Vibration-type driving device, control apparatus for controlling the driving of the vibration-type driving device, and electronic equipment having the vibration-type driving device and the control apparatus

• US 7,187,104 B2
• Filed: 03/19/2004
• Issued: 03/06/2007
• Est. Priority Date: 03/28/2003
• Status: Active Grant

• Current Assignee: Canon Kabushiki Kaisha (Canon Inc.)
• Original Assignee: Canon Kabushiki Kaisha (Canon Inc.)
• Inventors: Yamamoto, Shinji, Kojima, Nobuyuki
• Primary Examiner(s): Schuberg; Darren
• Assistant Examiner(s): SAN MARTIN, JAYDI A
• Application Number:
  US10/804,343
• Publication Number:
  US 20040189150A1
• Time in Patent Office: 1,082 Days
• Field of Search: 310/323.02, 310/316.01
• US Class Current: 310/323.02
• CPC Class Codes: H02N 2/0015 using only bending modes
• CPC Class Codes: H02N 2/026 by pressing one or more vibrators against the driven body
• CPC Class Codes: H02N 2/062 Small signal circuits; Means for controlling position or derived quantities, e.g. for removing hysteresis
• CPC Class Codes: H02N 2/103 by pressing one or more vibrators against the rotor
• CPC Class Codes: H02N 2/142 Small signal circuits; Means for controlling position or derived quantities, e.g. speed, torque, starting, stopping, reversing

Abstract

A vibration-type driving device comprises a vibration element including a driving member and an electro-mechanical energy conversion element having an electrode and arranged to displace the driving member with a driving signal supplied to the electrode, and a driven element that is kept in contact with the driving member of the vibration element. According to the driving signal supplied to the electrode of the electro-mechanical energy conversion element, the vibration element excites vibrations in two flexural vibration modes in which a direction of generation of a node in one mode is perpendicular to that in the other mode. With the use of the two flexural vibration modes, the natural vibration frequency of the vibration element can be prevented from increasing, and the position of a node occurring in one flexural vibration mode and the position of an antinode occurring in the other flexural vibration mode can be made to coincide with each other, so that the amount of displacement of the driving member can be made large.

Claims

1. A control apparatus comprising:

a vibration-type driving device further comprising

a vibration element including an elastic body and an electro-mechanical energy conversion element having at least two electrodes and arranged to cause said elastic body to excite vibrations with two driving voltages of respective phases having the same frequency applied to the two electrodes;

a driven element that is kept in contact with said elastic body,

wherein said vibration element is capable of forming a first flexural vibration mode in response to inputting of the two driving voltages of respective phases that are made the same into the two electrodes and is capable of forming a second flexural vibration mode in response to inputting of the two driving voltages of respective phases that are made opposite to each other into the two electrodes; and

a signal generation circuit configured to apply two driving voltages with different phases to the two electrodes, so that the first flexural vibration mode and the second flexural vibration mode are simultaneously formed to generate combined vibration and the combined vibration drives said driven element.

2. A control apparatus according to claim 1, wherein portions of the electro-mechanical energy conversion element to which the two driving voltages are applied through the two electrodes are subjected to polarization treatment such that respective directions of polarization thereof become the same.

3. A control apparatus according to claim 1, wherein said elastic body is formed into a rectangular shape, and wherein the first flexural vibration mode is an odd-number-th order vibration mode in which vibrations are caused in a direction perpendicular to the longitudinal direction of said vibration element, and the second flexural vibration mode is an even-number-th order vibration mode in which vibrations are caused in the longitudinal direction of said vibration element.

4. A control apparatus according to claim 1, wherein a direction of generation of a node in the first flexural vibration mode is perpendicular to a direction of generation of a node in the second flexural vibration mode.

5. A control apparatus according to claim 1, further comprising an arithmetic circuit configured to set a phase difference between the two driving voltages applied by the signal generation circuit and a frequency thereof, wherein said arithmetic circuit changes the phase difference between the two driving voltages and thereby changes a driving direction of the driven element, and the arithmetic circuit changes the frequency of the two driving voltages and thereby changes a speed at which the driven element is driven.

6. A control apparatus according to claim 1, further comprising an arithmetic circuit configured to set a phase difference between the two driving voltages applied by the signal generation circuit and an amplitude thereof, wherein said arithmetic circuit changes the phase difference and the amplitude of the two driving voltages, and thereby changes a speed at which the driven element is driven.

7. A control apparatus according to claim 6, wherein said arithmetic circuit changes the amplitude of only one of the two driving voltages.

8. A control apparatus comprising:

a vibration-type driving device further comprising

a vibration element including an elastic body and an electro-mechanical energy conversion etement having at least two electrodes and arranged to cause said elastic body to excite vibrations with two driving voltages of respective phases having the same frequency applied to the two electrodes;

a driven etement that is kept in contact with said elastic body,

wherein said vibration element is capable of forming a first fiexural vibration mode in response to inputting of the two driving voltages of respective phases having phase difference into the two electrodes and is capable of forming a second flexural vibration mode in response to inputting of the two driving voltages of respective phases having phase difference which differs from the previous phase difference into the two electrodes; and

a signal generation circuit configured to apply two driving voltages with different phases to the two electrodes, so that the first flexural vibration mode and the second fiexural vibration mode are simultaneously formed to generate combined vibration and the combined vibration drives said driven element.

9. A method of controlling driving of a vibration-type driving device including a vibration element including an elastic body and an electro-mechanical energy conversion element having at least two electrodes and arranged to cause the elastic body to excite vibrations with two driving voltages of respective phases having the same frequency applied to the two electrodes, a driven element that is kept in contact with said elastic body, the vibration element being capable of forming a first flexural vibration mode in response to inputting of the two driving voltages of respective phases that are made the same into the two electrodes and being capable of forming a second flexural vibration mode in response to inputting of the two driving voltages of respective phases that are made opposite to each other into the two electrodes, comprising:

applying two driving voltages with different phases to the two electrodes, so that the first flexural vibration mode and the second flexural vibration mode are simultaneously formed to generate combined vibration and the combined vibration drives the driven element.

10. A method of controlling driving of a vibration-type driving device including a vibration element including a vibration element including an elastic body and an electro-mechanical energy conversion element having at least two electrodes and arranged to cause the elastic body to excite vibrations with two driving voltages of respective phases having the same frequency applied to the two electrodes, a driven element that is kept in contact with the elastic body, the vibration element being capable of forming a first flexural vibration mode in response to inputting of the two driving voltages of respective phases having phase difference into the two electrodes and being capable of forming a second flexural vibration mode in response to inputting of the two driving voltages of respective phases having phase difference which differs from the previous phase difference into the two electrodes, comprising:

applying two driving voltages with different phases to the two electrodes, so that the first flexural vibration mode and the second flexural vibration mode are simultaneously formed to generate combined vibration and the combined vibration drives the driven element.