Control apparatus for vibration actuator, and vibration driving apparatus, interchangeable lens, imaging apparatus, and automatic stage including same
AssigneeCanon Kabushiki Kaisha
InventorJun Sumioka
Life of this patent
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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.
Claims34
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, the control apparatus comprising
- a control amount output unit including:
- a trained model trained to, if a target speed to relatively move the contact body with respect to the vibrator at is input, output a first control amount to relatively move the contact body with respect to the vibrator, and
- a learning model including a neural network (NN) configuration with a relative speed of the vibration actuator,
- wherein the learning model is trained using training data with a detected speed detected in a case where the contact body is relatively moved with respect to the vibrator by the first control amount and with a target deviation as input, and a second control amount as output, and
- wherein, if an instruction about the target speed is issued, the target speed and a position deviation are input to the trained model, the position deviation being a difference between a target position about which an instruction is issued to relatively move the contact body with respect to the vibrator and a detected position detected in a case where the contact body is relatively moved with respect to the vibrator by the first control amount.
A method for outputting a control amount 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 and configured to have a control amount output unit, the method comprising
- performing machine learning using training data with a second speed as input and a first control amount as output, the second speed being detected in a case where the contact body is relatively moved with respect to the vibrator by the first control amount, the first control amount being intended to relatively move the contact body with respect to the vibrator in a case where an instruction about a first speed to relatively move the contact body with respect to the vibrator at is issued
- wherein the control amount output unit includes:
- a trained model trained to, if a target speed to relatively move the contact body with respect to the vibrator at is input, output the first control amount to relatively move the contact body with respect to the vibrator;
- and
- a learning model including an NN configuration with a relative speed of the vibration actuator,
- wherein the learning model is trained using training data with a detected speed detected in a case where the contact body is relatively moved with respect to the vibrator by the first control amount and with a target deviation as input, and a second control amount as output,
- wherein, if an instruction about the target speed is issued, the target speed and a position deviation are input to the trained model, the position deviation being a difference between a target position about which an instruction is issued to relatively move the contact body with respect to the vibrator and a detected position detected in a case where the contact body is relatively moved with respect to the vibrator by the first control amount.
Dependencies are inferred from the claim text.