Abstract: A vibration actuator control apparatus includes a control amount output unit. The control amount output unit includes a trained model trained by machine learning configured to output a control amount, if the target speed and a value based on the target position are input to the trained model, to move the contact body relative to the vibrator. The value based on the target position is a value based on a product of first and second values. The first value is a value based on a difference between the target position and a detection position detected from the vibration actuator moved based on the control amount. The second value is a value based on a ratio between the control amount output from the control amount output unit and a value output from the trained model if the target speed and a predetermined value are input to the trained model.

Abstract: A vibration type actuator control apparatus, which uses a vibration from a vibrator to move a contact member, includes a control unit and a drive unit. The control unit includes first and second learned models, each having a neural network, and outputs control amounts for the drive unit to move the contact member. When a contact member moving target velocity is input, the first learned model outputs a first control amount as one of the control amounts. When a positional deviation is input, the second learned model outputs a second control amount as one of the control amounts. The drive unit moves the contact member using a value based on the first and second control amounts. The positional deviation is in association with a difference between a target position for moving the contact member and a detected position detected when the contact member is moved relative to the vibrator.

Abstract: A control apparatus for a vibration actuator configured to relatively move a contact body in contact with a vibrator with respect to the vibrator using vibration occurring on the vibrator includes a control amount output unit including a trained model trained to, if an instruction about a first speed to relatively move the contact body with respect to the vibrator at is issued, output a first control amount to relatively move the contact body with respect to the vibrator.

Abstract: A control device for a vibration-type actuator includes a control unit including first and second output units. The first output unit includes a first learned model subjected to machine learning in such a way as to output a first control amount for causing the contact body to relatively move with respect to the vibrator. The second output unit includes a second learned model subjected to machine learning in such a way as to output a second control amount, which is data of the same data format as that of the first control amount. The control unit updates parameters of the first learned model and parameters of the second learned model based on a control deviation, which is a difference between the first control amount and the second control amount output within the same sampling period as that of the first control amount.

Abstract: A vibration actuator control apparatus includes a control amount output unit. The control amount output unit includes a trained model trained by machine learning configured to output a control amount, if the target speed and a value based on the target position are input to the trained model, to move the contact body relative to the vibrator. The value based on the target position is a value based on a product of first and second values. The first value is a value based on a difference between the target position and a detection position detected from the vibration actuator moved based on the control amount. The second value is a value based on a ratio between the control amount output from the control amount output unit and a value output from the trained model if the target speed and a predetermined value are input to the trained model.

Abstract: A vibration type actuator control apparatus, which uses a vibration from a vibrator to move a contact member, includes a control unit and a drive unit. The control unit includes first and second learned models, each having a neural network, and outputs control amounts for the drive unit to move the contact member. When a contact member moving target velocity is input, the first learned model outputs a first control amount as one of the control amounts. When a positional deviation is input, the second learned model outputs a second control amount as one of the control amounts. The drive unit moves the contact member using a value based on the first and second control amounts. The positional deviation is in association with a difference between a target position for moving the contact member and a detected position detected when the contact member is moved relative to the vibrator.

Abstract: A vibration driving device includes a vibration actuator including a vibrating body and a contact body, the vibrating body including an elastic body and an electromechanical energy conversion element, the contact body being in contact with the vibrating body and movable relatively to the vibrating body; and a control device including a signal generating circuit and a boosting circuit, the boosting circuit including an air-core transformer electrically connected to the signal generating circuit. The vibration actuator is configured to receive a signal output by the control device.

Abstract: A vibration type drive device capable of maintaining stable drive performance and controllability includes a vibration type actuator comprising a vibrator and a contact body, and a drive control device. The drive control device applies two-phase alternating current voltages to the energy conversion element of the vibrator by a drive portion, converts a control amount of feedback control based on the relative position/speed into a phase difference between the two-phase alternating current voltages, and outputs the phase difference to the drive portion by using, for the relative movement, a phase difference of a first or second quadrant in a coordinate system (in a first direction) and a phase difference of a third or fourth quadrant (in a second direction), with ? representing the phase difference, SIN ? corresponding to the vertical axis, and COS ? corresponding to the horizontal axis in the coordinate system.

Abstract: A control apparatus is capable of improving responsiveness in a minute movement of a vibration-type actuator that has a vibration body (a piezoelectric device and an elastic body) and a driven body that pressure contacts with the vibration body. A driving unit moves the driven body by causing a thrust-up vibration in a pressurizing direction and a conveyance vibration in a perpendicular direction in the vibration body by applying alternating voltages to the piezoelectric device. A control unit feedback-controls a position of the driven body by using a first operational parameter that defines an amplitude ratio of the conveyance vibration to the thrust-up vibration and a second operational parameter that defines amplitudes of the conveyance vibration and the thrust-up vibration. A correction unit corrects a control amount of the first or second operational parameter so as to increase as the amplitude ratio decreases.

Abstract: A control device for a vibration-type actuator includes a control unit including first and second output units. The first output unit includes a first learned model subjected to machine learning in such a way as to output a first control amount for causing the contact body to relatively move with respect to the vibrator. The second output unit includes a second learned model subjected to machine learning in such a way as to output a second control amount, which is data of the same data format as that of the first control amount. The control unit updates parameters of the first learned model and parameters of the second learned model based on a control deviation, which is a difference between the first control amount and the second control amount output within the same sampling period as that of the first control amount.

Abstract: A control apparatus controls driving a vibratory actuator. The control apparatus applies a signal to an electromechanical energy conversion device of a vibrator of the vibratory actuator to excite vibration on the vibrator and cause the vibrator and a driven object contacting the vibrator to move relative to one another by the vibration. If the vibratory actuator decelerates, the control apparatus changes a driving frequency of the signal to a frequency higher than a start-up frequency of the vibratory actuator and a preceding frequency at a deceleration start position. After changing the driving frequency of the signal, the control apparatus controls the signal driving frequency to perform deceleration control and fixes voltage of the signal in a deceleration period in which the vibratory actuator is decelerated.

Abstract: A control apparatus for a vibration-type actuator which improves acceleration performance and deceleration performance in driving the vibration-type actuator. The vibration-type actuator moves a vibrating body and a driven body relatively to each other. A vibration state of the vibrating body is detected based on a vibrating voltage or driving current generated in response to vibrations of the vibrating body. A relative speed of the vibrating body and the driven body is detected, and based on the detected vibration state and the detected relative speed, the vibration state of the vibrating body is controlled.

Abstract: A value obtained by adding an output of a speed feedforward calculation unit that uses a speed calculated from a change over time in an instruction value to a stage downstream from a feedback calculation unit that uses a positional deviation is used as a control amount, and at least one of an elliptic ratio of elliptical motion and a driving direction is controlled.

Abstract: A vibration type drive device capable of maintaining stable drive performance and controllability. The vibration type drive device comprises a vibration type actuator comprising a vibrator and a contact body, and a drive control device. The drive control device applies two-phase alternating current voltages to the energy conversion element of the vibrator by a drive portion, converts a control amount of feedback control based on the relative position/speed into a phase difference between the two-phase alternating current voltages, and outputs the phase difference to the drive portion by using, for the relative movement, a phase difference of a first or second quadrant at a coordinate (in a first direction) and a phase difference of a third or fourth quadrant (in a second direction), wherein vertical axis: SIN ?, horizontal axis: COS ?, ?: phase difference.

Abstract: A control apparatus is capable of improving responsiveness in a minute movement of a vibration-type actuator that has a vibration body (a piezoelectric device and an elastic body) and a driven body that pressure contacts with the vibration body. A driving unit moves the driven body by causing a thrust-up vibration in a pressurizing direction and a conveyance vibration in a perpendicular direction in the vibration body by applying alternating voltages to the piezoelectric device. A control unit feedback-controls a position of the driven body by using a first operational parameter that defines an amplitude ratio of the conveyance vibration to the thrust-up vibration and a second operational parameter that defines amplitudes of the conveyance vibration and the thrust-up vibration. A correction unit corrects a control amount of the first or second operational parameter so as to increase as the amplitude ratio decreases.

Abstract: A control apparatus is capable of improving responsiveness in a minute movement of a vibration-type actuator that has a vibration body (a piezoelectric device and an elastic body) and a driven body that pressure contacts with the vibration body. A driving unit moves the driven body by causing a thrust-up vibration in a pressurizing direction and a conveyance vibration in a perpendicular direction in the vibration body by applying alternating voltages to the piezoelectric device. A control unit feedback-controls a position of the driven body by using a first operational parameter that defines an amplitude ratio of the conveyance vibration to the thrust-up vibration and a second operational parameter that defines amplitudes of the conveyance vibration and the thrust-up vibration. A correction unit corrects a control amount of the first or second operational parameter so as to increase as the amplitude ratio decreases.

Abstract: In a vibrating-element driving circuit including a transformer and a coil as elements for stepping up a voltage, an improvement in a circuit efficiency of the driving circuit is achieved. The vibrating-element driving circuit includes a transformer, and an inductor connected to a primary side of the transformer, wherein an alternating voltage is applied to a primary winding coil of the transformer, an electro-mechanical energy conversion element of the vibration-type actuator is connected in parallel to a secondary winding coil of the transformer, the inductor is connected in series to the primary winding coil of the transformer, and wherein when the inductance of the inductor is Le1, the inductance of the primary winding coil of the transformer is L1, and Ka=L1/Le1, then the following is satisfied: 1?Ka?10.

Abstract: A driving apparatus which reduces power consumption as compared to conventional driving apparatuses. A voltage amplitude of first AC voltages is controlled based on a relative angle between a moving direction of a moving body, which is indicated by a driving command for moving the moving body, and a driving direction of a first vibrator, and a voltage amplitude of second AC voltages is controlled based on a relative angle between the moving direction and a driving direction of a second vibrator. Each of the first vibrator and the second vibrator is controlled based on a deviation between the driving command and a detected position of the moving body while the first AC voltages and the second AC voltages are being controlled. The driving direction of the first vibrator and the driving direction of the second vibrator cross each other.

Abstract: A control apparatus of a vibration actuator performs control of the vibration actuator using a control amount calculated using both of a first deviation which is a difference between a command value and a relative position, and a gain changed in accordance with a second deviation which is a difference between a target position and the relative position, so as to reduce the gain in accordance with reduction of the second deviation.

Abstract: A control apparatus controls driving a vibratory actuator. The control apparatus applies a signal to an electromechanical energy conversion device of a vibrator of the vibratory actuator to excite vibration on the vibrator and cause the vibrator and a driven object contacting the vibrator to move relative to one another by the vibration. If the vibratory actuator decelerates, the control apparatus changes a driving frequency of the signal to a frequency higher than a start-up frequency of the vibratory actuator and a preceding frequency at a deceleration start position. After changing the driving frequency of the signal, the control apparatus controls the signal driving frequency to perform deceleration control and fixes voltage of the signal in a deceleration period in which the vibratory actuator is decelerated.