CONTROL APPARATUS FOR VIBRATION-TYPE ACTUATOR, METHOD OF CONTROLLING VIBRATION-TYPE ACTUATOR, DRIVING APPARATUS, IMAGE PICKUP APPARATUS, AND AUTOMATIC STAGE

摘要

A value obtained by adding an output of a speed feedforward calculation unit that uses a speed calculated from a change over time in an instruction value to a stage downstream from a feedback calculation unit that uses a positional deviation is used as a control amount, and at least one of an elliptic ratio of elliptical motion and a driving direction is controlled.

主权项

1. A control apparatus for a vibration-type actuator, the control apparatus comprising:
a control unit configured to generate a signal containing information for controlling a vibrator by adding a feedback amount that is obtained through at least one of integration processing and differentiation processing on the basis of a difference between a relative position of the vibrator and a driven member and an instruction value pertaining to the relative position and a speed feedforward amount that is obtained from a change over time in the instruction value, wherein the relative position of the vibrator and the driven member is changed by driving the vibrator.