CPC H10N 30/2023 (2023.02) [B25J 9/123 (2013.01); H10N 30/802 (2023.02)] | 6 Claims |
1. A method for controlling a piezoelectric driving apparatus including a piezoelectric vibrator,
the piezoelectric vibrator having a first frequency region where a phase difference between a pickup signal representing vibration of the piezoelectric vibrator and a drive signal that drives the piezoelectric vibrator does not monotonously change in accordance with a frequency of the drive signal and a second frequency region where the phase difference monotonously changes in accordance with the frequency of the drive signal,
the method comprising:
controlling the frequency of the drive signal in such a way that pickup voltage representing an amplitude of the pickup signal is fixed in the first frequency region; and
controlling the frequency of the drive signal in such a way the pickup voltage is fixed with the phase difference maintained smaller than or equal to a prespecified value in the second frequency region.
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