Driving device, position controller provided with driving device, and camera provided with position controller
A driving device for an ultrasonic actuator for driving a movable member is provided with a member sensor for detecting a present position of the movable member, a calculator for calculating a control target position of the movable member, a driving circuit for generating such a drive voltage as to drive the ultrasonic actuator in a specified resonant state, and a control circuit for controlling an operative state of the movable member by adjusting at least one of physical quantities specifying the drive voltage as a maneuverable physical quantity in accordance with a difference between the present position and the control target position so that the movable member pursues the control target position. There can be provided a driving device capable of executing a position servo control while being driven in a specified resonant state, and a position controller and a camera provided with such a driving device.
1. A driving device for driving a movable member under position servo control by an ultrasonic actuator having characteristics that a moving speed of the movable member is varied substantially linearly by varying a non-frequency parameter, the device comprising:
a position detector which detects a present position of the movable member driven by the ultrasonic actuator;
a calculator which calculates a control target position of the movable member;
a driver which generates a drive signal to drive the ultrasonic actuator in a specified resonant state; and
a position servo controller which sets a basic driving frequency of the drive signal and controls said non-frequency parameter of the drive signal based on a difference between the present position and the control target position so that the movable member pursues the control target position.
2. A driving device according to claim 1 , wherein said non-frequency parameter is a voltage value of the drive signal.
3. A driving device according to claim 1 , wherein said non-frequency parameter is a duty cycle ratio of the drive signal.
4. A driving device according to claim 1 , wherein the adjustment of said non-frequency parameter is performed based on an adjustment value table.
5. A driving device according to claim 4 , wherein the adjustment value table is stored in advance.
6. A driving device according to claim 1 , further comprising a temperature detector which detects an ambient temperature, wherein the basic driving frequency is corrected depending on the ambient temperature.
7. A driving device according to claim 1 , wherein the ultrasonic actuator has driving frequency-speed characteristics that the speed is set at a substantially constant value in a predetermined frequency range.
8. A driving device according to claim 7 , wherein said non-frequency parameter is a voltage value of the drive signal.
9. A driving device according to claim 7 , wherein said non-frequency parameter is a duty ratio of the drive signal.
10. A driving device for driving a movable member under position servo control by an ultrasonic actuator having a resonant state in a constant amplitude state, the device comprising:
a position detector which detects a present position of the movable member driven by the ultrasonic actuator;
a calculator which calculates a control target position of the movable member;
a driver which generates a drive signal to drive the ultrasonic actuator in a specified resonant state; and
a position servo controller which sets a frequency of the drive signal to a frequency lower than a complete resonant frequency of the ultrasonic actuator, and which controls a first non-frequency parameter of the drive signal based on a difference between the present position and the control target position so that the movable member pursues the control target position.
11. A driving device according to claim 10 , wherein the ultrasonic actuator has characteristics that a moving speed of the movable member is varied substantially linearly by changing a second non-frequency parameter.
12. A driving device according to claim 10 , wherein the ultrasonic actuator has driving frequency-speed characteristics that the speed is set at a substantially constant value in a predetermined frequency range.
13. A driving device according to claim 10 , wherein the control target position is continuously changed.
14. A driving device according to claim 10 , wherein the calculator cyclically calculates the control target position at a predetermined cycle.
15. A driving device according to claim 10 , wherein said first non-frequency parameter is a voltage value of the drive signal or a duty ratio of the drive signal.
16. A driving device for driving a movable member by an ultrasonic actuator under position servo control, the ultrasonic actuator being driven in a specified resonant state, and having characteristics that a moving speed of the movable member is varied substantially linearly by changing a non-frequency parameter, the device comprising:
a position detector which detects a present position of the movable member driven by the ultrasonic actuator;
a calculator which calculates a control target position of the movable member;
a driver which generates a drive signal to drive the ultrasonic actuator in the specified resonant state; and
a position servo controller which sets a basic driving frequency of the drive signal and controls said non-frequency parameter of the drive signal based on a difference between the present position and the control target position so that the movable member pursues the control target position, wherein a frequency of the drive signal is maintained within a predetermined frequency range.
17. A driving device according to claim 16 , wherein the control target position is continuously changed.
18. A driving device according to claim 16 , wherein the calculator cyclically calculates the control target position at a predetermined cycle.
19. A driving device according to claim 16 , wherein the first non-frequency parameter is a voltage value of the drive signal or a duty ratio of the drive signal.
20. A driving device for driving a movable member by an ultrasonic actuator under position servo control,
the ultrasonic actuator including:
an electro-mechanical conversion element which is expandable and contractible by application of a drive signal;
a supporting member which is fixed to an end of the electro-mechanical conversion element in an expanding/contracting direction thereof; and
a driving member which frictionally engages the movable member, and is fixed to the other end of the electro-mechanical conversion element in the expanding/contracting direction thereof, the supporting member and the movable member being movable relative to each other by expanding and contracting the electro-mechanical conversion element at a variable speed, the driving device comprising:
a position detector which detects a present position of the movable member driven by the ultrasonic actuator;
a calculator which calculates a control target position of the movable member;
a driver which generates the drive signal to drive the ultrasonic actuator in a specified resonant state; and
a position servo controller which sets a basic driving frequency of the drive signal and controls a non-frequency parameter of the drive signal based on a difference between the present position and the control target position so that the movable member pursues the control target position.
21. A driving device according to claim 20 , wherein the control target position is continuously changed.
22. A driving device according to claim 20 , wherein the calculator cyclically calculates the control target position at a predetermined cycle.
23. A driving device according to claim 20 , wherein said another parameter is a voltage value of the drive signal or a duty ratio of the drive signal.
24. A camera provided with a movable member driven under position servo control, the movable member being provided in a photographing optical system, the camera comprising:
an ultrasonic actuator including:
an electro-mechanical conversion element which is expandable and contractible by application of a drive signal;
a supporting member which is fixed to an end of the electro-mechanical conversion element in an expanding/contracting direction thereof; and
a driving member which frictionally engages the movable member, and is fixed to the other end of the electro-mechanical conversion element in the expanding/contracting direction thereof, the supporting member and the movable member being movable relative to each other by expanding and contracting the electro-mechanical conversion element at a variable speed,
a position detector which detects a present position of the movable member driven by the ultrasonic actuator;
a calculator which calculates a control target position of the movable member;
a driver which generates the drive signal to drive the ultrasonic actuator in a specified resonant state; and
a position servo controller which sets a basic driving frequency of the drive signal and controls a non-frequency parameter of the drive signal based on a difference between the present position and the control target position so that the movable member pursues the control target position.
25. A camera according to claim 24 , wherein the movable member engages with a member for performing camera shake correction.