Motor driving apparatus and optical apparatus
The motor driving apparatus includes a motor driving a driven member, and a controller performing, from a start of driving of the motor, acceleration drive of the motor on the basis of a predetermined acceleration pattern with open-loop control, and then perform, in response to increase of a driving speed of the motor or the driven member to a predetermined speed, drive of the motor with feedback control. The controller changes the predetermined acceleration pattern and the predetermined speed depending on a magnitude of a load acting on the motor or the driven member.
1. A driving apparatus comprising:
a motor configured to drive a driven member, the motor including:
a rotor having a cylindrical magnet whose outer circumferential surface is magnetized;
a first yoke having a first magnetic pole portion which faces the outer circumferential surface of the cylindrical magnet;
a second yoke having a second magnetic pole portion which faces the outer circumferential surface of the cylindrical magnet;
a first coil configured to magnetize the first magnetic pole portion;
a second coil configured to magnetize the second magnetic pole portion;
a position detector configured to detect rotation position of the rotor;
an open-loop driver configured to switch an energization state of the first coil and second coil at a predetermined time interval;
a feedback driver configured to switch an energization state of the first coil and the second coil according to an output of the position detector; and
a controller configured to switch the open-loop driver and the feedback driver at a predetermined driving speed,
wherein the controller changes the predetermined driving speed according to the magnitude of the load acting on the motor.
2. A driving apparatus according to claim 1 ,
wherein if the magnitude of the load acting on the motor is higher than a reference load range, the predetermined driving speed is lower than a reference driving speed, and
wherein if the magnitude of the load acting on the motor is lower than a reference load range, the predetermined driving speed is higher than a reference driving speed.
3. A driving apparatus according to claim 1 ,
wherein the open-loop driver accelerates the motor in a predetermined acceleration pattern,
wherein the controller changes the predetermined acceleration pattern according to the magnitude of the load acting on the motor.
4. A driving apparatus according to claim 3 ,
wherein if the magnitude of the load acting on the motor is higher than a reference load range, speed increase rate of the predetermined acceleration pattern is lower than speed increase rate of the reference acceleration pattern, and
wherein if the magnitude of the load acting on the motor is lower than a reference load range, speed increase rate of the predetermined acceleration pattern is higher than speed increase rate of the reference acceleration pattern.
5. A driving apparatus according to claim 1 ,
wherein the magnitude of the load acting on the motor is varied depending on a driven area of the motor or the driven member.
6. A driving apparatus according to claim 1 ,
wherein the magnitude of the load acting on the motor is varied depending on the posture of the driving apparatus.
7. A driving apparatus according to claim 1 ,
wherein the magnitude of the load acting on the motor is varied depending on the driving direction of the motor.
8. A driving apparatus according to claim 1 ,
wherein the magnitude of the load acting on the motor is estimated based on a delay time from a timing at which the open-loop driver switches an energization state of the first coil and second coil to a timing at which the position detector detects rotation of the rotor.
9. An optical apparatus comprising:
a motor configured to drive a lens, the motor including:
a rotor having a cylindrical magnet whose outer circumferential surface is magnetized;
a first yoke having a first magnetic pole portion which faces the outer circumferential surface of the cylindrical magnet;
a second yoke having a second magnetic pole portion which faces the outer circumferential surface of the cylindrical magnet;
a first coil configured to magnetize the first magnetic pole portion;
a second coil configured to magnetize the second magnetic pole portion;
a position detector configured to detect rotation position of the rotor;
an open-loop driver configured to switch an energization state of the first coil and second coil at a predetermined time interval;
a feedback driver configured to switch an energization state of the first coil and the second coil according to an output of the position detector; and
a controller configured to switch the open-loop driver and the feedback driver at a predetermined driving speed,
wherein the controller changes the predetermined driving speed according to the magnitude of the load acting on the motor.
10. An optical apparatus according to claim 9 ,
wherein if the magnitude of the load acting on the motor is higher than a reference load range, the predetermined driving speed is lower than a reference driving speed, and
wherein if the magnitude of the load acting on the motor is lower than a reference load range, the predetermined driving speed is higher than a reference driving speed.
11. An optical apparatus according to claim 9 ,
wherein the open-loop driver accelerates the motor in a predetermined acceleration pattern,
wherein the controller changes the predetermined acceleration pattern according to the magnitude of the load acting on the motor.
12. An optical apparatus according to claim 11 ,
wherein if the magnitude of the load acting on the motor is higher than a reference load range, speed increase rate of the predetermined acceleration pattern is lower than speed increase rate of the reference acceleration pattern, and
wherein if the magnitude of the load acting on the motor is lower than a reference load range, speed increase rate of the predetermined acceleration pattern is higher than speed increase rate of the reference acceleration pattern.
13. An optical apparatus according to claim 9 ,
wherein the magnitude of the load acting on the motor is varied depending on a driven area of the lens.