the reception timing of the control signal is delayed, the compensation processing unit generates the estimated signal based on the control signal that has already been received, and based on the timing signal, is more than the reception timing of the control signal. When the estimated signal is output at an early timing and the receiving unit does not receive the delayed control signal in the period from the output of the estimated signal to the next timing signal, the estimated signal is compensated and controlled. The drive device according to any one of claims 1 to 11, which is a signal history. A position sensor that detects the position of the controlled object and
The drive device according to any one of claims 1 to 12.
A device equipped with. The device according to claim 13 and
A drive system including an actuator that drives the controlled object in response to a drive signal from the drive device. The controlled object includes a lens.
The drive system according to claim 14 , wherein the drive system controls camera shake correction of the lens. Receiving control signals and
Generating and supplying timing signals and
Based on the supplied timing signal, the compensation control signal that compensates for the variation in the reception timing of the control signal is output.
Controlling the control target based on the compensation control signal ,
To output the compensation control signal
When the reception timing of the control signal is delayed, an estimated signal based on the already received control signal is generated, and the estimated signal is generated at a timing earlier than the reception timing of the control signal based on the timing signal. When the delayed control signal is received after outputting and outputting the estimated signal, the compensation control is performed by returning the received control signal by the delay time based on the timing signal to obtain a periodic signal. A drive method that has a signal history. A program that causes a computer to function as a driving device according to any one of claims 1 to 12.

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