Linear actuator, control method, and storage medium

A control method for controlling a linear actuator that includes:

• a multipolar magnet in which a plurality of magnets are arranged in an arrangement direction;
• a coil body in which two or more coils are bound;
• and
• a sensor detecting a relative position between the coil body and the multipolar magnet,
• the control method comprising:
• controlling currents supplied to the coils of the coil body on the basis of the relative position detected by the sensor,
• wherein the coil body and the multipolar magnet are relatively movable with respect to each other in the arrangement direction, and
• wherein the controlling is performed such that a phase difference between a magnetic phase of the multipolar magnet and a current-supply phase to the coil body is within a predetermined range, and the phase difference transitions in a time series.

A non-transitory storage medium storing a program of a linear actuator that includes:

• a multipolar magnet in which a plurality of magnets are arranged in an arrangement direction;
• a coil body in which two or more coils are bound;
• and
• a sensor detecting a relative position between the coil body and the multipolar magnet,
• the program causing a computer to perform each step of a method for the linear actuator, the method comprising:
• controlling currents supplied to the coils of the coil body on the basis of the relative position detected by the sensor,
• wherein the coil body and the multipolar magnet are relatively movable with respect to each other in the arrangement direction, and
• wherein the controlling is performed such that a phase difference between a magnetic phase of the multipolar magnet and a current-supply phase to the coil body is within a predetermined range, and the phase difference transitions in a time series.