CONTROL SYSTEM AND CONTROL METHOD

摘要

PROBLEM TO BE SOLVED: To improve the controllability of a piezoelectric motor by considering the thrust of a piezoelectric motor.SOLUTION: A control system configured to control a plurality of piezoelectric elements and a motor having a gear for converting the output of the plurality of piezoelectric elements into a motor output includes: a first calculation part for calculating a first phase for switching a voltage on the basis of information indicating the thrust of the motor as a target; a second calculation part for calculating a second phase to the gear of each of a plurality of piezoelectric elements on the basis of the phase angle of the gear; a comparison part for comparing the first phase with the second phase; and a control part for controlling input to the plurality of piezoelectric elements for each of the plurality of piezoelectric elements on the basis of the result of comparison of the first and second phases by the comparison part.