Control apparatus for vibration-type actuator, control method for vibration-type actuator, vibration-type driving apparatus, and electronic apparatus that improve acceleration performance and deceleration performance in driving vibration-type actuator

A control apparatus for a vibration-type actuator that moves a vibrating body and a driven body relatively to each other, comprising:

• a vibration detecting unit configured to detect a vibration converted speed of the vibrating body based on a vibrating voltage generated in response to vibrations of the vibrating body, wherein the vibrating voltage is output by a sensor phase other than driving electrodes on the vibration-type actuator;
• a relative speed detecting unit configured to detect an actual rotational speed that represents a relative speed of the vibrating body and the driven body;
• an operating unit configured to obtain a comparison result obtained by comparing the vibration converted speed and the actual rotational speed;
• and
• a vibration control unit configured to control a vibration state of the vibrating body based on the comparison result,
• wherein at least when the vibrating body or the driven body accelerates or decelerates, the vibration control unit obtains the comparison result, and based on the comparison result, changes the vibration state of the vibrating body.

A control method for a vibration-type actuator that moves a vibrating body and a driven body relatively to each other, comprising:

• detecting a vibration converted speed of the vibrating body based on a vibrating voltage generated in response to vibrations of the vibrating body, wherein the vibrating voltage is output by a sensor phase other than driving electrodes on the vibration-type actuator;
• detecting an actual rotational speed that represents a relative speed of the vibrating body and the driven body;
• obtaining a comparison result obtained by comparing the vibration converted speed and the actual rotational speed;
• and
• controlling a vibration state of the vibrating body based on the comparison result.

A control method for a vibration-type actuator that moves a vibrating body and a driven body relatively to each other, comprising:

• detecting a vibration converted speed of the vibrating body based on a vibrating voltage generated in response to vibrations of the vibrating body, wherein the vibrating voltage is output by a sensor phase other than driving electrodes on the vibration-type actuator;
• detecting an actual rotational speed that represents a relative speed of the vibrating body and the driven body;
• and
• obtaining, at least when the vibrating body or the driven body accelerates or decelerates, a comparison result obtained by comparing the vibration converted speed and the actual rotational speed, and based on the comparison result, changing the vibration state of the vibrating body.