CPC H04N 23/687 (2023.01) [H02N 2/0045 (2013.01); G06N 20/00 (2019.01)] | 24 Claims |
1. A vibration type actuator control apparatus configured to move, by using a vibration produced in a vibrator, a contact member in contact with the vibrator relative to the vibrator, the vibration type actuator control apparatus comprising:
a control unit including a first learned model and a second learned model each having a neural network including an input layer, a hidden layer, and an output layer; and
a drive unit configured to move the contact member in contact with the vibrator relative to the vibrator by using control amounts output from the control unit,
wherein, in a case where a target velocity for moving the contact member relative to the vibrator is input, the first learned model is configured to output a first control amount for moving the contact member relative to the vibrator,
wherein, in a case where a positional deviation for moving the contact member relative to the vibrator is input, the second learned model is configured to output a second control amount for moving the contact member relative to the vibrator,
wherein the drive unit is configured to move the contact member relative to the vibrator by using a value based on the first control amount and the second control amount, and
wherein the positional deviation is a value in association with a difference between a target position for moving the contact member relatively to the vibrator and a detected position detected when the contact member is moved relatively to the vibrator.
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