CONTROL APPARATUS, CONTROL METHOD, AND DRIVING APPARATUS FOR VIBRATION-TYPE ACTUATOR, AND ELECTRONIC APPARATUS EQUIPPED WITH VIBRATION-TYPE ACTUATOR

摘要

A control apparatus capable of improving responsiveness in a minute movement of a vibration-type actuator that has a vibration body (a piezoelectric device and an elastic body) and a driven body that pressure contact with the vibration body. A driving unit moves the driven body by causing a thrust-up vibration in a pressurizing direction and a conveyance vibration in a perpendicular direction in the vibration body by applying alternating voltages to the piezoelectric device. A control unit feedback-controls a position of the driven body by using a first operational parameter that defines an amplitude ratio of the conveyance vibration to the thrust-up vibration and a second operational parameter that defines amplitudes of the conveyance vibration and amplitude of the thrust-up vibration. A correction unit corrects a control amount of the first or second operational parameter so as to increase as the amplitude ratio decreases.

主权项

1. A control apparatus for a vibration-type actuator that has a vibration body, which is configured by connecting an electro-mechanical energy conversion element and an elastic body, and a driven body that is in pressure contact with the vibration body, the driving apparatus comprising:
a driving unit configured to relatively move the vibration body and the driven body by causing a thrust-up vibration in a pressurizing direction in which the vibration body is in pressure contact with the driven body and a conveyance vibration in a direction that is perpendicular to the pressurizing direction in the vibration body by applying a plurality of alternating voltages to the electro-mechanical energy conversion element; a control unit configured to feedback-control at least one of a relative position of the vibration body and the driven body and a driving speed by using a first operational parameter that defines an amplitude ratio of the conveyance vibration to the thrust-up vibration and a second operational parameter that defines amplitude of the conveyance vibration and amplitude of the thrust-up vibration; and a correction unit configured to correct at least one of a control amount of the first operational parameter and a control amount of the second operational parameter so as to increase as the amplitude ratio decreases.