Actuator drive device

An actuator drive device configured to drive an actuator which includes a driver and a drive electrode, said actuator drive device comprising:

• a storage section for storing a drive condition of the actuator;
• a processor for calculating and outputting drive signal D(t) based on a drive base signal V(t) calculated based on the drive condition with respect to time t;
• and
• a generator for outputting, based on the drive signal D(t) calculated, a driving signal to the drive electrode of the actuator for driving the driver of the actuator,
• wherein the actuator drive device is configured to drive the actuator in a main mode while not exciting the actuator in a mode different from the main mode,
• wherein the drive base signal V(t) is a sum of a fundamental wave and at least one harmonic wave of the fundamental wave, and is expressed as:
• V
• ⁡
• (
• t
• )
• =
• A
• ⁢
• ∑
• k
• =
• 1
• N
• ⁢
• a
• k
• ⁢
• sin
• ⁡
• (
• 2
• ⁢
• π
• ⁢
• ⁢
• f
• base
• ⁢
• kt
• )
• ,
• with an amplitude A, an integer N, a coefficient ak, a frequency fbase of the fundamental wave, and an integer k (1≦k≦N),
• wherein frequencies of the fundamental wave and the at least one harmonic wave of the fundamental wave includes a resonance frequency f0 of the main mode,
• wherein the mode, different from the main mode, is excited with a vibration at a resonance frequency f1,
• wherein an upper limit frequency out of the frequencies of the fundamental wave and the at least one harmonic wave of the fundamental wave is a frequency fBW,
• wherein a frequency kfbase of a harmonic wave out of the at least one harmonic wave at any order k is included within a range of fbase≦kfbase≦fBW≦f1, and
• wherein the processor is operable to determine the coefficient ak such that the drive base signal V(t) changes linearly from a minimum value to a maximum value with respect to a time.