Patent ID: 11967914
Assignee: CANON KABUSHIKI KAISHA
Field: Electrical machinery, apparatus, energy (Electrical engineering)
Classification: CPC H  G | IPC G  H

Claim 0:
1. A vibration actuator control device comprising:
a first vibration actuator including a first vibrating body and a first contact body in contact with the first vibrating body;
a second vibration actuator including a second vibrating body and a second contact body in contact with the second vibrating body;
a control unit configured to output a first control signal for controlling driving of the first vibration actuator, and output a second control signal for controlling driving of the second vibration actuator; and
a driving unit configured to (i) output a plurality of first alternating-current voltages based on the first control signal, for driving the first vibration actuator, and (ii) output a plurality of second alternating-current voltages based on the second control signal, for driving the second vibration actuator,
wherein the control unit has a common frequency setting unit,
wherein the control unit individually sets a phase difference of a first alternating-current voltage and a phase difference of a second alternating-current voltage or a voltage value of the first alternating-current voltage and a voltage value of the second alternating-current voltage based on the first control signal and the second control signal, respectively,
wherein the common frequency setting unit commonly sets a frequency of the first alternating-current voltage and a frequency of the second alternating-current voltage,
wherein the control unit individually sets the phase difference of the first alternating-current voltage and the phase difference of the second alternating-current voltage based on the first control signal and the second control signal, respectively, and commonly sets the frequency of the first alternating-current voltage and the frequency of the second alternating-current voltage,
wherein, in a case where the phase difference of the first alternating-current voltage is a first phase difference limit value which is a first predetermined limit value, the control unit determines whether a first driving speed which is a speed of the first contact body relative to the first vibrating body, is smaller than a first target speed which is a target driving speed and, in a case where the phase difference of the second alternating-current voltage is a second phase difference limit value which is a second predetermined limit value, the control unit determines whether a second driving speed which is a speed of the second contact body relative to the second vibrating body, is smaller than a second target speed which is a target driving speed, and
wherein, in a case where the control unit determines that at least either the first driving speed is smaller than the first target speed or the second driving speed is smaller than the second target speed, the control unit lowers the frequency of the first alternating-current voltage and the frequency of the second alternating-current voltage in commonly setting the frequency of the first alternating-current voltage and the frequency of the second alternating-current voltage.