Control method and apparatus of an ultrasonic motor, and an ultrasonic motor driver and controller

A control method of an ultrasonic motor, comprising:

• a driving wave number determining step for determining a driving wave number based on the targeted displacement of a driven object driven by the ultrasonic motor;
• a normative driving wave generating step for generating continuously normative driving waves in the number of times determined at said driving wave number determining step, inserted an interval determined based on the targeted velocity of the driven object, every at least one cycle of the normative driving waves;
• and
• a driving wave generating step for generating driving waves having the predetermined frequency and the predetermined amplitude based on the normative driving waves generated at said normative driving wave generating step.

A control method of an ultrasonic motor, comprising;

• a displacement deviation calculating step for calculating a displacement deviation defined by a deviation between the targeted displacement of a driven object driven by the ultrasonic motor and the actual displacement of the driven object;
• a driving wave number determining step for determining a driving wave number based on the displacement deviation calculated at said displacement deviation calculating step;
• a normative driving wave generating step for generating continuously normative driving waves in the number of times determined at said driving wave number determining step, inserted an interval determined based on the targeted velocity of the driven object, every at least one cycle of the normative driving waves;
• and
• a driving wave generating step for generating driving waves having the predetermined frequency and the predetermined amplitude based on the normative driving waves generated at said normative driving wave generating step.

A control method of an ultrasonic motor, comprising;

• a displacement deviation calculating step for calculating a displacement deviation defined by a deviation between the targeted displacement of a driven object driven by the ultrasonic motor and the actual displacement of the driven object;
• a driving wave number determining step for determining a driving wave number based on the displacement deviation calculated at said displacement deviation calculating step;
• a velocity deviation calculating step for calculating a velocity deviation defined by a deviation between the targeted velocity of the driven object and the actual velocity of the driven object;
• a normative driving wave generating step for generating continuously normative driving waves in the number of times determined in said driving wave number determining step, inserted an interval determined based on the velocity deviation calculated at said velocity deviation calculating step, every at least one cycle of the normative driving waves;
• and
• a driving wave generating step for generating driving waves having the predetermined frequency and the predetermined amplitude based on the normative driving waves generated at said normative driving wave generating step.

A control apparatus of an ultrasonic motor, comprising:

• a driving pulse receiving means for receiving one or a plurality of driving pulses to energize an ultrasonic motor which drives a driven object every predetermined interval;
• a normative driving wave generating means for generating continuously normative driving waves, the numbers of which are equal to the numbers of driving pulses received at said driving pulse receiving means multiplied by a predetermined multiplier;
• and
• a driving wave generating means for generating driving waves having a predetermined frequency and a predetermined amplitude based on the normative driving waves generated at said normative driving wave generating means.

A control apparatus of an ultrasonic motor, comprising:

• a driving wave number determining means for determining a driving wave number based on the targeted displacement of a driven object driven by the ultrasonic motor;
• a normative driving wave generating means for generating continuously normative driving waves in the number of times determined at said driving wave number determining means, inserted an interval determined based on the targeted velocity of the driven object, every at least one cycle of the normative driving waves;
• and
• a driving wave generating means for generating driving waves having the predetermined frequency and the predetermined amplitude based on the normative driving waves generated at said normative driving wave generating means.

A control apparatus of an ultrasonic motor, comprising;

• a displacement deviation calculating means for calculating a displacement deviation defined by a deviation between the targeted displacement of a driven object driven by the ultrasonic motor and the actual displacement of the driven object;
• a driving wave number determining means for determining a driving wave number based on the displacement deviation calculated at said displacement deviation calculating means;
• a normative driving wave generating means for generating continuously normative driving waves in the number of times determined at said driving wave number determining means, inserted an interval determined based on the targeted velocity of the driven object, every at least one cycle of the normative driving waves;
• and
• a driving wave generating means for generating driving waves having the predetermined frequency and the predetermined amplitude based on the normative driving waves generated at said normative driving wave generating means.

A control apparatus of an ultrasonic motor, comprising;

• a displacement deviation calculating means for calculating a displacement deviation defined by a deviation between the targeted displacement of a driven object driven by the ultrasonic motor and the actual displacement of the driven object;
• a driving wave number determining means for determining a driving wave number based on the displacement deviation calculated at said displacement deviation calculating means;
• a velocity deviation calculating means for calculating a velocity deviation defined by a deviation between the targeted velocity of the driven object and the actual velocity of the driven object;
• a normative driving wave generating means for generating continuously normative driving waves in the number of times determined at said driving wave number determining means, inserted an interval determined based on the velocity deviation calculated at said velocity deviation calculating means, every at least one cycle of the normative driving waves;
• and
• a driving wave generating means for generating driving waves having the predetermined frequency and the predetermined amplitude based on the normative driving waves generated at said normative driving wave generating means.

An ultrasonic motor driver, comprising:

• a driving pulse receiving part to receive one or a plurality of driving pulses to energize an ultrasonic motor which drives a driven object every predetermined interval;
• a multiplier setting part to set a multiplier;
• a manual-mode normative driving wave generating part to generate continuously manual-mode normative driving waves, the numbers of which are equal to the numbers of driving pulses received at said driving pulse receiving part multiplied by the multiplier set at said multiplier setting part;
• and
• a driving wave generating part to generate driving waves having a predetermined frequency and a predetermined amplitude based on the manual-mode normative driving waves generated at said manual-mode normative driving wave generating part.

An ultrasonic motor driver, comprising:

• a targeted displacement receiving part to receive the targeted displacement of a driven object driven by an ultrasonic motor;
• a driving wave number determining part to determine a driving wave number based on the targeted displacement received by said targeted displacement receiving part;
• a targeted velocity receiving part to receive a targeted velocity of the driven object;
• an auto-mode normative driving wave generating part to generate continuously auto-mode normative driving waves in the number of times determined by said driving wave number determining part, inserted an interval determined based on the targeted velocity received by said targeted velocity receiving part, every at least one cycle of the auto-mode normative driving waves;
• and
• a driving wave generating part to generate driving waves having the predetermined frequency and the predetermined amplitude based on the auto-mode normative driving waves generated at said auto-mode normative driving wave generating part.

An ultrasonic motor driver, comprising:

• a targeted displacement receiving part to receive a targeted displacement of a driven object driven by an ultrasonic motor;
• a displacement deviation calculating part to calculate a displacement deviation defined by a deviation between the targeted displacement received by said targeted displacement receiving part and the actual displacement of the driven object;
• a driving wave number determining part to determine a driving wave number based on the displacement deviation calculated by said displacement deviation calculating part;
• a targeted velocity receiving part to receive a targeted velocity of the driven object;
• an auto-mode normative driving wave generating part to generate continuously normative driving waves in the number of times determined by said driving wave number determining part, inserted an interval determined based on the targeted velocity received by said targeted velocity receiving part, every at least one cycle of the normative driving waves;
• and
• a driving wave generating part to generate driving waves having the predetermined frequency and the predetermined amplitude based on the auto-mode normative driving waves generated at said auto-mode normative driving wave generating part.

An ultrasonic motor driver, comprising:

• a targeted displacement receiving part to receive a targeted displacement of a driven object driven by the ultrasonic motor;
• a displacement deviation calculating part to calculate a displacement deviation defined by a deviation between the targeted displacement received by said targeted displacement receiving part and the actual displacement of the driven object;
• a driving wave number determining part to determine a driving wave number based on the displacement deviation calculated by said displacement deviation calculating part;
• a targeted velocity receiving part to receive a targeted velocity of the driven object;
• a velocity deviation calculating part to calculate a velocity deviation defined by a deviation between the targeted velocity received by said targeted velocity receiving part and the actual velocity of the driven object;
• an auto-mode normative driving wave generating part to generate continuously auto-mode normative driving waves in the number of times determined by said driving wave number determining part, inserted an interval determined based on the velocity deviation calculated by said velocity deviation calculating part, every at least one cycle of the auto-mode normative driving waves;
• and
• a driving wave generating part to generate driving waves having the predetermined frequency and the predetermined amplitude based on the auto-mode normative driving waves generated at said auto-mode normative driving wave generating part.

An ultrasonic motor driver, comprising:

• a driving pulse receiving part to receive one or a plurality of driving pulses to energize an ultrasonic motor which drives a driven object every predetermined interval;
• a multiplier setting part to set a multiplier;
• a manual-mode normative driving wave generating part to generate continuously manual-mode normative driving waves, the numbers of which are equal to the numbers of driving pulses received at said driving pulse receiving part multiplied by the multiplier set at said multiplier setting part;
• a targeted displacement receiving part to receive a targeted displacement of the driven object;
• a displacement deviation calculating part to calculate a displacement deviation defined by a deviation between the targeted displacement received by said targeted displacement receiving part and the actual displacement of the driven object;
• a displacement control signal choosing part to choose between the targeted displacement received by said targeted displacement receiving part and the displacement deviation calculated by said displacement deviation calculating part, as a displacement control signal;
• a driving wave number determining part to determine a driving wave number based on the displacement control signal chosen by said displacement control signal choosing part;
• a targeted velocity receiving part to receive a targeted velocity of the driven object;
• a velocity deviation calculating part to calculate a velocity deviation defined by a deviation between the targeted velocity received by said targeted velocity receiving part and the actual velocity of the driven object;
• a velocity control signal choosing part to choose between the targeted velocity received by said targeted velocity receiving part and the velocity deviation calculated by said velocity deviation calculating part, as a velocity control signal;
• an auto-mode normative driving wave generating part to generate continuously auto-mode normative driving waves in the number of times determined by said driving wave number determining part, inserted an interval determined based on the velocity control signal chosen by said velocity control signal choosing part, every at least one cycle of the auto-mode normative driving waves;
• a normative driving wave choosing part to choose normative driving waves between the manual-mode normative driving waves and the auto-mode normative driving waves;
• and
• a driving wave generating part to generate driving waves having the predetermined frequency and the predetermined amplitude based on the normative driving waves chosen by said normative driving wave choosing part.

An ultrasonic motor controller, comprising:

• an ultrasonic motor driver comprised of a driving pulse receiving part to receive one or a plurality of driving pulses to energize an ultrasonic motor which drives a driven object every predetermined interval, a multiplier setting part to set a multiplier, a manual-mode normative driving wave generating part to generate continuously manual-mode normative driving waves, the numbers of which are equal to the numbers of driving pulses received at said driving pulse receiving part multiplied by the multiplier set at said multiplier setting part, and a driving wave generating part to generate driving waves having a predetermined frequency and a predetermined amplitude based on the manual-mode normative driving waves generated at said manual-mode normative driving wave generating part;
• a driving pulse generating part to generate the driving pulses supplied to said driving pulse receiving part;
• and
• a multiplier changing part to change the multiplier set at said multiplier setting part.

An ultrasonic motor controller, comprising:

• an ultrasonic motor driver comprised of a targeted displacement receiving part to receive a targeted displacement of a driven object driven by an ultrasonic motor, a driving wave number determining part to determine a driving wave number based on the targeted displacement received by said targeted displacement receiving part, a targeted velocity receiving part to receive a targeted velocity of the driven object, an auto-mode normative driving wave generating part to generate continuously auto-mode normative driving waves in the number of times determined by said driving wave number determining part, inserted an interval determined based on the targeted velocity received by said targeted velocity receiving part, every at least one cycle of the auto-mode normative driving waves, and a driving wave generating part to generate driving waves having the predetermined frequency and the predetermined amplitude based on the auto-mode normative driving waves generated at said auto-mode normative driving wave generating part;
• a targeted displacement generating part to generate the targeted displacement supplied to said targeted displacement receiving part;
• and
• a targeted velocity generating part to generate the targeted velocity supplied to said targeted velocity receiving part.

An ultrasonic motor controller, comprising:

• an ultrasonic motor driver comprised of a targeted displacement receiving part to receive a targeted displacement of a driven object driven by an ultrasonic motor, a displacement deviation calculating part to calculate a displacement deviation defined by a deviation between the targeted displacement received by said targeted displacement receiving part and the actual displacement of the driven object, a driving wave number determining part to determine a driving wave number based on the displacement deviation calculated by said displacement deviation calculating part, a targeted velocity receiving part to receive a targeted velocity of the driven object, an auto-mode normative driving wave generating part to generate continuously auto-mode normative driving waves in the number of times determined by said driving wave number determining part, inserted an interval determined based on the targeted velocity received by said targeted velocity receiving part, every at least one cycle of the normative driving waves, and a driving wave generating part to generate driving waves having the predetermined frequency and the predetermined amplitude based on the auto-mode normative driving waves generated at said auto-mode normative driving wave generating part;
• a targeted displacement generating part to generate the targeted displacement supplied to said targeted displacement receiving part;
• an actual displacement measuring part to measure the actual displacement of the driven object supplied to said displacement deviation calculating part;
• and
• a targeted velocity generating part to generate the targeted velocity supplied to said targeted velocity receiving part.

An ultrasonic motor controller, comprising:

• an ultrasonic motor driver comprised of a targeted displacement receiving part to receive a targeted displacement of a driven object driven by an ultrasonic motor, a displacement deviation calculating part to calculate a displacement deviation defined by a deviation between the targeted displacement received by said targeted displacement receiving part and the actual displacement of the driven object, a driving wave number determining part to determine driving wave numbers based on the displacement deviation calculated by said displacement deviation calculating part, a targeted velocity receiving part to receive a targeted velocity of the driven object, a velocity deviation calculating part to calculate a velocity deviation defined by a deviation between the targeted velocity received by said targeted velocity receiving part and the actual velocity of the driven object, an auto-mode normative driving wave generating part to generate continuously auto-mode normative driving waves in the number of times determined by said driving wave number determining part, inserted an interval determined based on the velocity deviation calculated by said velocity deviation calculating part, every at least one cycle of the auto-mode normative driving waves, and a driving wave generating part to generate driving waves having the predetermined frequency and the predetermined amplitude based on the auto-mode normative driving waves generated at said auto-mode normative driving wave generating part;
• a targeted displacement generating part to generate the targeted displacement supplied to said targeted displacement receiving part;
• an actual displacement measuring part to measure the actual displacement of the driven object supplied to said displacement deviation calculating part;
• a targeted velocity generating part to generate the targeted velocity supplied to said targeted velocity receiving part;
• and
• an actual velocity measuring part to measure the actual velocity of the driven object supplied to said velocity deviation calculating part.

An ultrasonic motor controller, comprising:

• an ultrasonic motor driver comprised of a driving pulse receiving part to receive one or a plurality of driving pulses to energize an ultrasonic motor which drives a driven object every predetermined interval, a multiplier setting part to set a multiplier, a manual-mode normative driving wave generating part to generate continuously manual-mode normative driving waves, the numbers of which are equal to the numbers of driving pulses received at said driving pulse receiving part multiplied by the multiplier set at said multiplier setting part, a targeted displacement receiving part to receive a targeted displacement of the driven object, a displacement deviation calculating part to calculate a displacement deviation defined by a deviation between the targeted displacement received by said targeted displacement receiving part and the actual displacement of the driven object, a displacement control signal choosing part to choose between the targeted displacement received by said targeted displacement receiving part and the displacement deviation calculated by said displacement deviation calculating part, based on a displacement control choosing signal, a driving wave number determining part to determine driving wave number based on the displacement control signal chosen by said displacement control signal choosing part, a targeted velocity receiving part to receive a targeted velocity of the driven object, a velocity deviation calculating part to calculate a velocity deviation defined by a deviation between the targeted velocity received by said targeted velocity receiving part and the actual velocity of the driven object, a velocity control signal choosing part to choose between the targeted velocity received by said targeted velocity receiving part and the velocity deviation calculated by said velocity deviation calculating part, based on a velocity control choosing signal, an auto-mode normative driving wave generating part to generate continuously auto-mode normative driving waves in the number of times determined by said driving wave number determining part, inserted an interval determined based on the velocity control signal chosen by said velocity control signal choosing part, every at least one cycle of the auto-mode normative driving waves, a normative driving wave choosing part to choose between the manual-mode normative driving waves generated by said manual-mode normative driving wavegenerating part and the auto-mode normative driving waves generated by said auto-mode normative driving wave generating part based on a normative driving wave choosing signal, and a driving wave generating part to generate driving waves having the predetermined frequency and the predetermined amplitude based on the normative driving waves chosen by said normative driving wave choosing part;
• a driving pulse generating part to generate the driving pulses supplied to said driving pulse receiving part;
• a multiplier changing part to change a multiplier set at said multiplier setting part;
• a targeted displacement generating part to generate the targeted displacement supplied to said targeted displacement receiving part;
• an actual displacement measuring part to measure the actual displacement of the driven object supplied to said displacement deviation calculating part;
• a displacement control-mode choosing signal outputting part to output the displacement control-mode choosing signal to said displacement control signal choosing part;
• a targeted velocity generating part to generate the targeted velocity supplied to said targeted velocity receiving part;
• an actual velocity measuring part to measure the actual velocity of the driven object supplied to said velocity deviation calculating part;
• a velocity control-mode choosing signal outputting part to output the velocity control-mode choosing signal to said velocity control signal choosing part;
• and
• a normative driving wave choosing signal outputting part to output the normative driving wave choosing signal to said a normative driving wave choosing part.