Optical system having a camera shake compensating function

Abstract: A zoom lens system includes a compensating lens unit (GrA) capable of decentering for camera shake compensation and a non-decentering lens (N) located closer to an image than the compensating lens unit (GrA) and not decentering in camera shake compensation. An aspherical surface is formed in the compensating lens unit (GrA), and an aspherical surface which tends to counteract an aspherical effect of the aspherical surface formed in the compensating lens unit (GrA) is formed in the non-decentering lens (N). The following conditions are fulfilled: ω ≦ 10° D f ≦ 0.3 where ω is a half angle of view, D is a distance from an aperture stop (S) to a decentering lens unit, and f is a focal length of the entire lens system.

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an optical system having a camera shake compensating function, and more specifically, to an optical system (e.g. zoom lens system, fixed focal length lens system) having a camera shake compensating function capable of preventing image blur due to camera shake (e.g. shake of the camera caused when the user holds the camera to perform photographing). 2. Description of the Prior Art US-A-5,000,549 discloses a zoom lens system comprising a plurality of lens units and performing zooming by varying distances between the lens units, said zoom lens system comprising a compensating lens unit capable of decentering for image blur compensation and located in a lens unit other than the most object-sided one, and a non-decentering lens provided closer to an image than the compensating lens unit, both said compensating lens unit and said non-decentering lens each having an aspherical surface. Conventionally, the failure in photographing was mostly attributed to camera shake and being out of focus. In recent years, however, most cameras employ the automatic focusing mechanism and with the improvement of focusing accuracy of the automatic focusing mechanism, the problem of the failure in photographing due to being out of focus has been practically solved. On the other hand, the lens system normally incorporated in the camera has shifted from a fixed focal length lens system to a zoom lens system, and with the shift, the magnification and the longest focal length have been increased. Consequently, camera shake very frequently occurs. As a result, presently, it is no exaggeration to say that the failure in photographing is caused by camera shake. For this reason, a camera shake compensating function is indispensable for the lens system (particularly, zoom lens system). As optical systems having a camera shake compensating function, optical systems have been proposed in which camera shake is compensated for by decentering a part of the lenses (hereinafter, this type of optical system will be referred to as "camera shake compensating optical system"). For example, Japanese Laid-open Patent Application No. H6-123836 discloses a five unit zoom lens system of positive, negative, negative, positive, negative configuration in which camera shake compensation is made by decentering the negative third lens unit. This five unit zoom lens system is based on a four unit telephoto zoom lens system having positive, negative, positive, negative configuration and the negative second lens unit is divided into two negative lens units. The five unit zoom lens system is compact as a whole since it is based on the four unit system of positive, negative, positive, negative configuration. In the camera shake compensating optical system, not only optical performance is necessarily excellent in the normal condition (i.e. "pre-decentering condition") but also the generation of aberrations due to the decentering of the lens is necessarily restrained to maintain desired optical performance in the compensated condition (i.e. "post-decentering condition"). However, the five unit zoom lens system of Japanese Laid-open Patent Application No. H6-123836 has a problem that the aberration performance after the camera shake compensation (i.e. after decentering) is inferior. Although Japanese Laid-open Patent Application No. H6-123836 positively appraises the performance of the system at an angle of compensation of approximately 0.15°, when the compensation angle is greater, the aberration degradation is impermissible. In particular, axial coma, which is generated in proportion to the third power of the focal length, increases with an increase in focal length. That is, in a normal telephoto zoom lens system for use in a single-lens reflex camera, the focal length is 120mm or more (corresponding to a half angle of view of 10° or less) on the longer focal length side in 35mm format and the minimum F-number is approximately 6.7 or less. When a camera shake compensating system is incorporated therein, since axial coma is proportional to the third power of the focal length and inversely proportional to the second power of the F-number, if the telephoto zoom lens system is provided with a camera shake compensating function, axial coma is very great, so that it is very difficult to excellently correct aberrations (i.e. aberrations including axial coma) with good balance in the entire zoom range. If a lens unit capable of decentering is added as the first lens unit, aberration performance such as off-axial image point movement error, one-side blur and axial coma after the camera shake compensation can be excellently corrected in the entire zoom range. However, since the first lens unit has a large diameter, a driving mechanism for decentering it should be large. This increases the size of the lens barrel. SUMMARY OF THE INVENTION An object of the present invention is to provide a compact optical system having a camera shake compensating function, capable of excellently correcting aberrations both in the normal condition and in the compensated condition. The object is solved by the features of claim 1, Further improvements of the invention are specified in the sub-claims. BRIEF DESCRIPTION OF THE DRAWINGS This and other objects and features of this invention will become clear from the following description, taken in conjunction with the preferred embodiments with reference to the accompanied drawings in which: Fig. 1 shows the lens arrangement of a first embodiment of the present invention; Figs. 2A to 2C show longitudinal aberrations of the first embodiment before decentering at the shortest focal length condition; Figs. 2D to 2F show longitudinal aberrations of the first embodiment before decentering at the longest focal length condition; Figs. 3A and 3B show meridional lateral aberrations of the first embodiment at the shortest focal length condition before decentering; Figs. 4A to 4C show meridional lateral aberrations of the first embodiment at the shortest focal length condition after decentering; Figs. 5A and 5B show sagittal lateral aberrations of the first embodiment at the shortest focal length condition before decentering; Figs.6A to 6C show sagittal lateral aberrations of the first embodiment at the shortest focal length condition after decentering; Figs. 7A to 7B show meridional lateral aberrations of the first embodiment at the longest focal length condition before decentering; Figs. 8A to 8C show meridional lateral aberrations of the first embodiment at the longest focal length condition after decentering; Figs. 9A and 9B show sagittal lateral aberrations of the first embodiment at the longest focal length condition before decentering; Figs. 10A to 10C show sagittal lateral aberrations of the first embodiment at the longest focal length condition after decentering; Fig. 11 shows the lens arrangement of a second embodiment of the present invention; Figs. 12A to 12C show longitudinal aberrations of the second embodiment before decentering at the shortest focal length condition; Figs. 12D to 12F show longitudinal aberrations of the second embodiment before decentering at the longest focal length condition; Figs. 13A and 13B show meridional lateral aberrations of the second embodiment at the shortest focal length condition before decentering; Figs. 14A to 14C show meridional lateral aberrations of the second embodiment at the shortest focal length condition after decentering; Figs. 15A and 15B show sagittal lateral aberrations of the second embodiment at the shortest focal length condition before decentering; Figs. 16A to 16C show sagittal lateral aberrations of the second embodiment at the shortest focal length condition after decentering; Figs. 17A and 17B show meridional lateral aberrations of the second embodiment at the longest focal length condition before decentering; Figs. 18A to 18C show meridional lateral aberrations of the second embodiment at the longest focal length condition after decentering; Figs. 19A and 19B show sagittal lateral aberrations of the second embodiment at the longest focal length condition before decentering; Figs. 20A to 20C show sagittal lateral aberrations of the second embodiment at the longest focal length condition after decentering; Fig. 21 shows the lens arrangement of a third embodiment of the present invention; Figs. 22A to 22C show longitudinal aberrations of the third embodiment before decentering; Figs. 23A and 23B show meridional lateral aberrations of the third embodiment before decentering; Figs. 24A to 24C show meridional lateral aberrations of the third embodiment after decentering; Figs. 25A and 25B show sagittal lateral aberrations of the third embodiment before decentering; Figs. 26A to 26C show sagittal lateral aberrations of the third embodiment after decentering; Fig. 27 shows the lens arrangement of the fourth embodiment of the present invention; Figs. 28A to 28C show longitudinal aberrations of the fourth embodiment before decentering at the shortest focal length condition; Figs. 28D to 28F show longitudinal aberrations of the fourth embodiment before decentering at the longest focal length condition; Figs. 29A and 29B show meridional lateral aberrations of the fourth embodiment at the shortest focal length condition before decentering; Figs. 30A to 30C show meridional lateral aberrations of the fourth embodiment at the shortest focal length condition after decentering; Figs. 31A and 31B show sagittal lateral aberrations of the fourth embodiment at the shortest focal length condition before decentering; Figs. 32A to 32C show sagittal lateral aberrations of the fourth embodiment at the shortest focal length condition after decentering; Figs. 33A and 33B show meridional lateral aberrations of the fourth embodiment at the longest focal length condition before decentering; Figs. 34A to 34C show meridional lateral aberrations of the fourth embodiment at the longest focal length condition after decentering; Figs. 35A and 35B show sagittal lateral aberrations of the fourth embodiment at the longest focal length condition before decentering; Figs. 36A to 36C show sagittal lateral aberrations of the fourth embodiment at the longest focal length condition after decentering; Figs. 37A to 37C show meridional lateral aberrations of the fourth embodiment at the longest focal length condition after decentering when no aspherical surfaces are provided in the compensating lens unit and the non-decentering lens; Figs. 38A to 38C show sagittal lateral aberrations of the fourth embodiment at the longest focal length condition after decentering when no aspherical surfaces are provided in the compensating lens unit and the non-decentering lens; Figs. 39A to 39D are views of assistance in explaining the factors of image degradation of the camera shake compensating optical system; Fig. 40 is a view of assistance in explaining a relationship between the optical system and the coordinates; Figs. 41A and 41B are views of assistance in explaining the difference in light beam passing position due to decentering; Fig. 42 is a view of assistance in explaining rotational conversion of the object surface; Fig. 43 is a view of assistance in explaining aberration coefficients of reversal and non-reversal optical systems; Figs. 44A and 44B are views of assistance in explaining rotational conversion; and Fig. 45 is a view of assistance in explaining conversion to the image surface. DESCRIPTION OF THE PREFERRED EMBODIMENTS An optical system having a camera shake compensating function according to a first implementation comprises a compensating lens unit capable of decentering for camera shake compensation, a lens located closer to an image than the compensating lens unit and not decentering in camera shake compensation, and an aperture. In the compensating lens unit, an aspherical surface is formed. In the lens not decentering in camera shake compensation, an aspherical surface which tends to counteract an aspherical effect of the aspherical surface of the compensating lens unit is formed. The following conditions (1) and (2) are fulfilled: ω ≤ 10° D f ≤ 0.3 where ω is a half angle of view, D is a distance from the aperture stop to the decentering lens unit, and f is a focal length of the entire lens system. An optical system having a camera shake compensating function according to a second implementation comprises a plurality of lens units and performs zooming by varying the distances between the lens units. The following are included: a compensating lens unit located in a lens unit other than the most object side lens unit and capable of decentering for camera shake compensation; and a lens located closer to the image than the compensating lens unit. In the compensating lens unit, an aspherical surface is formed. In the lens not decentering in camera shake compensation, an aspherical surface which tends to counteract an aspherical effect of the aspherical surface of the compensating lens unit is formed. As previously mentioned, in a lens system having a half angle of view of approximately 10° or less (i.e. a telephoto lens system having a focal length f of 120mm or more in 35mm format) and an F-number smaller than 6.7, axial coma is very large as is apparent from subsequently-shown expressions of aberration coefficients of camera shake compensating optical systems. For example, in a four unit zoom lens system of positive, negative, positive, negative configuration where aberrations generated in the normal condition are excellently corrected, if the second lens unit or a part of the second lens unit is used as the decentering lens unit (i.e. compensating lens unit), of the decentering aberrations, axial coma is particularly largely generated in camera shake compensation. It is apparent from the subsequently-shown expressions of aberration coefficients that the largest reason for the generation of axial coma is (the term of) spherical aberration of the decentering lens unit. Therefore, by using an aspherical surface as one surface of the decentering lens unit as described above, spherical aberration of the decentering lens unit can be excellently corrected. As a result, the decentering aberrations in camera shake compensation can be all corrected excellently. However, in the normal condition, the balance of aberrations of the entire lens system is broken by the aspherical surface of the decentering lens unit and spherical aberration is particularly large. In the optical systems having a camera shake compensating function according to the first and second implementations, an aspherical surface which tends to counteract the aspherical effect of the aspherical surface of the decentering lens unit is formed in a lens located closer to the image than the decentering lens unit and not decentering in camera shake compensation so that the effects of the aspherical surfaces (hereinafter referred to as "two aspherical surfaces") counteract each other. Consequently, while the aberrations of the entire lens system is returned to excellent condition and the aberration balance is maintained excellent in the normal condition, axial coma is restrained to be small and the decentering aberrations can be excellently corrected in camera shake compensation. The "aspherical surface which tends to counteract the aspherical effect of the aspherical surface of the decentering lens unit" will be described. For example, when the aspherical surface of the decentering lens unit (i.e. compensating lens unit) is a surface whose object side is glass and whose image side is air and the displacement direction of the aspherical surface relative to a reference spherical surface is a direction such that the aspherical surface displaces toward the object side from the optical axis to the edge along the height, the aspherical surface formed in the lens not decentering in camera shake compensation displaces toward the image side when its object side is glass and its image side is air and displaces toward the object side when its object side is air and its image side is glass. That is, the "aspherical surface which tends to counteract the aspherical effect of the aspherical surface of the decentering lens unit" is an aspherical surface which counteracts the aspherical effect of the other aspherical surface when one aspherical surface is a positive aspherical surface and the other aspherical surface is a negative aspherical surface and when the refractive index, the displacement direction of the aspherical surface and the type of the aspherical surface are decided as shown in Table 1. Since the aspherical surface of the compensating lens unit and the aspherical surface of the lens not decentering in camera shake compensation should be as close to each other as possible in order that their effects excellently counteract each other, a distance d ASP between the two aspherical surfaces fulfills the following condition (3). In addition, the lenses including the two aspherical surfaces are preferably arranged to adjoin each other. d ASP < 0.1×f T where d ASP is the distance between the two aspherical surfaces and f T is a focal length of the entire lens system at the longest focal length condition. Since it is difficult to excellently correct aberrations on both the longer and shorter focal length sides if the distance d ASP between the two aspherical surfaces is largely varied during zooming, it is preferable that the distance d ASP is not varied or that, if it is varied, the variation amount Δd ASP fulfills the following condition (4): Δd ASP < 0.08×f T where Δd ASP is a displacement amount of the distance between the two aspherical surfaces. The conditions (1) and (2) will be explained. The condition (1) means that the half angle of view ω of the camera shake compensating optical system is 10° or less. The condition (2) means that the compensating lens unit is arranged within ±0.3×f in the front or the rear of the aperture stop. In a (standard to wide angle) compensating optical system exceeding the limit of the condition (1), as is apparent from the subsequently-shown expressions of aberration coefficients of camera shake compensating optical systems, axial coma which is proportional to the third power of the focal length is not conspicuous and instead, off-axial image point movement error which is inversely proportional to the focal length is large. In such a camera shake compensating optical system exceeding the limit of the condition (1), if the compensating lens unit is arranged close to the aperture stop (i.e. if the condition (2) is fulfilled), off-axial principal ray passes the compensating lens unit at a position very close to the optical axis. Therefore, in this case, even if the curvature of a surface of the compensating lens unit is changed or an aspherical surface is added, the characteristic of the off-axial ray is not changed very much, so that the off-axial image point movement error remains large and is hardly improved. The normal telephoto lens system employs a telephoto type structure in which the entire lens system is roughly divided into a positive front lens unit and a negative rear lens unit. The telephoto lens system of this type is characterized in that the total length is shorter than the focal length f and that when the aperture stop is arranged in the negative rear lens unit, the diameters of the negative rear lens unit and the aperture stop are small. However, since the diameter of the positive front lens unit is very large compared to that of the negative rear lens unit, if the compensating lens unit is arranged in the positive front lens unit, a driving mechanism for decentering a large lens unit is necessary. As a result, the diameter of the lens barrel increases as a whole. Therefore, the compensating lens unit is preferably arranged close to the aperture stop having a small diameter. In view of this, by arranging the compensating optical system which fulfills the condition (1) so as to further fulfill the condition (2), the weight and size of the compensating lens unit can be reduced. Then, since it is unnecessary for the driving mechanism to have a great power, the size of the entire lens barrel can be reduced. Conversely, if the limit of the condition (2) is exceeded (i.e. if the compensating lens is away from the aperture stop by 0.3×f or more) in the lens system fulfilling the condition (1), the diameter of the compensating lens unit increases, so that the size of the entire lens barrel increases. Subsequently, a definition of aberration degradation in a camera shake compensating optical system like that of the present invention will be described with reference to Figs. 39A to 39D. The decentering aberrations (off-axial image point movement error, one-side blur, axial coma and axial lateral chromatic aberration) shown in the figures cause the image degradation of the camera shake compensating optical system. [Off-axial image point movement error] {Fig. 39A} In a decentered optical system, a distortion due to the decentering is generated in addition to the normal distortion. For this reason, in a camera shake compensating optical system, when camera shake is compensated for so that the axial (in the center of the image plane) image point completely stops, the off-axial image point does not completely stop to cause an image blur. In Fig. 39A, reference numeral 1 represents a film plane, reference numeral 2 represents an image point in the compensated condition (post-decentering condition), reference numeral 3 represents an image point in the standard condition (pre-decentering condition), and reference numeral 4 represents a direction of camera shake compensation. When the optical axis is along the X-axis, the camera shake direction is along the Y-axis (i.e. a camera shake compensation direction 4 is also along the Y-axis) and Y(y', z', ') is a Y coordinate (always y(0, 0, )=0 since camera shake is compensated for so that the axial image point completely stops) of the actual image point of a light beam with a paraxial image point (y', z') at a compensation angle , the following expression (a) holds: ΔY(y', z', ) = Y(y', z', )-Y(y', z', 0) Unless specifically indicated, an off-axial image point movement error ΔY Y ' with respect to the image point on the Y-axis and an off-axial image point movement error ΔY Z ' with respect to the image point on the Z-axis are represented by the following expressions (b) and (c): ΔY Y ' = {ΔY(0.7field, 0, 0.7°)+ΔY(-0.7field, 0, 0.7°)}/2 ΔY Z ' = ΔY(0, 0.7field, 0.7°) where 0.7field is approximately 15mm in 35mm film. [One-side blur] {Fig. 39B} Referring to Fig. 39B, reference numeral 5 represents an image plane which is asymmetric with respect to an optical axis AX, and reference numeral 6 represents an image plane which is symmetric with respect to the optical axis. Because of the asymmetry of the optical system, the image plane 5 is asymmetric with respect to the optical axis AX. Consequently, a meridional one-side blur ΔM' and a sagittal one-side blur ΔS' are represented by the following expressions (d) and (e), respectively: ΔM' = {meridional value (y'=0.7field, z=0, =0.7°) -meridional value (y'=-0.7field, z=0, =0.7°)}/2 ΔS' = {sagittal value (y'=0.7field, z=0, =0.7°) -sagittal value (y'=-0.7field, z=0, =0.7°)}/2 [Axial coma] {Fig. 39C} Referring to Fig. 39C, reference numeral 7 represents an axial luminous flux, and reference numeral 8 represents an axial principal light beam. As shown in the figure, the axial luminous flux 7 is not symmetric with respect to the axial principal light beam 8, so that coma is generated. An axial coma AXCM generated at the axial luminous flux 7 is represented by the following expression (f): AXCM = {Y(upper zonal, =0.7°)+Y(lower zonal, =0.7°)}/2 [Axial lateral chromatic aberration] {Fig. 39D} The image point, which shifts according to the difference in wavelength, shifts on the axial light beam when the optical system is asymmetric. The axial lateral chromatic aberration generated in the axial principal light beam is represented by the following expression (g): (axial lateral chromatic aberration) = {Y(g-line, =0.7°)-Y(d-line, =0.7°)} With respect to the above-described decentering aberrations, an application method is shown in a paper "Theory of Tertiary Aberration of an Optical System Where Decentering Exits" by Mr. Yoshiya Matsui (JOEM, June, 1990). The method is suitable for a case where a normal taking lens is decentered due to an attachment error. However, it cannot be directly applied to a camera shake compensating optical system where a co-axial relationship among the object plane, the taking lens and the image plane is shifted. In order that the method of the paper can be directly applied to the camera shake compensating optical system, the actual aberrations of the camera shake compensating optical system are represented by tertiary aberration coefficients by performing the subsequently-described conversion of expressions. [Application of decentering aberration coefficients to camera shake compensating optical system] Referring to Fig. 40 showing a relationship between the optical system and coordinates, how to obtain the decentering aberration coefficients will be described. First, the expressions are defined as follows: tanω·cosω = Y g $ tanω·sinω = Z g $ R ·cos R = g $ g · Y * R ·cos R = g $ g · Z * where g and g$ are an entrance pupil surface and the distance from the object side principal plane to an object plane (object surface) OS, respectively, ω is an angle of a straight line between the object point and the object side principal point H, to a reference axis and ω is its azimuth, and R is a radius of entrance pupil converted on the object side principal plane and R is its azimuth. Image point movement amounts ΔY and ΔZ on an image plane (image surface) IS when a vth surface from the object side is parallely decentered by a slight amount Ev in the Y direction relative to the reference axis are represented by the following expressions (1A) and (1B): ΔY = -(Eν/2α k ')·[(ΔE)ν+(N·tanω) 2 ·{(2+cos2ω)·(VE1)ν-(VE2)ν} +2R·(N·tanω)·{(2cos(R-ω)+cos(R+ω))·(IIIE)ν+cosR. cosω·(PE)ν}+R 2 ·(2+cos2R)·(IIE)ν] ΔZ = -(Eν/2α k ')·[(N·tanω) 2 ·sin2ω·(VE1)ν+2R·(N·tanω)· {sin(R+ω)·(IIIE)ν+sinR·sinω·(PE)ν}+R 2 ·sin2R· (IIE)v] Here, when (ΔE)ν is a prismatic effect (lateral shift of the image), (VE1)ν and (VE2)v are rotationally asymmetric distortions, (IIIE)v and (PE)v are a rotationally asymmetric astigmatism and an inclination of the image surface, respectively, and (IIE)v is a rotationally asymmetric coma which is present also on the axis, the decentering aberration coefficients representing the effects of the decentering are represented by the following expressions (1C) to (1H) based on the aberration coefficients of from the vth surface to the image surface (# is a suffix representative of "on the object surface"). In the case of rotational decentering, the decentering aberration coefficients are represented by expressions similar to the expressions (1A) to (1H): (ΔE)ν = -2(αν'-αν) (VE1)ν = [{αν'·(µ=ν+1→k)ΣVµ}-{αν·(µ=ν→k)ΣVµ}]-[{αν'#· (µ=ν+1→k)ΣIIIµ}-{αν#·(µ=ν→k)ΣIIIµ}] (VE2)v = {αν'#·(µ=ν+1→k)ΣPµ}-{αν#·(µ=ν→k)ΣPµ} (IIIE)v = [{αν'·(µ=ν+1→k)ΣIIIµ}-{αν· (µ=ν→k)ΣIIIµ}]-[{αν'#·(µ=ν+1→k)ΣIIµ}-{αν#· (µ=ν→k)ΣIIµ}] (PE)v = {αν'·(µ=ν+1→k)ΣPµ}-{αν·(µ=ν→k)ΣPµ} (IIE)ν = [{αν'·(µ=ν+1→k)ΣIIµ}-{αν·(µ=ν→k)ΣIIµ}] -[{αν'#·(µ=ν+1→k)ΣIµ}-{αν#·(µ=ν→k)ΣIµ}] However, in order to apply the decentering aberration coefficients to the camera shake compensating optical system, it is necessary to replace the image surface IS with the object surface OS by a reversal of the optical system to use aberration coefficients from the image surface IS. That is, the image point movement amounts must be converted to those of the object surface OS. The reasons therefor will be described. The first reason is that the light beam passing position shifts due to decentering. Referring to Fig. 41A (L 1 represents a light beam before decentering and L 2 represents a light beam after decentering), according to the above-described method of Mr. Matsui's paper, the light beam passing position on the image surface IS side of a decentering lens LS is shifted by the decentering lens LS. Consequently, the aberration coefficients of the decentering lens LS and of the decentering lens LS to the image surface IS relate to the decentering aberration coefficients. On the contrary, referring to Fig. 41B (M 1 represents a light beam before camera shake compensation and M 2 represents a light beam after camera shake compensation), in the camera shake compensating optical system (ideally), the light beam passing position on the object side of the decentering lens LS differs between before camera shake compensation and after camera shake compensation. Consequently, the aberration coefficients of the decentering lens LS and the lenses located on the object side of the decentering lens LS relate to the decentering aberration coefficients. The second reason is that the aberrations sometimes degrade due to a rotational conversion of the object surface. According to the above-described method of Mr. Matsui's paper, neither the object surface OS 1 nor the image surface IS moves, whereas in the camera shake compensating optical system, the object surface OS 1 rotates as shown in Fig. 42. For this reason, the off-axial image point movement error and the one-side blur are great compared to the case where the object surface does not rotate. In Fig. 42, OS 1 represents an object surface before camera shake compensation and OS 2 represents an object surface after camera shake compensation. [Aberration coefficients of reversal optical system and aberration coefficients of non-reversal optical system] Since the image point movement amounts must be converted to those of the object surface for the above-described reasons, the coefficients of the expressions (1A) to (1H) are converted according to the following expressions (2A) to (2J) represented based on Fig. 43 (non-reversal optical system): R α = R N/ R g$ = -α' R α# = α'# R αµ' = -αν R αµ'# = αν# R Pµ = Pν R µ = ν R Iµ = Iν R IIµ = -IIν R IIIµ = IIIν R Vµ = -Vν where R ( ) represents a reversal optical system and N is a refractive index. [Decentering aberration coefficients and camera shake aberration coefficients when compensating lens unit parallely decenters] Since the previously-mentioned expressions (1A) to (1H) show a case where only one surface v is decentered, they are converted to expressions showing a case where a plurality of surfaces i to j are decentered. When the compensating lens unit is parallely decentered, since the decentering amounts Ei to Ej of the decentered surfaces i to j are the same, the aberration coefficients can be treated as a sum as shown in the following expression: (ΔE)i to j = (ν=i→j)Σ{-2·(αν'-αν)} From αν' = αν+1, the following expression is obtained: (ΔE)i to j = -2·(αj'-αi) Likewise, with respect to other aberration coefficients, the terms between Σs are deleted. For example, (PE)i to j = (µ=i→j)Σ{αν'·(µ=ν+1→k)ΣPµ-αν·(µ=ν→k)ΣPµ} = αj'·(µ=j+1→k)ΣPµ-αi·(µ=i→k)ΣPµ This is further converted to (PE)i to j = (αj'-αi)·(µ=j+1→k)ΣPµ-αi·(µ=i to j)ΣPµ where (µ=j+1→k)ΣPµ is the sum of P (Petzval) of the lenses arranged behind the compensating lens unit, and (µ=i to j)ΣPµ is the sum of P of the compensating lens unit. (PE)i to j = (αj'-αi)P R -αi·P D where ( ) R is the sum of the aberration coefficients of the lenses arranged behind the compensating lens and ( ) D is the sum of the aberration coefficients of the compensating lens unit. As described above, by the conversion of the image point movement amounts to those of the object surface and the conversion of the expressions to the expressions showing the case where a plurality of surfaces i to j are decentered, the decentering aberration coefficients represented by the following expressions (3A) to (3F) are obtained. By re-defining the decentering aberration coefficients according to the expressions (3A) to (3F), the expressions (1A) to (1H) can be used as they are as expressions representing the image point movement amounts on the object surface. (ΔE)i to j = -2·(αj'-αi) (VE1)i to j = (αj'-αi)·V R -(αj'#-αi#)·III R -(αi·V D -αi#·III D ) (VE2)i to j = (αj#-αi#)·P R -αi#·P D (IIIE)i to j = (αj'-αi)·III R -(αj'#-αi#)·II R -(αi·III D -αi#·II D ) (PE)i to j = (αj'-αi)·P R -αi·P D (IIE)i to j = (αj'-αi)·II R -(αj'#-αi#)·I R -(αi·II D -αi#·I D ) [Off-axial image point movement error] Subsequently, the off-axial image point movement error will be described. The decentering aberration coefficients (of the reversal optical systems) are represented by ΔE, VE1, VE2, IIIE, PE and IIE. The movements of the image point (before rotational conversion on the object surface) due to decentering on the object surface are represented by the following expressions (4A) and (4B) (in the principal ray (R=0)). The expressions (4A) and (4B) are the expressions (1A) and (1B) where R=0. ΔY# = -(E/2α' k )·[ΔE+(N·tanω) 2 ·{(2+cos 2 ω)VE1-VE2}] ΔZ# = -(E/2α')·{(N·tanω) 2 ·sin2ω·VE1} Based on the expressions (4A) and (4B), the following expressions (4C) and (4D) are obtained (axial ray, tanω=0): ΔY 0 # = -(E/2α' k )·ΔE ΔZ 0 # = 0 Subsequently, the rotational conversion will be described with reference to Figs. 44A and 44B. From Fig. 44A, the following expression holds: Y# = g$ k ·tanω From the sine theorem, Y'#/{sin(π/2-ω')} = (Y#+ΔY#-ΔY 0 #)/{sin(π/2+ω'-)} ΔY'# after the rotational conversion is represented by the following expression: ΔY'# = (Y'#)-(Y#) = [Y#·cosω'+{(ΔY#)-(ΔY 0 #)}·cosω'-Y#·cos(ω'-)] /cos(ω'-) Only the numerators of this expression are converted. [-Y#·cosω'+{(ΔY#)-(ΔY 0 #)}·cosω'-Y#·cos(ω'-)] = Y#·cosω'+{(ΔY#)-(ΔY 0 #)}·cosω'-Y#·cos·cosω' -Y#·sin·sinω' = (1-cos)·Y#·cosω'+{(ΔY#)-(ΔY 0 #)}·cosω'-Y#·sin·sinω' Here, since  is small and ignorable compared to the other values, (1-cos) ≒  2 /2, sin ≒ , and cosω'/{cos(ω'-)} ≒ 1, sinω'/{cos(ω'-)} ≒ tanω. Therefore, the following expression is obtained: ΔY'# ≒ (ΔY#-ΔY 0 #)-Y # ··tanω (ΔY#-ΔY 0 #) represents the off-axial image point movement error of parallel decentering and Y#·tanω is an additional term (irrelevant to the aberration coefficients) due to rotation. Since ω at this time is on an X-Y cross section, ΔY'# ≒ (ΔY#-ΔY 0 #)-Y#··tanω·cosω Subsequently, the conversion to the image surface IS will be described with reference to Fig. 45. A magnification β is represented by the following expression: β = g$ 1 /g$ k =α k '/α 1 where α 1 = 1/g$ 1 . The relationship between the image surface IS and the object surface OS is represented by the following expression: Y = β·Y# Y# and ΔY# which take the form of 1/α k '×( ) are converted as follows: Y = β·Y# = (α k '/α 1 )·(1/α k ')×( ) = g$ 1 ×( ) Here, if g$ k '→∞, g$ 1 =-F1. Therefore, the following expression holds: Y = -F1×( ) = -F1×α k '×Y# Subsequently, the off-axial image point movement error on the image surface will be described. From the expression (4C) and α k '=1/g k '$, a decentering amount E is represented by the following expressions:  = ΔY 0 #/g$ k ' = E·ΔE/2 E = 2·/ΔE Normalization is performed so that the camera shake compensation angle  is constant (0.7deg = 0.0122173rad). By performing parallel decentering (rotational decentering is not performed) to image-surface-convert ΔY=(ΔY#-ΔY 0 #) (here, N·tanω=Φ/F1, Φ 2 =Y 2 +Z 2 ), the following expressions (6A) to (6D) are obtained: ΔY = (·Φ 2 /F1)·[{2+cos2·ω)·VE1-VE2}/ΔE] ΔZ = (·Φ 2 /F1)·[{(sin2·ω)·VE1-VE2}/ΔE] Y + image point, Y - image point {ω=0, π of the expressions (6A) and (6B)}: ΔY Y = (·Y 2 /F1)·{(3·VE1-VE2)/ΔE} Z image point {ω=π/2 of the expressions (6A) and (6B)} ΔY Z = (·Z 2 /F1)·{(VE1-VE2)/ΔE} Then, rotational conversion is performed. Since Y#=-Y/(F1×α k '), with respect to -Y#··tanω·cosω of the expression (5A), the following expression holds: -Y#··tanω·cosω = Y/(F1×α k ')··tanω·cosω At the Y + image point and the Y - image point, since ω=0, π and tanω/α k ' =Y, -Y#··tanω·cosω on the image surface is -Y#··tanω·cosω=Y 2 ·/F1. By adding this to the expression (6C), the following expression (6E) is obtained. At the Z image point, since ω=π/2, -Y#··tanω·cosω on the image surface is -Y#··tanω·cosω=0. By adding this to the expression (6D), the following expression (6F) is obtained: ΔY Y ' = (·Y 2 /F1)·{(3·VE1-VE2-ΔE)/ΔE} ΔY Z ' = ΔY Z [One-side blur] Subsequently, the one-side blur will be described. From the expressions (1A) and (1B), ΔM is {(primary term of R) of ΔY R=0}·g$ k ' and ΔS is {(primary term of R) of ΔZ R = π/2}×g$ k '. Before rotation, the following expression holds on the object surface OS (here, α k '=N k '/g$ k ' and E/2=/ΔE are used): ΔM# = (-g$ k ' 2 ·/N k ')×2·R·(N·tanω)·cosω·{(3·IIIE+PE)/ΔE} After the rotation, the following expression holds: ΔM'# ≒ ΔM#+Y# By converting the aberration coefficients to those on the image surface and substituting N k '=1 and N=1, the following expression is obtained: ΔM' = β 2 ·ΔM'# = -g$ 1 2 ·×2·R·tanω·cosω·{(3·IIIE+PE)/ΔE}+β·Y· If the object surface OS is ∞ (here, g$ 1 =-F1, β→0, tanω=Y/F1 and ω=0), the following expression (7A) representative of a meridional one-side blur ΔM' is obtained. Likewise, an expression (7B) representative of a sagittal one-side blur is obtained. ▵M' = -2·F1·Y··R·{(3·IIIE+PE)/ΔE} ΔS' = -2·F1·Y··R·{(IIIE+PE)/ΔE} [Axial coma] Subsequently, axial coma will be described. Based on the expression (1A), coma of upper ray by ω=0 and decentering is represented by the following expression: ΔY Upper # = ΔY#(ω=0,  R =0)-ΔY#(ω=0, R=0) = -E/(2·α')×R 2 ×3·IIE Coma of lower ray by ω=0 and decentering (the same as ΔY Upper # including the sign) is represented by the following expression: ΔY Lower # = ΔY # (ω=0,  R =π)-ΔY#(ω=0, R=0) = -E/(2·α')×R 2 ×3·IIE Since ω=0, axial coma is hardly varied by the rotational conversion. By the conversion from the object surface OS to the image surface IS (ΔY=β·ΔY#, E/2=/ΔE), the following expression is obtained ΔY Upper = F1××R 2 ×(3·IIE/ΔE) = ΔY Lower The axial coma AXCM is represented by the following expression (8A): AXCM = (ΔY Upper +ΔY Lower )/2 = ΔY Upper A part of each of the expressions (6E), (6F), (7A), (7B) and (8A) is newly defined as an aberration coefficient represented by the following expressions (9A) to (9E): Off-axial image point movement error of the image point on the Y-axis ··· VE Y = {(3·VE1-VE2-ΔE)/ΔE} Off-axial image point movement error of the image point on the Z-axis ··· VE Z = {(VE1-VE2)/ΔE} Marginal one-side blur ··· IIIE M = {(3·IIIE+PE)/ΔE} Sagittal one-side blur ··· IIIE S = {(IIIE+PE)/ΔE} Axial coma ··· IIE A = {(3·IIE)/ΔE} By substituting the expressions (3A) to (3F) in the expressions (9A) to (9B) representative of the camera shake aberration coefficients, the following expressions (10A) to (10E) representative of camera shake aberration coefficients are obtained: VE Y = -1/2·{3V R -3V D ·A+2-(3·III R +P R )·H#+(3·III D +P D )·A#} VE Z = -1/2·{V R -V D ·A-(III R +P R )·H#+(III D +P D )·A#} IIIE M = -1/2·{(3·III R +P R )-(3·III D +P D )·A-3·II R ·H#+3·II D ·A#} IIIE S = -1/2·{(III R +P R )-(III D +P D )·A-II R ·H#+II D ·A#} IIE A = -3/2·(II R +II D ·A-I R ·H#+I D ·A#) where ( ) D is the sum of the aberration coefficients of the compensating lens unit; ( ) R is the sum of the aberration coefficients of the lens units arranged behind (on the object side of) the compensating lens unit; A=αi/(αj'-αi) (here, the compensating lens units are i to j), A#=αi#/(αj'-αi); and H#=(ai'#-αi#)/(αj'-ai). ΔE=-2·(αj'-αi) (here, (αj'-αi) is ±0.0122173 when 0.7°/mm) which is the coefficient of (camera shake compensation angle)/(decentering amount) aims substantially at a predetermined value (however, the sign differs according to whether the compensating lens units are positive or negative). Therefore, A is an incident angle of a marginal ray to the compensating lens units (viewed from the image side) and A# is proportional to the incident angle of the principal ray. When h# and h do not vary so much in the compensating lens units, H# represents a ratio between h# of the principal ray and h of the marginal ray. Since the decentering aberration coefficients in the expressions (10A) to (10E) are defined as those of the reversal optical system, it is necessary to return them to the coefficients of the non-reversal optical system. Returning the coefficients in the expressions (10A) to (10E) by using the expressions (2A) to (2J), the following expressions (11A) to (11E) are obtained: VE Y = +1/2·{3V F -3V D ·A-2+(3·III F +P F )H#-(3·III D +P D )·A#} VE Z = +1/2·{V F -V D ·A+(III F +P F )H#-(III D +P D )·A # } IIIE M = -1/2·{(3·III F +P F )-(3·III D +P D )·A+3·II F ·H#-3·II D ·A#} IIIE S = -1/2·{(III F +P F )-(III D +P D )·A+II F ·H#-II D ·A#} IIE A = +3/2·(II F -II D ·A+I F ·H#-I D ·A # ) where ( ) D is the sum of the aberration coefficients of the compensating lens units and the non-reversal optical system; ( ) F is the sum of the aberration coefficients of the lens units arranged in front of the compensating lens units; A=-αn'/(αn'-αm); A#=αn'#/(αn'-αm); H=-(αn'#-αm#)/(αn'-αm)=-(Σhµ#·µ)/(Σhµ·µ); and ΔE=-2(αn'-αm) (compensating lens units: m→n, non-reversal lens system: j←i). From the expressions (11A) to (11E), the following are understood: First, as described previously, while the decentered lens unit and the lens units arranged therebehind relate to the performance according to the method of Mr. Matsui's paper, the decentered lens unit and the lens units arranged therebefore relate to the performance in the expressions (11A) to (11E). Secondly, the off-axial image point movement error tends to increase in wide angle optical systems (the focal length F1 of the compensating lens unit is the denominator) and one-side blur and axial coma tend to increase in telephoto optical systems. Thirdly, although the degradation of aberrations due to decentering decreases by reducing the aberration coefficients of the decentered lens unit and the lens units arranged therebefore, a constant (-2 in { } of the expression (11A)) remains in the coefficient VE Y of the off-axial image point movement error ΔY Y '. This is a term generated since the object surface OS and the image surface IS incline relative to each other due to rotational camera shake. The off-axial image point movement error due to the constant term (-2) is remarkably great in wide angle optical systems. For example, the off-axial image point movement error ΔY Y '=-72µm at a focal length F1 of 38mm, which is not ignorable. The off-axial image point movement error due to the constant term (-2) remains even if the aberration coefficients are 0. Therefore, it is preferable to set the aberration coefficients so that the constant term (-2) is canceled. The condition (3) is a condition therefor. Fourthly, in order to reduce the aberration degradation due to decentering, it is necessary to reduce the aberration coefficients and the coefficients such as A, A# and H# multiplied by the aberration coefficients. In order to reduce A and A#, it is necessary to increase the denominator α n '-α m . However, since this is directly connected to ΔE=-2(α n '-α m ), if it is too great, the camera shake compensation sensitivity (how many degrees the luminous flux is bent at when the lens is decentered by predetermined millimeters) is too high, so that a mechanical driving accuracy is necessary. With respect to H#, the closer the compensating lens unit is to the aperture stop, the smaller h# of each surface is, so that H# is also small. Numerical data of first to fourth embodiments of the present invention are shown in Tables 2 to 5. In each table, r i ( i =1, 2, 3, ...) is a radius of curvature of an i th surface counted from the object side, di ( i =1, 2, 3, ...) is an ith axial distance counted from the object side, and N i ( i =1, 2, 3, ...) and ν i ( i =1, 2, 3, ...) are a refractive index and an Abbe number to the d-line of an i th lens counted from the object surface (in the fourth embodiment, the refractive indices and Abbe numbers of lenses L11F and L11R are represented by N11F, N11R, ν11F and ν11R). f is a focal length of the entire lens system. FNO is an F-number (in the first, second and fourth embodiments, focal lengths f at the shortest focal length condition (W) and at the longest focal length condition (T) and corresponding F-numbers are shown). In each table, the surfaces marked with asterisks are aspherical and defined by the following expression representative of the surface configuration of an aspherical surface: where X is an amount of displacement from the reference surface along the optical axis, Y is a height in a direction vertical to the optical axis, C is a paraxial curvature, ε is a conic constant, and A i is an ith aspherical coefficient. Figs. 1, 11, 21 and 27 show the lens arrangements of the first to fourth embodiments. The first embodiment (Fig. 1), the second embodiment (Fig. 11) and the fourth embodiment (Fig. 27) are zoom lens systems, and the third embodiment (Fig. 21) is a fixed focal length telephoto lens system (in each figure, AX represent the optical axis). With respect to the zoom lens systems, Figs. 1, 11 and 27 show the lens arrangements at the shortest focal length condition (W). Arrows m1, m2, m3 and m4 in the figures schematically show the movements of a first lens unit Gr1, a second lens unit Gr2, a third lens unit Gr3 and a fourth lens unit Gr4 from the shortest focal length condition (W) to the longest focal length condition (T), respectively. The first to third embodiments are embodiments according to the first implementation and are optical systems including a compensating lens unit GrA capable of decentering for camera shake compensation and a lens (hereinafter, referred to as "non-decentering lens") N located closer to the image than the compensating lens unit GrA and not decentering in camera shake compensation, and an aperture stop S. In the compensating lens unit GrA, an aspherical surface is formed. In the non-decentering lens N not decentering in camera shake compensation, an aspherical surface is formed which tends to counteract the aspherical effect of the aspherical surface formed in the compensating lens unit GrA. In addition, the previously-described conditions (1) and (2) are fulfilled as shown in Table 6. The first, second and fourth embodiments are embodiments according to the second implementation and are zoom lens systems including four lens units Gr1 to Gr4 and performing zooming by varying the distances between the lens units. Further, the following are included: a compensating lens unit GrA located in a lens unit (i.e. the second lens unit Gr2 or the third lens unit Gr3 or the fourth lens unit Gr4) other than the most object side lens unit (i.e. the first lens unit Gr1) and capable of decentering for camera shake compensation; and a lens N located closer to the image than the compensating lens unit GrA. In the compensating lens unit GrA, an aspherical surface is formed. In the lens N not decentering in camera shake compensation, an aspherical surface is formed which tends to counteract the aspherical effect of the aspherical surface formed in the compensating lens unit GrA. [Description of the first embodiment] The first embodiment comprises from the object side: a first lens unit Gr1 including a negative meniscus lens element concave to the image side, a positive bi-convex lens element, and a positive meniscus lens element convex to the object side; a second lens unit Gr2 including a doublet lens element (hatched portion; this constitutes the compensating lens unit GrA) consisting of a positive meniscus lens element convex to the image side and a negative bi-concave lens element (whose image side surface is aspherical), and a positive bi-convex lens element (this constitutes the non-decentering lens N and its object side surface is aspherical); a third lens unit Gr3 including an aperture stop S, a negative meniscus lens element concave to the image side, and two positive bi-convex lens elements; and a fourth lens unit Gr4 including a negative meniscus lens element concave to the image side, and a doublet lens element consisting of a positive meniscus lens element convex to the image side and a negative meniscus lens element concave to the object side. The first and second embodiments are four-unit zoom lens systems of positive, negative, positive, negative configuration which are new and very compact as telephoto type lens systems. In the first embodiment, in the four-unit zoom lens system of positive, negative, positive, negative configuration, the negative doublet lens element in the negative second lens unit Gr2 is used as the compensating lens unit GrA and its image side surface is aspherical. The displacement direction of the aspherical surface relative to the reference surface is a direction such that the surface displaces toward the object side from the optical axis to the edge along the height. Therefore, the aspherical surface of the compensating lens unit GrA is a positive aspherical surface where the negative power decreases (compared to spherical surfaces) from the center to the edge along the height. The aspherical surface for counteracting the effect of the aspherical surface of the compensating lens unit GrA is formed on the object side of the positive bi-convex lens element of the second lens unit Gr2 which is located right on the image side of the negative doublet lens element. The aspherical surface is a negative aspherical surface having a displacement in a direction to counteract the effect of the aspherical surface of the compensating lens unit GrA. Since the bi-convex lens element used as the non-decentering lens N is arranged in the same lens unit as the lens unit in which the doublet lens element used as the compensating lens unit GrA is arranged, the distance between the compensating lens unit GrA and the non-decentering lens N does not vary during zooming. Further, the compensating lens unit GrA and the non-decentering lens N adjoin each other and their aspherical surfaces face each other and are in a closest positional relationship. Therefore, the decentering aberrations in camera shake compensation can be excellently corrected, and by the aspherical surface of the bi-convex lens element, the aberrations in the normal condition are returned to excellent condition in the entire zoom range. The reason why a doublet lens element consisting of two lens elements is used as the compensating lens unic GrA is that if the compensating lens unit GrA includes only one negative lens element, axial lateral chromatic aberration is largely generated due to the decentering in camera shake compensation. Therefore, in order to restrain the axial lateral chromatic aberration, the camera shake compensating lens unit GrA necessarily includes a plurality of lens elements. However, if the number of lens elements of the compensating lens unit GrA is too large, its weight increases, so that a large driving mechanism is necessary to quickly decenter the compensating lens unit GrA for camera shake compensation. Therefore, it is the most desirable that the compensating lens unit GrA should include two lens elements. When the compensating lens unit GrA includes two lens elements (including a doublet lens element) and has a negative refractive power like in the first embodiment, it is preferable that the compensating lens unit GrA includes a positive lens element with an Abbe number of ν d <35 and a negative lens element with an Abbe number of ν d >40. [Description of the second embodiment] The second embodiment comprises from the object side: a first lens unit Gr1 including a negative meniscus lens element concave to the image side, a positive bi-convex lens element, and a positive meniscus lens element convex to the object side; a second lens unit Gr2 including a negative bi-concave lens element, a positive bi-convex lens element (hatched portion; this constitutes the compensating lens unit GrA and its image side surface is aspherical), and a positive meniscus lens element convex to the object side (this constitutes the non-decentering lens N and its object side surface is aspherical), a third lens unit Gr3 including an aperture stop S, a negative meniscus lens element concave to the image side, and two positive bi-convex lens elements; and a fourth lens unit Gr4 including a negative bi-concave lens element, and a doublet lens element consisting of a positive meniscus lens element convex to the image side and a negative meniscus lens element concave to the object side. In the second embodiment, the second lens unit (from the object side, this lens unit includes a negative lens element and a positive lens element) of the basic four-unit zoom lens system of positive, negative, positive, negative configuration is used as the compensating lens unit GrA and the image side surface of the positive lens element in the negative second lens unit is aspherical, so that the generation of axial coma in camera shake compensation is restrained to be small. For example, if the aspherical surface of the non-decentering lens N is formed in the positive third lens unit Gr3, the aspherical surface is largely away from the aspherical surface of the second lens unit Gr2 used as the compensating lens unit GrA and the distance d ASP between the two aspherical surfaces relatively varies during zooming, so that it is impossible to return the aberrations in the normal condition to excellent condition in the entire zoom range. In this embodiment, in order to return the aberrations in the normal condition to excellent condition, a non-decentering lens N which hardly has any power is arranged closer to the image than the compensating lens unit GrA of the negative second lens unit Gr2 and an aspherical surface is formed therein. Since the non-decentering lens N adjoin the compensating lens unit GrA and moves simultaneously therewith, in the second embodiment, the optimum power arrangement is changed if the non-decentering lens N has a high power. Therefore, in the lens arrangement like that of the second embodiment, the following condition (5) is preferably fulfilled:  N  A < 0.35 where  N is the power of the non-decentering lens N and  A is the power of the compensating lens unit GrA. [Description common to the first and second embodiments] In both the first and second embodiments, the power  A of the compensating lens unit GrA relates to how much the compensating lens unit GrA is decentered to perform a camera shake compensation of a predetermined angle. If the power  A of the compensating lens unit GrA is high, camera shake compensation is made with a large compensation angle  only by slightly decentering the compensating lens unit GrA. In that case, however, since it is necessary to decenter the compensating lens unit GrA with an extremely high accuracy, the cost of the mechanism for driving the compensating lens unit GrA increases. Conversely, if the power  A of the compensating lens unit GrA is weak, although less accuracy is required for the decentering, the decentering amount of the compensating lens unit GrA necessary for a compensation of a predetermined angle increases, so that the sizes of the compensating lens unit and its driving mechanism both increase. Therefore, with respect to the power  A of the compensating lens unit GrA, the following condition (6) is preferably fulfilled: 1.5 <  A  T < 12.5 where  T is the power of the entire lens system at the longest focal length condition. Here, a case will be examined where the camera shake compensating system is employed for the four-unit telephoto zoom lens system of positive, negative, positive, negative configuration disclosed in Japanese Laid-open Patent Application No. H1-197713. The negative second lens unit of this zoom lens system comprises from the object side a negative lens element and a positive lens element. When this lens unit is used as the compensating lens unit GrA, the decentering aberrations other than axial coma generated in camera shake compensation are excellently corrected (1) when only the negative lens element is used and (2) when both the negative and positive lens elements are used. However, in a camera shake compensation of a compensation angle  of 0.7°, axial coma is 240µm in the case of (1) and 320µm in the case of (2), which are ten or more times as large as the permissible aberration amount. [Description of the third embodiment] The third embodiment comprises from the object side two positive bi-convex lens element, a negative bi-concave lens element, a negative meniscus lens element concave to the object side, a positive bi-convex lens element, a doublet lens element consisting of a positive meniscus lens element convex to the image side and a negative bi-concave lens element, a doublet lens element (hatched portion; this constitutes the compensating lens unit GrA) consisting of a positive meniscus lens element convex to the image side and a negative bi-concave lens element (whose image side surface is aspherical), a negative meniscus lens element concave to the image side (this constitutes the non-decentering lens N and its object side surface is aspherical), an aperture stop S, and a doublet lens element consisting of a negative meniscus lens element concave to the image side and a positive bi-convex lens element. Although the third embodiment is a fixed focal length lens system, the workings, associated with camera shake compensation, of the compensating lens unit GrA, the non-decentering lens N and their aspherical surfaces are similar to those of the first and second embodiments. Specifically, when the image side doublet lens element is used as the compensating lens unit GrA as described above, of the decentering aberrations generated in camera shake compensation, axial coma is very largely generated. This axial coma is restrained by using an aspherical surface as the image side surface of the doublet lens element, arranging in close vicinity thereto the non-decentering lens N which hardly has any power to counteract the effect of the aspherical surface of the doublet lens element and forming an aspherical surface in the non-decentering lens N. Further, in this embodiment, by using a doublet lens element consisting of two lens elements as the compensating lens unit GrA, the generation of axial lateral chromatic aberration is restrained in camera shake compensation. [Description of the fourth embodiment]. The fourth embodiment comprises from the object side: a first lens unit Gr1 including a doublet lens element consisting of a negative meniscus lens element concave to the image side and a positive bi-convex lens element, and a positive meniscus lens element convex to the object side; a second lens unit Gr2 including a negative meniscus lens element concave to the image side (whose object side surface is aspherical), a doublet lens element consisting of a negative bi-concave lens element and a positive lens element convex to the object side, and a positive meniscus lens element convex to the object side; a third lens unit Gr3 including an aperture stop S, a positive bi-convex lens element, a doublet lens element consisting of a positive bi-convex lens element and a negative bi-concave lens element, and a light restricting plate S'; and a fourth lens unit Gr4 including a plano-convex lens element L11F convex to the object side (hatched portion; this constitutes the compensating lens unit GrA and its image side surface is aspherical), a plano-convex lens element L11R convex to the image side (this constitutes the non-decentering lens N and its object side surface is aspherical), and a negative meniscus lens element L12 concave to the object side (whose object side surface is aspherical). The fourth embodiment is a four-unit high-magnification standard zoom lens system of positive, negative, positive, positive configuration. The aperture S is included in the third lens unit Gr3 of a positive power. The lens diameters of the lens units Gr2 to Gr4 other than the first lens unit Cr1 are all small. The working of the fourth embodiment associated with camera shake compensation is also similar to the first to third embodiments. Specifically, by dividing the positive element of the positive fourth lens unit Gr4 into the lens element L11F and the lens element L11R from the object side to use the lens L11F as the compensating lens unit GrA and the lens L11R as the non-decentering lens N and by using aspherical surfaces which counteract each other as the image side surface of the lens L11F and as the object side surface of the lens L11R, axial coma on the longer focal length side is reduced to excellently correct the decentering aberrations in camera shake compensation. Since, simply by dividing the positive lens element of the fourth lens unit Gr4 into the lens elements L11F and L11R to use the lens L11F as the compensating lens unit GrA, axial coma is very large, the decentering aberrations generated in camera shake compensation cannot be excellently corrected. Figs. 37 and 38 show lateral aberrations generated in camera shake compensation when no aspherical surfaces are formed on the lens elements L11F and L11R. In the fourth embodiment, the compensating lens unit GrA includes only one lens element unlike the first and second embodiments. This is because the lateral chromatic aberration generated in camera shake compensation causes no problem since the fourth embodiment is a standard zoom lens system whose longest focal length is at most 103mm. Still, it is necessary to reduce the lateral chromatic aberration to some degree. To do so, it is preferable that the Abbe number ν d of the compensating lens unit GrA is 50 or more. Figs. 2A to 2F, 12A to 12F, 22A to 22C and 28A to 28F show longitudinal aberrations of the first to fourth embodiments in the normal condition (pre-decentering condition). Figs. 2A to 2C, 12A to 12C and 28A to 28C show aberrations at the shortest focal length condition. Figs. 2D to 2F, 12D to 12F and 28D to 28F show aberrations at the longest focal length condition. The solid line d represents aberration to the d-line, the broken line SC represents sine condition. The broken line DM and the solid line DS show astigmatisms to the d-line on the meridional and sagittal image planes, respectively. Figs. 3A to 3B, 4A to 4C, 5A to 5B, 6A to 6C, 7A to 7B, 8A to 8C, 9A to 9B and 10A to 10C show lateral aberrations of the compensating lens unit GrA of the first embodiment before and after decentering. Figs. 13A to 13B, 14A to 14C, 15A to 15B, 16A to 16C, 17A to 17B, 18A to 18C, 19A to 19B and 20A to 20C show lateral aberrations of the compensating lens unit GrA of the second embodiment before and after decentering. Figs. 23A to 23B, 24A to 24C, 25A to 25B and 26A to 26C show lateral aberrations of the compensating lens unit GrA of the third embodiment before and after decentering. Figs. 29A to 29B, 30A to 30C, 31A to 31B, 32A to 32C, 33A to 33B, 34A to 34C, 35A to 35B and 36A to 36C show lateral aberrations of the compensating lens unit GrA of the fourth embodiment before and after decentering. The aberrations of the compensating lens unit GrA after decentering are aberrations under a compensated condition where the compensating lens unit GrA is decentered at a camera shake compensation angle  of 0.7°. The values corresponding to the conditions (1) to (6) are shown in Table 6 with respect to the first to fourth embodiments. As described above, according to the first to the fourth embodiments, since an aspherical surface is formed in the compensating lens unit GrA, the decentering aberrations such as axial coma are corrected, and since an aspherical surface which tends to counteract the aspherical effect of the aspherical surface of the compensating lens unit GrA is formed in the non-decentering lens N, aberrations generated in the normal condition are maintained excellent. Thus, aberrations are excellently corrected both in the normal condition and in the compensated condition. Further, according to the first to fourth embodiments, compared to the zoom lens system proposed by the previously-mentioned Japanese Laid-open Patent Application No. H6-123836 (assuming that the camera shake compensating angles  are the same), axial coma is restrained to a fraction, and when a large camera shake occurs, image degradation in compensation is very small. Further, according to the first to third embodiments, since off-axial image point movement error is restrained to be small by fulfilling the condition (1) and the condition (2) is further fulfilled, the weight and size of the compensating lens unit GrA are reduced to reduce the size of the entire optical system. Since it is unnecessary for the driving mechanism to have a great power because of the size reduction of the optical system, the size of the entire lens barrel can be reduced. According to the first, second and fourth embodiments, although aberrations are excellently corrected both in the normal and compensated conditions in the entire zoom range from the shortest focal length condition (W) to the longest focal length condition (T), since the compensating lens unit GrA is located in the lens unit Gr2 or Gr3 or Gr4 other than the first lens unit Gr1, not only the size of the compensating lens unit GrA but also the size of the driving mechanism necessary for its decentering can be reduced, so that the entire optical system having the camera shake compensating function can be reduced. As described above, according to the optical systems having a camera shake compensating function of the first and second implementations, since an aspherical surface is formed in the compensating lens unit capable of decentering for camera shake compensation, decentering aberrations such as axial coma is corrected, and since an aspherical surface which tends to counteract the aspherical effect of the aspherical surface formed in the compensating lens unit is formed in a lens located closer to the image than the compensating lens unit and not decentering in camera shake compensation, aberrations in the normal condition are maintained excellent. Thus, aberrations are excellently corrected both in the normal condition and in the compensated condition. Further, according to the optical system having a camera shake compensating function of the first implementation, since off-axial image point error is restrained to be small by fulfilling the condition (1) and the condition (2) is further fulfilled, the weight and size of the compensating lens unit can be reduced to reduce the size of the entire optical system. Since it is unnecessary for the driving mechanism to have a great power because of the reduction in size of the compensating lens unit, the size of the entire lens barrel can be reduced. Moreover, according to the optical system having a camera shake compensating function of the second implementation, since the compensating lens unit is located in a lens unit other than the most object side lens unit, not only the size of the compensating lens unit but also the size of the driving mechanism necessary for the decentering can be small, so that the size of the entire optical system having a camera shake compensating function can be reduced. Obviously, many modifications and variations of the present invention are possible in light of the above teachings. It is therefore to be understood that within the scope of the appended claims, the invention may be practiced other than as specifically described. Refractive Index Displacement Direction of Aspherical Surface Type of Aspherical Surface Object side > Image side Toward object side Positive aspherical surface Object side < Image side Toward object side Negative aspherical surface Object side > Image side Toward image side Negative aspherical surface Object side < Image side Toward image side Positive aspherical surface (1st Embodiment) f = 102.5 to 291.7 FNO = 4.60 to 5.80 Radius of Curvature Axial Distance Refractive Index Abbe Number r1 145.908 d1 2.000 N1 1.68150 ν1 36.64 r2 70.684 d2 0.100 r3 70.684 d3 7.800 N2 1.49310 ν2 83.58 r4 -373.180 d4 0.200 r5 63.681 d5 4.980 N3 1.49310 v3 83.58 r6 331.659 d6 4.021 to 36.164 to 56.158 r7 -56.449 d7 2.317 N4 1.71736 v4 29.42 r8 -33.333 d8 1.000 N5 1.71300 ν5 53.93 r9 44.535 d9 2.950 r10 53.342 d10 3.000 N6 1.76200 ν6 40.36 r11 -238.454 d11 30.590 to 9.768 to 1.971 r12 ∞ d12 1.800 r13 84.751 d13 1.700 N7 1.84666 ν7 23.82 r14 32.181 d14 3.060 r15 56.838 d15 3.600 N8 1.51680 ν8 64.20 r16 -115.075 d16 0.500 r17 39.665 d17 4.800 N9 1.51680 ν9 64.20 r18 -51.703 d18 25.014 to 11.592 to 0.992 r19 479.917 d19 1.700 N10 1.75450 ν10 51.57 r20 30.939 d20 1.950 r21 -295.373 d21 3.600 N11 1.67339 ν11 29.25 r22 -22.081 d22 1.700 N12 1.75450 v12 51.57 r23 -2291.843 Σd = 108.382 to 106.280 to 107.878 (2nd Embodiment) f = 102.5 to 292.0 FNO = 6.20 to 4.70 Radius of Curvature Axial Distance Refractive Index Abbe Number r1 102.431 d1 2.500 N1 1.84666 ν1 23.83 r2 67.342 d2 0.010 N2 1.51400 v2 42.83 r3 67.342 d3 6.490 N3 1.51680 v3 64.20 r4 -391.725 d4 0.200 r5 69.035 d5 4.600 N4 1.51823 v4 58.96 r6 196.318 d6 4.475 to 39.126 to 56.300 r7 -54.803 d7 1.600 N5 1.71300 v5 53.93 r8 49.655 d8 3.850 r9 625.223 d9 3.000 N6 1.75520 v6 27.51 r10 -65.240 d10 0.600 r11 120.803 d11 1.517 N7 1.51728 v7 69.43 r12 345.996 d12 27.726 to 11.194 to 0.500 r13 ∞ d13 1.800 r14 101.670 d14 1.700 N8 1.84666 ν8 23.83 r15 36.364 d15 3.060 r16 53.454 d16 3.600 N9 1.51680 ν9 64.20 r17 -85.227 d17 0.500 r18 63.240 d18 4.800 N10 1.51680 ν10 64.20 r19 -44.146 d19 24.762 to 10.995 to 0.999 r20 -543.709 d20 1.700 N11 1.75450 v11 51.57 r21 38.363 d21 1.950 r22 -131.977 d22 3.590 N12 1.67339 v12 29.25 r23 -21.846 d23 0.010 N13 1.51400 v13 42.83 r24 -21.846 d24 1.700 N14 1.75450 v14 51.57 r25 -412.055 Σd = 105.740 to 114.099 to 118.873 (3rd Embodiment) f = 295.3 FNO = 2.88 Radius of Curvature Axial Distance Refractive Index Abbe Number r1 146.791 d1 16.000 N1 1.49520 ν1 79.74 r2 -627.872 d2 0.400 r3 131.088 d3 14.000 N2 1.49520 ν2 79.74 r4 -624.766 d4 2.000 r5 -557.094 d5 3.500 N3 1.74000 ν3 31.72 r6 308.127 d6 78.000 r7 -89.990 d7 1.700 N4 1.66608 ν4 47.95 r8 -245.002 d8 3.365 r9 625.958 d9 5.500 N5 1.51680 v5 64.20 r10 -117.962 d10 6.000 r11 -2511.111 d11 5.500 N6 1.70055 ν6 30.11 r12 -69.899 d12 1.500 N7 1.58913 ν7 61.11 r13 377.175 d13 3.000 r14 -264.704 d14 3.340 N8 1.66998 ν8 39.23 r15 -100.000 d15 1.894 N9 1.67790 ν9 55.38 r16 65.865 d16 3.000 r17 100.769 d17 1.500 N10 1.49140 ν10 57.82 r18 99.255 d18 10.252 r19 ∞ d19 1.600 r20 370.033 d20 1.600 N11 1.64769 ν11 33.88 r21 78.943 d21 6.000 N12 1.60311 ν12 60.74 r22 -89.239 Σd = 169.651 (4th Embodiment) f = 28.8 to 103.0 FNO = 3.5 to 4.9 Radius of Curvature Axial Distance Refractive Index Abbe Number r1 150.000 d1 1.600 N1 1.86074 ν1 23.10 r2 65.193 d2 7.500 N2 1.51680 ν2 64.10 r3 -201.063 d3 0.100 r4 38.552 d4 4.700 N3 1.67025 ν3 57.50 r5 92.468 d5 2.014 to 13.477 to 27.014 r6 50.334 d6 1.500 N4 1.74443 ν4 49.40 r7 11.892 d7 6.000 r8 -30.162 d8 1.200 N5 1.77279 ν5 49.40 r9 21.082 d9 2.500 N6 1.86074 ν6 23.10 r10 89.406 d10 0.400 r11 26.791 d11 2.300 N7 1.86074 ν7 23.10 r12 47.408 d12 14.581 to 8.142 to 1.416 r13 ∞ d13 1.500 r14 31.603 d14 4.000 N8 1.50137 ν8 56.50 r15 -56.214 d15 0.100 r16 22.191 d16 5.000 N9 1.56384 ν9 60.80 r17 -24.447 d17 2.000 N10 1.80610 ν10 33.27 r18 39.928 d18 4.500 r19 ∞ d19 6.093 to 4.215 to 3.065 r20 38.981 d20 2.400 N11F 1.62041 ν11F 60.30 r21 ∞ d21 0.250 r22 ∞ d22 3.200 N11R 1.62041 ν11R 60.30 r23 -25.650 d23 2.300 r24 -27.387 d24 1.800 N12 1.85549 ν12 39.90 r25 -93.762 Σd = 77.538 to 80.684 to 86.345 «Conditions (1) to (6)» Condition 1st embodiment 2nd embodiment 3rd embodiment 4th embodiment (1): ω 11.9 to 4.2 11.9 to 4.2 4.2 36.9 to 11.8 (2): D / f 0.389 to 0.039 0.374 to 0.038 0.068 0.805 to 0.196 (3): d ASP / f T 0.01 0.002 0.01 0.002 (4): Δ d ASP / f T 0 0 ---- 0 (5):  N  A 0.60 0.02 0.004 1.52 (6):  A  T 8.45 3.72 3.83 1.64

Claims: A lens system having a positivefront lens unit, said lens system comprising a compensating lens unit (GrA) capable of decentering for image blur compensation, said compensating lens unit having an aspherical surface; a non-decentering lens (N) located closer to the image than the compensating lens unit (GrA) and not decentering in image blur compensation, characterized in that said non-decentering lens (N) having an aspherical surface which has an aspherical effect counteracting that of the aspherical surface of said compensating lens unit (GrA); and in that a distance (d ASP ) between the two aspherical surfaces satisfies the following condition: d ASP < 0.1 x f T , where f T is a focal length of the entire lens system at the longest focal length condition. A lens system according to claim 1, characterized in that it comprises an aperture stop (S) and satisfies the following conditions: ω ≤ 10°, and D/f ≤ 0.3, where ω is a half angle of view, D is a distance from the aperture stop (S) to the compensating lens unit (GrA), and f is a focal length of the entire lens system at the longest focal length condition. A lens system according to claim 1 or 2, characterized in that it is a zoom lens system in which zooming is performed by varying distance between lens units. A lens system according to claim 3, characterized in that an amount (Δd ASP ) of variation of the distance (d ASP ) between the two aspherical surfaces satisfies the following condition: Δd ASP < 0.08 x f T . A lens system according to claims 1 to 4, characterized by comprising, from the object side, a first lens unit (Gr1) of positive refractive power; a second lens unit (Gr2) of negative refractive power, said second lens unit (Gr2) including the compensating lens unit (GrA) capable of decentering for image blur compensation and the non-decentering lens (N) located closer to the image than the compensating lens unit (GrA); a third lens unit (Gr3) of positive refractive power; and a fourth lens unit (Gr4) of negative refractive power. A lens system according to claims 1 to 4, characterized by comprising, from the object side, a first lens unit (Gr1) of positive refractive power; a second lens unit (Gr2) of negative refractive power; a third lens unit (Gr3) of positive refractive power; and a fourth lens unit (Gr4) of positive refractive power, said fourth lens unit (Gr4) including the compensating lens unit (GrA) capable of decentering for image blur compensation and the non-decentering lens (N) located closer to the image than the compensating lens unit (GrA).

Inventors: HAYASHI KOHTARO, OKADA TAKASHI, HAYASHI, KOHTARO, OKADA, TAKASHI, Hayashi, Kohtaro, c/o Minolta Co., Ltd., Okada, Takashi, c/o Minolta Co., Ltd.
Applicants: MINOLTA CO LTD, MINOLTA CO., LTD.
Application year: 1995
Main classification: G02B27
IPC codes: G02B27, G02B15, G02B13