CONTROL DEVICE, CONTROL METHOD, AND DRIVING DEVICE FOR VIBRATION-TYPE ACTUATOR

To yield good controllability in phase difference control of a vibration-type actuator.SOLUTION: A control device 3 controls a vibration-type actuator 2 that moves a vibrator which is excited to vibrate by electromechanical energy conversion devices 310, 320 and a contactor which makes contact with the vibrator relative to each other. The control device includes: generation means 400 for generating driving signals which have a plurality of phases with a phase difference from each other and are applied to the electromechanical energy conversion devices; and detection means 200 for detecting an actual position of a movable part including the vibrator or the contactor. The generation means sets the phase difference on the basis of a deviation of the actual position of the movable part relative to a target position thereof, and makes a change rate of the phase difference with respect to deviation before the movable part starts to move greater than the change rate after the movable part started to move.SELECTED DRAWING: Figure 1 【課題】振動型アクチュエータの位相差制御において良好な制御性を得る。【解決手段】制御装置３は、電気－機械エネルギ変換素子３１０，３２０により振動が励起される振動体と該振動体に接触する接触体とを相対移動させる振動型アクチュエータ２を制御する。該制御装置は、電気－機械エネルギ変換素子に印加される、互いに位相差を有する複数相の駆動信号を生成する生成手段４００と、振動体または接触体を含む可動部の実位置を検出する検出手段２００とを有する。生成手段は、可動部の目標位置に対する実位置の偏差に基づいて位相差を設定し、可動部が移動し始めるまでの偏差）に対する位相差の変化率を、可動部が移動し始めた後の該変化率よりも大きくする。【選択図】図１