Position control device and position control method, optical device, and image pickup apparatus

A position control method comprising:

• detecting, by a position detector, a position of an object to be controlled;
• outputting, by a target generator, a target velocity and a target position of the object to be controlled;
• calculating, by a first calculator, a control amount for causing the object to be controlled to track the target position;
• calculating, by a second calculator, a control amount for controlling the velocity of the object to be controlled to be at the target velocity;
• outputting, by a control signal output unit, a control signal to the object to be controlled according to a total control amount obtained by adding the control amount calculated by the first calculator and the control amount calculated by the second calculator;
• and
• storing, by a storage unit, an attitudinal change correction amount which is a control amount that resists an attitudinal change of the object to be controlled during position control of controlling the object to be controlled to be at a fixed position,
• wherein the second calculator acquires the attitudinal change correction amount stored in the storage unit, adds the attitudinal change correction amount to the control amount to correct the control amount, and outputs the corrected control amount when the object to be controlled is being controlled to be at the target velocity, in the calculating the control amount for generating the target velocity.

A position control device comprising:

• a first calculator that calculates a control amount for causing a object to be controlled to track a target position according to a position of the object to be controlled detected by a position detector;
• an adaptive identification unit that adaptively identifies a parameter of an identification model based on an input for identification, a response of the identification model to the input, and a response of an object to be identified so that the response to the identification model matches the response of the object to be identified;
• and
• a storage unit that stores an attitudinal change correction amount which is a control amount for maintaining a stopped state of the object to be controlled when the object to be controlled is in the stopped state,
• wherein the input for identification of the adaptive identification unit is a control amount corresponding to a control amount obtained by calculating the attitudinal change correction amount stored in the storage unit from the control amount calculated by the first calculator, and the response of the object to be identified is a moving amount of the object to be controlled.

A position control device comprising:

• a first calculator that calculates a control amount for causing a object to be controlled to track a target position according to a position of the object to be controlled detected by a position detector;
• a second calculator that calculates a control amount for controlling a velocity of the object to be controlled to be a target velocity;
• an adaptive identification unit that adaptively identifies a parameter of an identification model based on an input for identification, a response of the identification model to the input, and a response of an object to be identified so that the response of the identification model matches the response of the object to be identified;
• and
• a storage unit that stores an attitudinal change correction amount which is a control amount for maintaining a stopped state of the object to be controlled when the object to be controlled is in the stopped state,
• wherein the input for identification of the adaptive identification unit is a control amount corresponding to a control amount obtained by calculating the attitudinal change correction amount stored in the storage unit from a control amount obtained by adding the control amount calculated by the first calculator and the control amount calculated by the second calculator, and the response of the object to be identified is a moving amount of the object to be controlled.

A position control method comprising:

• calculating, by a first calculator, a control amount for causing an object to be controlled to track a target position according to a position of the object to be controlled detected by a position detector;
• adaptively identifying, by an adaptive identification unit, a parameter of an identification model based on an input for identification, a response of the identification model to the input, and a response of an object to be identified so that the response to the identification model matches the response of the object to be identified;
• and
• storing, by a storage unit, an attitudinal change correction amount which is a control amount for maintaining a stopped state of the object to be controlled when the object to be controlled is in the stopped state,
• wherein the input for identification in the adaptively identifying is a control amount corresponding to a control amount obtained by calculating the attitudinal change correction amount stored in the storing from the control amount in the calculating, and the response of the object to be identified is a moving amount of the object to be controlled.

A position control method comprising:

• calculating, by a first calculator, a control amount for causing a object to be controlled to track a target position according to a position of the object to be controlled detected by a position detector;
• calculating, by a second calculator, a control amount for controlling a velocity of the object to be controlled to be a target velocity;
• adaptively identifying, by an adaptive identification unit, a parameter of an identification model based on an input for identification, a response of the identification model to the input, and a response of an object to be identified so that the response of the identification model matches the response of the object to be identified;
• and
• storing, by a storage unit, an attitudinal change correction amount which is a control amount for maintaining a stopped state of the object to be controlled when the object to be controlled is in the stopped state,
• wherein the input for identification in the adaptively identifying is a control amount corresponding to a control amount obtained by calculating the stored attitudinal change correction amount from a control amount obtained by adding the control amount in the calculating by the first calculator and the control amount in the calculating by the second calculator, and the response of the object to be identified is a moving amount of the object to be controlled.