Control device, actuator including control device, image blur correction device, replacement lens, imaging device and automatic stage

Patent metadata

Field	Value
Publication number	US-9823630-B2
Application number	US-201314017269-A
Country	US
Kind code	B2
Filing date	Sep 3, 2013
Priority date	Sep 10, 2012
Publication date	Nov 21, 2017
Grant date	Nov 21, 2017

Abstract

Provided is a vibration type driving device enabling multidirectional driving of a moving body while considering a difference in transfer characteristics of the synthesized driving force of a plurality of motors between at least two mutually crossing directions.

First claim

What is claimed is:

1. A control device comprising:
a processor; and
a memory storing a program that, when executed by the processor, causes the processor to function as:
a deviation calculating unit configured to output a first deviation signal and a second deviation signal for a first direction and a second direction crossing the first direction, respectively, based on a difference between a position command and positional data on a moving body;
a compensation unit that outputs a first control signal and a second control signal based on the first deviation signal and the second deviation signal, respectively; and
a controlled amount calculating unit that outputs at least a first signal regarding a driving parameter for a first motor and a second signal regarding a driving parameter for a second motor, based on the first control signal and the second control signal,
wherein the compensation unit is configured to adjust control gain of the first deviation signal and the second deviation signal in accordance with a difference in transfer characteristics of a driving force that is obtained by synthesizing driving forces of the first motor and the second motor between the first direction and the second direction, thus outputting the first control signal and the second control signal, and
wherein the first motor and the second motor are controlled based on the first control signal and the second control signal.

2. The control device according to claim 1 , wherein the controlled amount calculating unit is provided in a path of a control system that performs feedback control for the position command.

3. The control device according to claim 1 , wherein the compensation unit is a calculating unit that compensates for phase delay or gain of positional data of the moving body with respect to the position command.

4. The control device according to claim 1 , wherein the moving body is driven by a driving force obtained by synthesizing driving forces of the first motor and the second motor, at least one of the first motor and the second motor has a driving force generation axis in a direction crossing the first direction and the second direction, and the controlled amount calculating unit outputs the first signal and the second signal based on a calculation result using the first control signal and the second control signal.

5. The control device according to claim 1 , wherein
the first direction and the second direction are X direction and Y direction on XY coordinates that are two Cartesian coordinates in one plane, and
the moving body is configured to be movable in the first direction and the second direction.

6. The control device according to claim 1 , wherein the controlled amount calculating unit is configured to:
calculate a controlled amount subjected to adjustment of the control gain in the first direction and the second direction, a coefficient that is determined by a relative angle of the driving force generation axis of the first motor with reference to a driving direction axis of the moving body, and a coefficient that is determined by a relative angle of the driving force generation axis of the second motor with reference to a driving direction axis of the moving body, and
output the driving parameter of each motor.

7. The control device according to claim 1 , wherein the controlled amount calculating unit performs calculation based on a relative position of the first motor with reference to the moving body and a relative position of the second motor with reference to the moving body.

8. The control device according to claim 1 , wherein the controlled amount calculating unit performs calculation using rotation matrix.

9. The control device according to claim 1 , wherein
the deviation calculating unit is configured to further output a third deviation signal for a third direction crossing the first direction and the second direction based on a difference between a position command and positional data on the moving body,
the compensation unit is configured to further output a third control signal based on the third deviation signal, and
the controlled amount calculating unit is configured to output a signal regarding a driving parameter for each of the first motor and the second motor based on the third control signal.

10. The control device according to claim 9 , wherein
the first direction and the second direction are X direction and Y direction on XY coordinates that are two Cartesian coordinates in one plane and the third direction is θ direction rotating about a central point of the XY coordinates, and
the moving body is configured to be movable in the first direction, the second direction and the third direction.

11. The control device according to claim 1 , wherein
the compensation unit includes a PID compensator capable of adjusting control gain in the first direction and the second direction, and
the control device further includes a driving circuit that generates a driving signal in accordance with the first signal and the second signal that is output from the controlled amount calculating unit.

12. An actuator, comprising:
the control device according to claim 1 ;
the first and second motors;
the moving body; and
a position sensor that detects a position of the moving body.

13. An image blur correction device, comprising:
the actuator according to claim 12 ; and
a lens,
wherein the lens is moved by the actuator.

14. A replacement lens, comprising:
a lens; and
the actuator according to claim 12 ,
wherein the lens is moved by the actuator.

15. An imaging device, comprising:
an imaging element;
a lens; and
the actuator according to claim 12 ,
wherein the imaging element or the lens is moved by the actuator.

16. The control device according to claim 1 , wherein
the first direction is X direction or Y direction on XY coordinates that are two Cartesian coordinates in one plane and the second direction is θ direction rotating about a central point of the XY coordinates, and
the moving body is configured to be movable in the first direction and the second direction.

17. A control device comprising:
a processor; and
a memory storing a program that, when executed by the processor, causes the processor to function as:
a deviation calculating unit that outputs a first deviation signal regarding a first direction and a second deviation signal regarding a second direction different from the first direction, based on a difference between a position command and positional data on a moving body;
a compensation unit that outputs a first control signal regarding the first direction based on the first deviation signal and outputs a second control signal regarding the second direction based on the second deviation signal; and
a controlled amount calculating unit that calculates a controlled amount of a first motor and a controlled amount of a second motor based on the first and second control signals,
wherein the first motor is configured to generate a driving force along a first driving direction different from the first and second directions,
wherein the second motor is configured to generate a driving force along a second driving direction different from the first direction, the second direction and the first driving direction,
wherein the controlled amount calculating unit calculates the controlled amount of the first motor by using both of the first and second control signals, and
wherein the first motor and the second motor are controlled based on the first control signal and the second control signal.

Assignees

• Canon Kk

Inventors

• Sumioka Jun

Classifications

• G02B21/26

  Stages; Adjusting means therefor · CPC title

• H02N2/0075 Primary

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

• H02N2/0015

  using only bending modes · CPC title

• G05B15/02 Primary

  electric · CPC title

• H02N2/028

  along multiple or arbitrary translation directions, e.g. XYZ stages · CPC title