| 摘要 |
PROBLEM TO BE SOLVED: To improve a vibration type actuator's position detection accuracy at the stop time and stability and quick response at the drive time.SOLUTION: At the time of driving a vibration type actuator 100, position signals PA1, PB1 from a rotary encoder 2 that correspond to the relative amount of movement between a vibrator and a driven body 9 are input to a filter 3; the filter 3 attenuates signals having frequencies other than a specific frequency band to output position signals PA2, PB2. A CPU 5 for controlling drive of the vibration type actuator 100 performs setting of the specific frequency band to be set to the filter 3, to a first frequency band at the time of driving the vibration type actuator 100 and to a second frequency band at the time of stopping the vibration type actuator. In performing the setting, the setting is performed so that both of the first and second frequency bands include 0 Hz and the second frequency band is narrower than the first frequency band.SELECTED DRAWING: Figure 8 |
