Control method and apparatus of an ultrasonic motor, and an ultrasonic motor driver and controller

Abstract

A control apparatus of an ultrasonic motor, comprises a driving wave number determining means for determining a driving wave number based on the targeted displacement of a driven object driven by the ultrasonic motor, a normative driving wave generating means for generating continuously normative driving waves in the number of times determined at the driving wave number determining means, inserted an interval determined based on the targeted velocity of the driven object, every at least one cycle of the normative driving waves, and a driving wave generating means for generating driving waves having the predetermined frequency and the predetermined amplitude based on the normative driving waves generated at the normative driving wave generating means.

1 .- 15 . (canceled)  
   
   
       16 . An ultrasonic motor driver, comprising: 
 a driving pulse receiving part to receive one or a plurality of driving pulses to energize an ultrasonic motor which drives a driven object every predetermined interval;    a multiplier setting part to set a multiplier;    a manual-mode normative driving wave generating part to generate continuously manual-mode normative driving waves, the numbers of which are equal to the numbers of driving pulses received at said driving pulse receiving part multiplied by the multiplier set at said multiplier setting part; and    a driving wave generating part to generate driving waves having a predetermined frequency and a predetermined amplitude based on the manual-mode normative driving waves generated at said manual-mode normative driving wave generating part.    
   
   
       17 . An ultrasonic motor driver, comprising: 
 a targeted displacement receiving part to receive the targeted displacement of a driven object driven by an ultrasonic motor;    a driving wave number determining part to determine a driving wave number based on the targeted displacement received by said targeted displacement receiving part;    a targeted velocity receiving part to receive a targeted velocity of the driven object;    an auto-mode normative driving wave generating part to generate continuously auto-mode normative driving waves in the number of times determined by said driving wave number determining part, inserted an interval determined based on the targeted velocity received by said targeted velocity receiving part, every at least one cycle of the auto-mode normative driving waves; and    a driving wave generating part to generate driving waves having the predetermined frequency and the predetermined amplitude based on the auto-mode normative driving waves generated at said auto-mode normative driving wave generating part.    
   
   
       18 . An ultrasonic motor driver as set forth in  claim 17 , wherein said auto-mode normative driving wave generating part makes the interval longer as the targeted velocity of the driven object is small.  
   
   
       19 . An ultrasonic motor driver, comprising: 
 a targeted displacement receiving part to receive a targeted displacement of a driven object driven by an ultrasonic motor;    a displacement deviation calculating part to calculate a displacement deviation defined by a deviation between the targeted displacement received by said targeted displacement receiving part and the actual displacement of the driven object;    a driving wave number determining part to determine a driving wave number based on the displacement deviation calculated by said displacement deviation calculating part;    a targeted velocity receiving part to receive a targeted velocity of the driven object;    an auto-mode normative driving wave generating part to generate continuously normative driving waves in the number of times determined by said driving wave number determining part, inserted an interval determined based on the targeted velocity received by said targeted velocity receiving part, every at least one cycle of the normative driving waves; and    a driving wave generating part to generate driving waves having the predetermined frequency and the predetermined amplitude based on the auto-mode normative driving waves generated at said auto-mode normative driving wave generating part.    
   
   
       20 . An ultrasonic motor driver as set forth in  claim 19 , wherein said auto-mode normative driving wave generating part makes the interval longer as the targeted velocity of the driven object is small.  
   
   
       21 . An ultrasonic motor driver, comprising: 
 a targeted displacement receiving part to receive a targeted displacement of a driven object driven by the ultrasonic motor;    a displacement deviation calculating part to calculate a displacement deviation defined by a deviation between the targeted displacement received by said targeted displacement receiving part and the actual displacement of the driven object;    a driving wave number determining part to determine a driving wave number based on the displacement deviation calculated by said displacement deviation calculating part;    a targeted velocity receiving part to receive a targeted velocity of the driven object;    a velocity deviation calculating part to calculate a velocity deviation defined by a deviation between the targeted velocity received by said targeted velocity receiving part and the actual velocity of the driven object;    an auto-mode normative driving wave generating part to generate continuously auto-mode normative driving waves in the number of times determined by said driving wave number determining part, inserted an interval determined based on the velocity deviation calculated by said velocity deviation calculating part, every at least one cycle of the auto-mode normative driving waves; and    a driving wave generating part to generate driving waves having the predetermined frequency and the predetermined amplitude based on the auto-mode normative driving waves generated at said auto-mode normative driving wave generating part.    
   
   
       22 . An ultrasonic motor driver as set forth in  claim 21 , wherein said auto-mode normative driving wave generating part makes the interval longer as the velocity deviation is small.  
   
   
       23 . An ultrasonic motor driver, comprising: 
 a driving pulse receiving part to receive one or a plurality of driving pulses to energize an ultrasonic motor which drives a driven object every predetermined interval;    a multiplier setting part to set a multiplier;    a manual-mode normative driving wave generating part to generate continuously manual-mode normative driving waves, the numbers of which are equal to the numbers of driving pulses received at said driving pulse receiving part multiplied by the multiplier set at said multiplier setting part;    a targeted displacement receiving part to receive a targeted displacement of the driven object;    a displacement deviation calculating part to calculate a displacement deviation defined by a deviation between the targeted displacement received by said targeted displacement receiving part and the actual displacement of the driven object;    a displacement control signal choosing part to choose between the targeted displacement received by said targeted displacement receiving part and the displacement deviation calculated by said displacement deviation calculating part, as a displacement control signal;    a driving wave number determining part to determine a driving wave number based on the displacement control signal chosen by said displacement control signal choosing part;    a targeted velocity receiving part to receive a targeted velocity of the driven object;    a velocity deviation calculating part to calculate a velocity deviation defined by a deviation between the targeted velocity received by said targeted velocity receiving part and the actual velocity of the driven object;    a velocity control signal choosing part to choose between the targeted velocity received by said targeted velocity receiving part and the velocity deviation calculated by said velocity deviation calculating part, as a velocity control signal;    an auto-mode normative driving wave generating part to generate continuously auto-mode normative driving waves in the number of times determined by said driving wave number determining part, inserted an interval determined based on the velocity control signal chosen by said velocity control signal choosing part, every at least one cycle of the auto-mode normative driving waves;    a normative driving wave choosing part to choose normative driving waves between the manual-mode normative driving waves and the auto-mode normative driving waves; and    a driving wave generating part to generate driving waves having the predetermined frequency and the predetermined amplitude based on the normative driving waves chosen by said normative driving wave choosing part.    
   
   
       24 . An ultrasonic motor driver as set forth in  claim 23 , wherein said auto-mode normative driving wave generating part makes the interval longer as the velocity control signal is small.  
   
   
       25 . An ultrasonic motor driver as set forth in one of  claims 16  to  24 , wherein said driving wave generating part further comprising either at least one of a frequency-changing part to change the frequency of the normative driving waves and an amplitude-changing part to change the amplitude of the normative driving waves.  
   
   
       26 .- 35 . (canceled)