US 11,696,030 B2
Vibration type actuator control apparatus, vibration type driving apparatus having the same, interchangeable lens, imaging apparatus, and automatic stage
Jun Sumioka, Kanagawa (JP)
Assigned to Canon Kabushiki Kaisha, Tokyo (JP)
Filed by CANON KABUSHIKI KAISHA, Tokyo (JP)
Filed on Feb. 10, 2022, as Appl. No. 17/669,250.
Claims priority of application No. 2021-033662 (JP), filed on Mar. 3, 2021.
Prior Publication US 2022/0286614 A1, Sep. 8, 2022
Int. Cl. H04N 5/232 (2006.01); H04N 23/68 (2023.01); H02N 2/00 (2006.01); G06N 20/00 (2019.01)
CPC H04N 23/687 (2023.01) [H02N 2/0045 (2013.01); G06N 20/00 (2019.01)] 24 Claims
OG exemplary drawing
 
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.