Control apparatus of vibration-type actuator and control method of vibration-type actuator

Patent metadata

Field	Value
Publication number	US-9853576-B2
Application number	US-201615222387-A
Country	US
Kind code	B2
Filing date	Jul 28, 2016
Priority date	Jun 7, 2010
Publication date	Dec 26, 2017
Grant date	Dec 26, 2017

Abstract

Provided is a control apparatus of a vibration-type actuator for generating an elliptical motion of contact portions by a common alternating current including a frequency determining unit for setting a frequency of the alternating current. The frequency determining unit sets the frequency of the alternating current for changing an ellipticity of the elliptical motion, within a frequency range such that ellipticity changing frequency ranges set for the vibrators are overlapped, and the ellipticity changing frequency ranges are set for the vibrators as frequency ranges between an upper limit and a lower limit, such that the lower limit is a maximum resonant frequency at a time of changing the ellipticity, and the upper limit is larger than the lower limit and is a maximum frequency for the relative movement of the driving member.

First claim

What is claimed is:

1. An apparatus comprising:
a first vibrator;
a second vibrator; and
a frequency determining unit configured to set frequency of two alternating voltages commonly applied to the first vibrator and the second vibrator in a range between a first frequency and a second frequency in a case of controlling the driving by changing phase difference of the two alternating voltages,
wherein the first vibrator has a first resonant frequency when two alternating voltages with a phase difference are applied to the first vibrator,
wherein the second vibrator has a second resonant frequency when two alternating voltages with the phase difference are applied to the second vibrator, the second resonant frequency being higher than the first resonant frequency,
wherein the first frequency is a resonant frequency of the second vibrator when two alternating voltages with a phase difference of 0 degree are applied to the second vibrator, and
wherein the second frequency is a frequency at which a relative position of the first vibrator and a part of an object begins to change.

2. The apparatus according to claim 1 , wherein the object is to be in contact with the first vibrator and the second vibrator.

3. The apparatus according to claim 1 , wherein an elliptical motion is generated at a contact portion of the first vibrator and a contact portion of the second vibrator by an application of the two alternating voltages.

4. The apparatus according to claim 1 , wherein an ellipticity determining unit is provided to change a phase difference between phases of the two alternating voltages.

5. The apparatus according to claim 1 , comprising
an operating quantity determining unit configured to calculate an operating quantity of the first vibrator and an operating quantity of the second vibrator.

6. The apparatus according to claim 1 , comprising:
a position instruction generating unit configured to generate a target value of the object,
a position detecting unit configured to detect a position of the object, and
a comparing unit configured to compare the target value outputted from the position instruction generating unit with an output from the position detecting unit.

7. The apparatus according to claim 1 ,
wherein the first vibrator and the second vibrator each comprise an elastic member having a plate-like shape and protrusion protruding from a top surface of the elastic member.

8. The apparatus according to claim 1 ,
wherein the first vibrator and the second vibrator are arranged to be in contact with the object, and
wherein the relative position of the first vibrator and the part of an object changes in a longitudinal direction of the first vibrator.

9. The apparatus according to claim 1 ,
wherein the relative position of the first vibrator and the part of an object changes linearly.

10. The apparatus according to claim 1 ,
wherein the object has a ring-like shape, and
wherein the first vibrator and the second vibrator are arranged in a ring so that the first vibrator and the second vibrator are to be in contact with the object.

11. An apparatus comprising:
a vibration-type actuator having a plurality of vibrators; and
a control apparatus of the vibration-type actuator, configured to apply a common alternating voltages to the plurality of vibrators to generate an elliptical motion of contact portions of the plurality of vibrators, the elliptical motion changing relative positions of a part of an object contacting the contact portion and the plurality of vibrators,
wherein the control apparatus comprises a frequency determining unit configured to set a frequency of the alternating voltages in a range between a first frequency and a second frequency in case of controlling the vibration-type actuator by changing ellipticity of the elliptical motion,
wherein the first frequency is a maximum resonant frequency among resonant frequencies of the plurality of vibrators in a case of changing the ellipticity of the elliptical motion of the plurality of vibrators, and
wherein the second frequency is a maximum frequency for changing the relative positions of the part of the object and the plurality of vibrators, higher than the first frequency.

12. The apparatus according to claim 11 , wherein
the alternating voltages include two alternating voltages, and
an ellipticity determining unit is provided to change a phase difference between two phases of the two alternating voltages, to change the ellipticity of the elliptical motion.

13. The apparatus according to claim 11 , comprising
an operating quantity determining unit configured to calculate an operating quantity of the vibration-type actuator.

14. The apparatus according to claim 11 , comprising
a position instruction generating unit configured to generate a target value of the object,
a position detecting unit configured to detect a position of the object, and
a comparing unit configured to compare the target value outputted from the position instruction generating unit with an output from the position detecting unit.

15. The apparatus according to claim 11 , wherein the object is to be in contact with the plurality of vibrators.

16. The apparatus according to claim 11 ,
wherein the plurality of vibrators each comprise an elastic member having a plate-like shape and protrusion protruding from a top surface of the elastic member.

17. The apparatus according to claim 11 ,
wherein the plurality of vibrators are arranged to be in contact with the object,
wherein the relative position of the plurality of vibrators and the part of an object changes in a longitudinal direction of the plurality of vibrators.

18. The apparatus according to claim 11 ,
wherein the relative position of the plurality of vibrators and the part of an object changes linearly.

19. The apparatus according to claim 11 ,
wherein the object has a ring-like shape, and
wherein the plurality of vibrators are arranged in a ring so that the plurality of vibrators are to be in contact with the object.

Assignees

• Canon Kk

Inventors

• Kudo Shinya

Classifications

• H02N2/026

  by pressing one or more vibrators against the driven body · CPC title

• H02N2/103

  by pressing one or more vibrators against the rotor · CPC title

• H02N2/008

  Means for controlling vibration frequency or phase, e.g. for resonance tracking · CPC title

• H02N2/0015 Primary

  using only bending modes · CPC title

• H02N2/142

  Small signal circuits; Means for controlling position or derived quantities, e.g. speed, torque, starting, stopping, reversing · CPC title