Drive control device, electronic equipment, drive control method, and computer readable medium

Patent metadata

Field	Value
Publication number	US-11476779-B2
Application number	US-202016817453-A
Country	US
Kind code	B2
Filing date	Mar 12, 2020
Priority date	Mar 22, 2019
Publication date	Oct 18, 2022
Grant date	Oct 18, 2022

Abstract

A drive control device includes: a vibration wave drive device that includes an elastic body, a vibration body including an electro-mechanical energy conversion element, and a contact body in contact with the vibration body, and a control unit of the vibration wave drive device. The drive control device includes: a first detector configured to detect an electric current that is supplied to the vibration wave drive device or consumed electric power, and a second detector configured to detect relative positions or relative speed of the vibration body and the contact body. A control mode in which the vibration wave drive device is decelerated on a basis of a detection result obtained by the first and/or the second detector is included.

First claim

What is claimed is:

1. A drive control device comprising:
a vibration wave drive device that includes an elastic body, a vibration body including an electro-mechanical energy conversion element, and a contact body in contact with the vibration body;
a control unit of the vibration wave drive device;
a first detector configured to detect an electric current that is supplied to the vibration wave drive device or consumed electric power; and
a second detector configured to detect relative positions or relative speed of the vibration body and the contact body, wherein a control mode in which the vibration wave drive device is decelerated on a basis of a detection result obtained by the first and/or the second detector is included.

2. The drive control device according to claim 1 , wherein the vibration wave drive device is decelerated when an increase in load is detected on a basis of the detection result.

3. The drive control device according to claim 2 , wherein the relative positions of the vibration body and the contact body, at which the increase in the load is detected, are stored as a reference point.

4. The drive control device according to claim 1 , wherein the vibration wave drive device is decelerated when an increase in the electric current or the consumed electric power is detected or when reduction in the relative speed is detected.

5. The drive control device according to claim 1 , wherein a rate of change of the electric current or a rate of change of the consumed electric power is detected.

6. The drive control device according to claim 1 , wherein a rate of change of the relative positions of the vibration body and the contact body or a rate of change of the relative speed thereof is detected.

7. The drive control device according to claim 1 , wherein a driving frequency of a voltage applied to the vibration wave drive device is kept and the control mode is executed.

8. The drive control device according to claim 1 , wherein control by which the relative speed is made close to target speed is executed and the control mode is executed.

9. The drive control device according to claim 8 , wherein the relative speed is made close to the target speed by controlling a driving frequency of a voltage applied to the vibration wave drive device or a pulse width of the applied voltage.

10. The drive control device according to claim 1 , wherein the electric current is supplied to the vibration wave drive device from a power source via a shunt resistor and a differential voltage by the shunt resistor is detected.

11. A drive apparatus comprising:
a drive control device including,
a vibration wave drive device that includes an elastic body, a vibration body including an electro-mechanical energy conversion element, and a contact body in contact with the vibration body,
a control unit of the vibration wave drive device,
a first detector configured to detect an electric current that is supplied to the vibration wave drive device or consumed electric power, and
a second detector configured to detect relative positions or relative speed of the vibration body and the contact body, wherein a control mode in which the vibration wave drive device is decelerated on a basis of a detection result obtained by the first and/or the second detector is included; and

a driven body movement of which is linked with movement of the contact body.

12. The drive apparatus according to claim 11 , further comprising:
a guide that supports the driven body so as to be movable; and
a stopper that regulates a movement range of the driven body.

13. The drive apparatus according to claim 11 , further comprising:
a mechanism that is displaced in a direction different from a movement direction of the driven body in accordance with movement of the driven body.

14. The drive apparatus according to claim 13 , wherein the mechanism includes a spring and a weight and changes load applied to the driven body.

15. The drive apparatus according to claim 11 , wherein the driven body is configured so as to be linearly movable.

16. The drive apparatus according to claim 11 , wherein the vibration wave drive device in the drive control device is a rotary motor, and a mechanism that converts rotation into linear movement is included.

17. A stage comprising:
a stage mechanism; and
the drive apparatus according to claim 11 ,
wherein the drive apparatus is configured to control the stage mechanism.

18. Electronic equipment comprising:
a member; and
the drive apparatus according to claim 11 ,
wherein the drive apparatus is configured to control the member.

19. A drive control method comprising:
a step of starting drive of a vibration wave drive device that includes an elastic body, a vibration body including an electro-mechanical energy conversion element, and a contact body in contact with the vibration body;
a first detecting step of detecting an electric current that is supplied to the vibration wave drive device or consumed electric power;
a second detecting step of detecting relative positions or relative speed of the vibration body and the contact body; and
a step of decelerating the vibration wave drive device on a basis of a detection result obtained at the first and/or the second detecting step.

20. The drive control method according to claim 19 , wherein the vibration wave drive device is decelerated when an increase in load is detected on a basis of the detection result.

21. The drive control method according to claim 19 , further comprising:
a step of storing the relative positions of the vibration body and the contact body, at which an increase in load is detected, as a reference point.

22. The drive control method according to claim 19 , wherein the vibration wave drive device is decelerated when an increase in the electric current or the consumed electric power is detected or when reduction in the relative speed is detected.

23. The drive control method according to claim 19 , wherein a rate of change of the electric current or a rate of change of the consumed electric power is detected.

24. The drive control method according to claim 19 , wherein a rate of change of the relative positions of the vibration body and the contact body or a rate of change of the relative speed thereof is detected.

25. A non-transitory computer readable medium that records therein a program by which a vibration wave drive device that includes an elastic body, a vibration body including an electro-mechanical energy conversion element, and a contact body in contact with the vibration body is caused to execute each step of the drive control method according to claim 19 .

Assignees

• Canon Kk

Inventors

• Atsuta Akio

Classifications

• G02B7/08

  adapted to co-operate with a remote control mechanism · CPC title

• H02N2/147 Primary

  Multi-phase circuits · CPC title

• H02N2/145

  Large signal circuits, e.g. final stages · CPC title

• H02N2/14

  Drive circuits; Control arrangements {or methods} · CPC title

• H02N2/0075 Primary

  Electrical details, e.g. drive or control circuits or methods · CPC title