Vibration suppression apparatus and vibration suppression method
The present invention provides a vibration suppression apparatus which includes a first object elastically supported on a base, a second object elastically supported on the first object, and a driving unit configured to drive the first object, and which suppresses a vibration of the second object, comprising a first generation unit configured to generate a first signal, a second generation unit configured to generate a second signal, and a control unit configured to control the driving unit, wherein the control unit controls the driving unit based on the first signal, and after the deviation between the relative distance between the base and the first object, and the first reference distance falls within an allowable range, the control unit controls the driving unit based on the first signal and the second signal.
1. A vibration suppression apparatus comprising:
a base;
a first object elastically supported on the base;
a second object elastically supported on the first object;
a driving unit interposed between the base and the first object and configured to drive the first object while suppressing a vibration of the second object;
a first generation unit configured to generate a first signal that instructs a driving amount of the driving unit to reduce a deviation between a first reference distance and a relative distance between the base and the first object;
a second generation unit configured to generate a second signal that instructs a driving amount of the driving unit to reduce a deviation between a second reference distance and a relative distance between the first object and the second object; and
a control unit configured to control the first generation unit, the second generation unit, and the driving unit, and
wherein the control unit controls:
the first generation unit to generate the first signal and control the driving unit based on the first signal; and
after the deviation between the first reference distance and the relative distance between the base and the first object falls within an allowable range, the second generation unit to generate the second signal and control the driving unit based on both the first signal and the second signal.
2. The apparatus according to claim 1 , wherein the control unit, while controlling the driving unit based on the first signal and the second signal, controls the driving unit based on a signal obtained by combining the first signal and the second signal.
3. The apparatus according to claim 1 , wherein the control unit, after the deviation between the second reference distance and the relative distance between the first object and the second object falls within an allowable range, controls the first generation unit to remove an alternative current component from the first signal, and controls the driving unit based on the second signal and a signal obtained by removing the alternative current component from the first signal.
4. The apparatus according to claim 3 , further comprising:
a third object elastically supported on the base;
a second driving unit interposed between the base and the third object, and configured to drive the third object; and
a second control unit configured to control the second driving unit,
wherein the second control unit, after the deviation between the second reference distance and the relative distance between the first object and the second object falls within the allowable range, controls the second driving unit to reduce a deviation between a third reference distance and a relative distance between the second object and the third object.
5. A vibration suppression method in a vibration suppression apparatus comprising:
a first object elastically supported on a base;
a second object elastically supported on the first object;
a driving unit interposed between the base and the first object and configured to drive the first object while suppressing a vibration of the second object;
a first generation unit configured to generate a first signal that instructs a driving amount of the driving unit to reduce a deviation between a first reference and a relative distance between the base and the first object; and
a second generation unit configured to generate a second signal that instructs a driving amount of the driving unit to reduce a deviation between a second reference distance and a relative distance between the first object and the second object,
wherein the method comprises the steps of:
controlling the first generation unit to generate the first signal and control the driving unit based on the first signal; and
controlling, after the deviation between the first reference distance and the relative distance between the base and the first object falls within an allowable range, the second generation unit to generate the second signal and control the driving unit based on both the first signal and the second signal.
6. A vibration suppression apparatus comprising:
a base;
a first object elastically supported on the base;
a second object elastically supported on the first object;
a driving unit interposed between the base and the first object and configured to drive the first object while suppressing a vibration of the second object;
a first measurement unit configured to measure a relative distance between the base and the first object;
a second measurement unit configured to measure a relative distance between the first object and the second object; and
a control unit configured to control the driving unit based on the relative distance between the base and the first object and the relative distance between the first object and the second object.