Control apparatus, control method, and driving apparatus of vibration type actuator

A control apparatus for a vibration type actuator that moves a vibrating body in which vibrations are excited by an electromechanical energy conversion element, and a contact body in contact with the vibrating body relative to each other, the control apparatus comprising:

• a generation unit configured to generate multi-phase driving signals having a phase difference applied to the electromechanical energy conversion element;
• and
• a detection unit configured to detect an actual position of a movable unit including the vibrating body or the contact body,
• wherein the generation unit sets the phase difference based on a deviation of the actual position from a target position of the movable unit,
• wherein the generation unit makes larger an increase rate of the phase difference from when the movable unit stops to when the movable unit starts moving than that after the movable unit starts moving, and decreases the increase rate once and then increases the increase rate when the movable unit starts moving and accelerating, and
• wherein at least one processor or circuit is configured to perform a function of at least one of the generation unit and the detection unit.

A control method for a vibration type actuator that moves a vibrating body in which vibrations are excited by an electromechanical energy conversion element, and a contact body in contact with the vibrating body relative to each other, the control method comprising:

• generating multi-phase driving signals having a phase difference applied to the electromechanical energy conversion element;
• and
• detecting an actual position of a movable unit including the vibrating body or the contact body,
• wherein the generating sets the phase difference based on a deviation of the actual position from a target position of the movable unit, and
• wherein the generating makes larger a change rate of the phase difference against the deviation from when the movable unit stops to when the movable unit starts moving as the target position changes than that after the movable unit starts moving.

A control method for a vibration type actuator that moves a vibrating body in which vibrations are excited by an electromechanical energy conversion element, and a contact body in contact with the vibrating body relative to each other, the control method comprising:

• generating multi-phase driving signals having a phase difference applied to the electromechanical energy conversion element;
• and
• detecting an actual position of a movable unit including the vibrating body or the contact body,
• wherein the generating sets the phase difference based on a deviation of the actual position from a target position of the movable unit, and
• wherein the generating makes larger an increase rate of the phase difference from when the movable unit stops to when the movable unit starts moving than that after the movable unit starts moving, and decreases the increase rate once and then increases the increase rate when the movable unit starts moving and accelerating.