Control apparatus for vibration type actuator

摘要

A control apparatus for a vibration type actuator, which uses a vibration wave excited by a vibrating member to actuate a movable member in contact with or indirectly connected to the vibrating member, includes a command unit which gives a command indicating at least one parameter, an AC voltage generator which generates the AC voltage for applying the excitation force to the vibrating member, a variable adding unit which adds a predetermined variable to each of one or more parameters, a frequency response characteristic measuring unit which receives as an input a variable output and outputs a physical quantity and obtains a frequency response characteristic at one or more predetermined frequencies, a resonance frequency estimation unit which estimates a resonance frequency of the vibrating member, and a frequency range limiter which determines a frequency range for the AC voltage output by the AC voltage generator.

主权项

1. A control apparatus for a vibration type actuator, comprising:
a command unit which gives a command indicating at least one parameter selected from the group consisting of frequency, amplitude, and phase at an AC voltage; a variable adding unit which adds a signal or noise to the command output from the command unit selected from the group consisting of a sine wave signal and a pseudo random number signal as the signal, and white noise as the noise; an AC voltage generator which generates the AC voltage based on the command output from the command unit and the signal or the noise output from the variable adding unit; a frequency response characteristic measuring unit which receives as an input the signal or the noise output from the variable adding unit and a physical quantity varying with vibration of a vibrating member and obtains a frequency response characteristic at one or more frequencies; a resonance frequency estimation unit which estimates a resonance frequency of the vibrating member from the frequency response characteristic obtained by the frequency response characteristic measuring unit; and a frequency range limiter which determines a frequency range for the AC voltage output by the AC voltage generator according to an estimated value for the resonance frequency output from the resonance frequency estimation unit.