Vibratory actuator control apparatus and imaging apparatus using the same

A vibratory actuator control apparatus comprising:

• a vibrating member having an electro-mechanical energy conversion element;
• a contact member configured to come into contact with the vibrating member;
• and
• a controller configured to control relative movements of the vibrating member and the contact member due to vibrations to be generated when a driving voltage is applied to the electro-mechanical energy conversion element,
• wherein, in a first case where the vibrating member and the contact member are brought from a stopped state to a stationary state, an operation sequentially passes through a first stage and a second stage,
• wherein, in a second case where the vibrating member and the contact member are brought from the stationary state to the stopped state, the operation sequentially passes through a third stage and a fourth stage,
• wherein the first stage is for accelerating a driving speed of the relative movements by applying the driving voltage while maintaining a driving frequency of the driving voltage at a start frequency and increasing a control parameter of the driving voltage,
• wherein the second stage is for accelerating the driving speed by applying the driving voltage while maintaining the control parameter of the driving voltage constant and decreasing the driving frequency from the start frequency,
• wherein the third stage is for decelerating the driving speed by applying the driving voltage while maintaining the control parameter of the driving voltage constant and increasing the driving frequency,
• wherein the fourth stage is for decelerating the driving speed by applying the driving voltage while maintaining the driving frequency constant and decreasing the control parameter of the driving voltage,
• wherein a next start frequency is set based on the driving frequency corresponding to a predetermined driving speed in the third stage,
• wherein the next start frequency is the driving frequency corresponding to the predetermined driving speed in the third stage and corrected by a predetermined correction value, and
• wherein the predetermined correction value is calculated based on a deceleration inclination in a deceleration operation to decelerate the driving speed in the third stage, an acceleration in the deceleration operation, and an inertia of a vibratory actuator driven by the vibratory actuator control apparatus and a driven member driven by the vibratory actuator.