Control apparatus for vibration type actuator, vibration type actuator system, and method for controlling vibration type actuator
First Claim
1. A control apparatus for a vibration type actuator, the vibration type actuator comprising a rotatable moving member, an elastic member contacting the moving member, and an electro-mechanical energy conversion element exciting at least three different kinds of vibrations in the elastic member by supplying at least three periodic signals with different phases, the control apparatus supplying the periodic signals to the vibration type actuator in order to rotate the moving member to a target position, comprising:
- a rotation axis determining unit which determines a rotation axis for rotating the moving member to the target position;
a parameter determining unit which determines, by using an inverse model, phases and amplitudes of the periodic signals for rotating the moving member around the rotation axis determined by the rotation axis determining unit; and
a control circuit which supplies the periodic signals having the phases and amplitudes determined by the parameter determining unit to the electro-mechanical energy conversion element.
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Abstract
A control apparatus for a vibration type actuator is disclosed, with which at least three kinds of vibrations are excited, and a desired motion can be carried out with high efficiency. The vibration type actuator includes a rotatable moving member, an elastic member contacting the moving member, and an electro-mechanical energy conversion element exciting at least three different kinds of vibrations in the elastic member by supplying at least three periodic signals having different phases. The control apparatus includes a rotation axis determining unit, a parameter determining unit and a control circuit. The rotation axis determining unit determines a rotation axis for rotating the moving member. The parameter determining unit determines, by using an inverse model, phase and amplitude of the periodical signals.
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Citations
15 Claims
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1. A control apparatus for a vibration type actuator, the vibration type actuator comprising a rotatable moving member, an elastic member contacting the moving member, and an electro-mechanical energy conversion element exciting at least three different kinds of vibrations in the elastic member by supplying at least three periodic signals with different phases, the control apparatus supplying the periodic signals to the vibration type actuator in order to rotate the moving member to a target position, comprising:
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a rotation axis determining unit which determines a rotation axis for rotating the moving member to the target position;
a parameter determining unit which determines, by using an inverse model, phases and amplitudes of the periodic signals for rotating the moving member around the rotation axis determined by the rotation axis determining unit; and
a control circuit which supplies the periodic signals having the phases and amplitudes determined by the parameter determining unit to the electro-mechanical energy conversion element. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. A method for controlling a vibration type actuator, the vibration actuator comprising a rotatable moving member, an elastic member contacting the moving member, and an electro-mechanical energy conversion element exciting at least three different kinds of vibrations in the elastic member by supplying at least three periodic signals with different phases, the control method supplying the periodic signals to the vibration type actuator in order to rotate the moving member to a target position, comprising:
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a first step of determining a rotation axis for rotating the moving member to the target position;
a second step of determining, by using an inverse model, phases and amplitudes of the periodic signals for rotating the moving member around the rotation axis determined in the first step; and
a third step of supplying the periodic signals having the phases and amplitudes determined in the second step to the electro-mechanical energy conversion element. - View Dependent Claims (13, 14, 15)
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Specification