Control device, drive device, optical device, imaging device, control method, and program

Abstract

To provide a control device capable of appropriately controlling the drive of a motor. [Solution] The control device includes an acquisition unit that acquires first information relating to the moving speed of a moving part based on the position information of at least one of the moving part and the motor that moves the moving part; a processing unit that can perform a plurality of different processing on the first information; and a control unit that controls the motor drive based on second information obtained by any of the plurality of processing and the motor current limit value.

Description

Technical Field

[0001] The present invention relates to a control device for controlling the drive of a motor.

Background Art

[0002] Since the current flowing through a motor is proportional to the torque of the motor, when a large torque is applied to the motor due to an abnormality or the like, a very large current may flow There is Patent Document 1 discloses a configuration in which a drive voltage is controlled according to a motor current detected using a motor speed so that a current exceeding a predetermined value does not flow

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, Patent Document 1 does not mention a method of controlling a drive unit that drives a motor according to the motor speed

[0005] An object of the present invention is to provide a control device capable of appropriately controlling the drive of a motor

Means for Solving the Problems

[0006] A control device according to one aspect of the present invention includes an acquisition unit that acquires first information regarding the moving speed of a moving unit based on at least one of the position information of the moving unit and a motor that moves the moving unit, a processing unit capable of performing a plurality of different processes on the first information, and a control unit that controls the drive of the motor based on second information obtained by any of the plurality of processes and a current limit value of the motor

Effects of the Invention

[0007] According to the present invention, it is possible to provide a control device that can appropriately control the drive of a motor. [Brief explanation of the drawing]

[0008] [Figure 1] This is a block diagram of the motor drive device of Example 1. [Figure 2] This flowchart shows the method for calculating the average speed data in Example 1. [Figure 3] This figure shows an example of motor current limiting when an abnormality occurs, such as when the speed data in Example 1 is greater than the first threshold. [Figure 4] This figure shows an example of motor current limiting when an abnormality occurs, such as when the speed data in Example 1 is less than the first threshold and greater than the second threshold. [Figure 5] This figure shows an example of motor current limiting when an abnormality occurs, such as when the speed data in Example 1 is less than the second threshold. [Figure 6] This flowchart shows the method for calculating the average speed data in Example 2. [Figure 7] This figure shows an example of motor current limiting in the event of a conventional malfunction or other issue. [Modes for carrying out the invention]

[0009] The embodiments of the present invention will be described in detail below with reference to the drawings. In each figure, the same reference numeral is used for identical components, and redundant explanations are omitted.

[0010] Figure 7 shows an example of motor current limiting in the event of a conventional malfunction. The vertical axis represents the current limit value, motor speed, motor applied voltage, and motor current. The horizontal axis represents time. From time 0 to time A, the motor applied voltage, motor current, and motor speed are almost constant. At time A, the motor speed begins to decrease due to an external force, and the motor current begins to increase. In Figure 7, the motor speed averaging time is fixed at 0.1 sec (the cutoff frequency of the low-pass filter is 10 Hz) to remove noise components included in the motor speed signal regardless of the motor speed. If the motor current is close to the current limit value because the motor speed is high, and the motor speed decreases rapidly during the 0.1 sec period from time A to time B, the motor current will exceed the current limit value. In other words, there is a delay between the current limit value being exceeded, the completion of the motor current calculation based on the average motor speed at time B, and the decrease in the motor applied voltage due to the current limit. [Examples]

[0011] First, the configuration and operation of the motor drive device (DC motor drive device) 100 of this embodiment will be described with reference to Figure 1. Figure 1 is a block diagram of the motor drive device 100 of this embodiment. The motor drive device 100 moves the lens (moving part) 10 included in the optical system of the lens device (optical device) in the left-right direction (movement direction) indicated by the arrow in Figure 1. In this embodiment, the moving part is the lens 10, but the present invention is not limited to this, and optical elements other than the lens 10 may be used as the moving part. Furthermore, the lens device may be integrated with the camera body (imaging device) equipped with an image sensor, or it may be detachable from the camera body. These points are the same in each of the subsequent embodiments.

[0012] The DC motor (motor) 11 is an actuator for moving the lens 10, and can indirectly move the lens 10 in the direction of movement by rotating the cam 12. The driver circuit (drive unit) 13 is a circuit for driving the DC motor 11, and generates a drive voltage (drive signal for the DC motor 11) according to the voltage output from the DA converter (DAC) 14 and applies it between the terminals of the DC motor 11. In this embodiment, the DA converter 14 can output a voltage of 0 to 3V with a predetermined resolution. The driver circuit 13 can apply a drive voltage of -10 to +10V between the terminals of the DC motor 11 for a voltage of 0 to 3V. The output voltage of the DA converter 14 is determined by the CPU (control device) 15 through a process described later.

[0013] The rotation position sensor (detection unit) 16 is a sensor that detects the rotation position of the DC motor 11 and outputs a voltage proportional to the rotation position of the DC motor 11. The voltage output from the rotation position sensor 16 is converted into a digital signal by the AD converter (ADC) 17 and input to the CPU 15 as position data Pf related to the rotation position of the DC motor 11. The seesaw 18 is an operating member for the user to control the movement speed of the lens 10, and the voltage output changes according to the position (operating position) of the seesaw 18. The seesaw 18 is configured to return to the center position when not operated by the user. The voltage output from the seesaw 18 is converted into a digital signal by the AD converter (ADC) 19 and input to the CPU 15 as speed operation amount data.

[0014] Next, the software processing by the CPU 15 will be described. The CPU 15 generates a control signal (motor control signal) for generating a drive signal. The speed command calculation unit 101 acquires speed operation amount data indicating the amount of operation of the seesaw 18 via the AD converter 19, and calculates speed command data St from the acquired speed operation amount data. Speed ​​command data St is calculated by subtracting the speed operation amount data when the user is not operating from the current speed operation amount data and multiplying by a predetermined conversion coefficient. Here, the predetermined conversion coefficient is a coefficient to match the amount to the average speed data Sf(av) which will be described later. The CPU 15 may be located in the lens device or in the camera body.

[0015] The speed signal calculation unit (acquisition unit) 102 acquires position data Pf of the DC motor 11 detected by the rotational position sensor 16 via the AD converter 17, and calculates speed data (first information) Sf related to the moving speed of the moving part from the acquired position data Pf. In this embodiment, the speed data Sf is calculated as the difference between the position data Pf sampled every 1 ms and the position data Pf one sample prior (1 ms prior). That is, the speed data Sf indicates the amount of change in position data Pf per 1 ms (1 kHz). In this embodiment, the speed signal calculation unit 102 calculates the speed data Sf from the position data Pf of the DC motor 11, but the present invention is not limited to this. For example, the speed data Sf may be calculated from position data related to the position of the moving part in the direction of movement. That is, the speed signal calculation unit 102 only needs to calculate the speed data Sf based on the position information of at least one of the DC motor 11 and the moving part.

[0016] The low-pass filter section (processing unit) 103 includes low-pass filters A, B, and C, each with a different cutoff frequency, as low-pass filters for averaging the velocity data Sf. When the cutoff frequencies of low-pass filters A, B, and C are fA, fB, and fC, respectively, the following relationship holds.

[0017] fA > fB > fC In this embodiment, the cut-off frequencies fA, fB, and fC are 100 Hz, 10 Hz, and 2 Hz respectively. In this embodiment, the low-pass filter section 103 can perform a plurality of different processes on the speed data Sf using a plurality of low-pass filters, but the present invention is not limited thereto. It is only necessary that the speed data Sf be configured to be capable of performing a plurality of different processes. The process is, for example, a moving average process. The moving average process calculates the average of the speed data within a certain period, and the process is performed by setting a plurality of such certain periods.

[0018] The average speed signal calculation section 104 selects the result calculated using any one of the low-pass filters of the low-pass filter section 103 and calculates the average speed data (second information) Sf(av).

[0019] Here, a method for calculating the average speed data Sf(av) will be described. FIG. 2 is a flowchart showing a method for calculating the average speed data Sf(av) by the low-pass filter section 103 and the average speed signal calculation section 104 of this embodiment.

[0020] In step S200, the low-pass filter section 103 acquires the speed data Sf.

[0021] In step S201, the low-pass filter section 103 acquires the speed averaging result Sfa using the low-pass filter A.

[0022] In step S202, the low-pass filter section 103 acquires the speed averaging result Sfb using the low-pass filter B.

[0023] In step S203, the low-pass filter section 103 acquires the speed averaging result Sfc using the low-pass filter C.

[0024] In step S204, the average speed signal calculation unit 104 determines whether the speed data Sf is greater than the first threshold. If the average speed signal calculation unit 104 determines that the speed data Sf is greater than the first threshold, it executes the process in step S206. If it determines that the speed data Sf is less than the first threshold, it executes the process in step S205. Note that if the speed data Sf is equal to the first threshold, it is possible to arbitrarily set which step to execute.

[0025] In step S205, the average speed signal calculation unit 104 determines whether the speed data Sf is greater than the second threshold. The second threshold is less than the first threshold. If the average speed signal calculation unit 104 determines that the speed data Sf is greater than the second threshold, it executes the process in step S207. If it determines that the speed data Sf is less than the second threshold, it executes the process in step S208. Note that if the speed data Sf is equal to the second threshold, it is possible to arbitrarily set which step to execute.

[0026] In step S206, the average speed signal calculation unit 104 adopts the speed averaging result SfA obtained in step S201 using the low-pass filter A.

[0027] In step S207, the average speed signal calculation unit 104 adopts the speed averaging result SfB obtained in step S202 using the low-pass filter B.

[0028] In step S208, the average speed signal calculation unit 104 adopts the speed averaging result SfC obtained in step S203 using the low-pass filter C.

[0029] In step S209, the average speed signal calculation unit 104 calculates (acquires) the speed averaging result adopted in any of steps S206 to S208 as average speed data Sf(av).

[0030] The difference calculation unit 105 subtracts the average speed data Sf(av) calculated by the average speed signal calculation unit 104 from the speed command data St calculated by the speed command calculation unit 101 to calculate the speed difference value ΔS.

[0031] The gain multiplication unit 106 multiplies the speed difference value ΔS by a control gain Ga that is stored in advance, and calculates a provisional output voltage data Vtemp that corresponds to the voltage applied to the DC motor 11 and is proportional to the speed difference value ΔS.

[0032] The limiting voltage calculation unit 107 calculates the upper limit (maximum voltage) Vomax and lower limit (minimum voltage) Vomin of the voltage applied to the DC motor 11 using the following equations (1) and (2).

[0033] Vomax=(Sf(av)×Km)+(Rd×Imax) ···(1) Vomin=(Sf(av)×Km)-(Rd×Imax) ···(2) Here, Sf(av) is the average speed data Sf(av) calculated by the average speed signal calculation unit 104. Km is a coefficient corresponding to the back electromotive force constant, which is a characteristic of the DC motor 11, and is a value that is stored in advance. (Sf(av) × Km) is the back electromotive force generated in the DC motor 11 when it is rotating at the average speed data Sf(av). Rd is the resistance component, including the terminal resistance of the DC motor 11 and the resistance in the driver circuit 13. Imax is the current limit value of the DC motor 11 (the maximum current that can be allowed to flow through the DC motor 11), and is a value that is stored in advance. Km, Rd, and Imax all take positive values, and only the average speed data Sf(av) can take both positive and negative values.

[0034] The output voltage limiting unit (control unit) 108 limits the provisional output voltage data Vtemp output from the gain multiplication unit 106 by an upper limit value Vomax and a lower limit value Vomin, and controls the driver circuit 13 via the DAC command conversion unit 109 and the DA converter 14. Specifically, if the voltage output from the output voltage limiting unit 108 is the output voltage data Vo, then Vtemp<VominならばVo=Vomin、Vtemp> If it's Vomax, set Vo=Vomax; otherwise, set Vo=Vtemp.

[0035] The DAC command conversion unit 109 converts the voltage applied to the DC motor 11 into command data for the DA converter 14 so that the voltage output becomes the output voltage data Vo output from the output voltage limiting unit 108, and transmits the command to the DA converter 14.

[0036] As described above, in this embodiment, the average speed signal calculation unit 104 selects the average speed data Sf(av) for each motor speed from among the calculation results of low-pass filters with different cutoff frequencies. As a result, the CPU 15 can generate an appropriate control signal based on the average rotational speed of the DC motor 11 (average speed data Sf(av)) and the current limit value Imax, which is the maximum current to flow through the DC motor 11, thereby realizing a current limiting function.

[0037] In this embodiment, multiple speed averaging results are obtained using all the low-pass filters included in the low-pass filter unit 103, and then one speed averaging result is calculated as the average speed data Sf(av) according to the speed data Sf. However, the present invention is not limited to this. Alternatively, one low-pass filter may be selected from the multiple low-pass filters according to the speed data Sf, and the average speed data Sf(av) may be calculated by performing processing using the selected low-pass filter (first processing).

[0038] Next, the effects of this embodiment will be explained. In conventional examples, one type of low-pass filter with a fixed cutoff frequency is used to remove noise components contained in the motor speed signal regardless of the motor speed. Noise components are included in the motor speed data Sf regardless of the speed, even when the frequency components of the motor speed data Sf are low. In other words, the motor speed data Sf is the sum of the frequency components due to the motor speed and a noise component that is independent of this.

[0039] In this embodiment, the faster the velocity data Sf, the faster the averaging cutoff frequency used to calculate the average velocity data Sf(av). When the velocity data Sf is fast, the frequency components are high, so it is possible to detect highly accurate average velocity data Sf(av) by removing as much high-frequency noise components as possible in the velocity data Sf while allowing the necessary bandwidth to pass through. In addition, as the speed increases, the current current has less margin relative to the current limit value Imax, so the response time to the current limiting function can be shortened.

[0040] If the velocity data Sf is slow, a slower cutoff frequency is used for averaging to calculate the average velocity data Sf(av). When velocity data Sf is slow, the frequency components are low, so only the noise components in velocity data Sf are removed as much as possible, and highly accurate average velocity data Sf(av) can be detected. Also, because there is a large margin of current relative to the current limit value Imax, the current limiting function can be performed without problems even if the averaging cutoff frequency is slow.

[0041] Figure 3 shows an example of motor current limiting in this embodiment when an abnormality occurs when the speed data Sf is greater than the first threshold (when the motor speed is high). The vertical axis represents the current limit value, motor speed, motor applied voltage, and motor current. The horizontal axis represents time. From time 0 to time A, the motor applied voltage, motor current, and motor speed are almost constant. At time A, the motor speed begins to decrease due to external force, etc., and the motor current begins to increase. Since the speed data Sf is greater than the first threshold, the average speed acquired at 0.01 sec (the cutoff frequency fA of the low-pass filter A is 100 Hz) is used as the average speed data Sf(av). High-precision average speed data Sf(av) can be detected in order to pass the necessary bandwidth while removing high-frequency noise components as much as possible. In addition, when the motor speed is high, even if the motor speed decreases rapidly, the current limiting function works during the 0.01 sec from time A to time B, which shortens the time during which the motor current exceeds the current limit value.

[0042] Figure 4 shows an example of motor current limiting when an abnormality occurs in this embodiment, where the speed data Sf is less than the first threshold and greater than the second threshold (when the motor speed is medium speed). The vertical axis represents the current limit value, motor speed, motor applied voltage, and motor current. The horizontal axis represents time. From time 0 to time A, the motor applied voltage, motor current, and motor speed are almost constant. At time A, the motor speed begins to decrease due to external force, etc., and the motor current begins to increase. Since the speed data Sf is less than the first threshold and greater than the second threshold, the average speed acquired at 0.1 sec (the cutoff frequency fB of the low-pass filter B is 10 Hz) is used as the average speed data Sf(av). Because the noise in the speed data Sf has lower frequency components than at high speeds, noise can be efficiently removed, and highly accurate average speed data Sf(av) can be detected. Furthermore, when the motor speed is at a medium speed, even if the motor speed decreases rapidly, there is more margin in the current limit value than at high speeds. Therefore, the current limiting function activates during the 0.1 seconds between time A and time B, shortening the time during which the motor current exceeds the current limit value.

[0043] Figure 5 shows an example of motor current limiting when an abnormality occurs in this embodiment, specifically when the speed data Sf is smaller than the second threshold (when the motor speed is low). The vertical axis represents the current limit value, motor speed, motor applied voltage, and motor current. The horizontal axis represents time. From time 0 to time A, the motor applied voltage, motor current, and motor speed are almost constant. At time A, the motor speed begins to decrease due to external forces, etc., and the motor current begins to increase. Since the speed data Sf is smaller than the second threshold, the average speed acquired at 0.5 sec (the cutoff frequency fC of the low-pass filter C is 2 Hz) is used as the average speed data Sf(av). Because the noise in the speed data Sf has lower frequency components than at high or medium speeds, noise can be efficiently removed, and highly accurate average speed data Sf(av) can be detected. Furthermore, when the motor speed is low, even if the motor speed drops sharply, there is more margin in the current limit value than at medium speeds. Therefore, the current limiting function activates during the 0.5 seconds between time A and time B, shortening the time during which the motor current exceeds the current limit value.

[0044] As described above, the configuration of this embodiment allows for appropriate control of the driver circuit 13 that drives the DC motor 11. In particular, it is advantageous compared to the conventional example in that it can handle current limiting in the DC motor 11 according to speed. [Examples]

[0045] In this embodiment, the processing inside the average speed signal calculation unit 104 differs from that in Embodiment 1. The configuration of the motor drive device in this embodiment is the same as that of the motor drive device 100 in Embodiment 1. In this embodiment, only the configurations that differ from Embodiment 1 will be described, and the same reference numerals as in Embodiment 1 will be used for common configurations, and their descriptions will be omitted.

[0046] Figure 6 is a flowchart showing the method for calculating the average speed data Sf(av) using the low-pass filter unit 103 and the average speed signal calculation unit 104 in this embodiment.

[0047] In step S600, the low-pass filter unit 103 acquires velocity data Sf.

[0048] In step S601, the low-pass filter unit 103 obtains the speed-averaging result Sfa using the low-pass filter A.

[0049] In step S602, the low-pass filter unit 103 obtains the speed-averaging result Sfb using the low-pass filter B.

[0050] In step S603, the low-pass filter unit 103 obtains the speed-averaged result Sfc using the low-pass filter C.

[0051] In step S604, the average velocity signal calculation unit 104 calculates acceleration data (information about acceleration) Sfac by differentiating the velocity data Sf.

[0052] In step S605, the average velocity signal calculation unit 104 determines whether the acceleration data Sfac is greater than the first threshold. If the average velocity signal calculation unit 104 determines that the acceleration data Sfac is greater than the first threshold, it executes the process in step S607. If it determines that the acceleration data Sfac is less than the first threshold, it executes the process in step S606. Note that if the acceleration data Sfac is equal to the first threshold, it is possible to arbitrarily set which step to execute.

[0053] In step S606, the average velocity signal calculation unit 104 determines whether the acceleration data Sfac is greater than the second threshold. If the average velocity signal calculation unit 104 determines that the acceleration data Sfac is greater than the second threshold, it executes the process in step S608. If it determines that the acceleration data Sfac is less than the second threshold, it executes the process in step S609. Note that if the acceleration data Sfac is equal to the second threshold, it is possible to arbitrarily set which step to execute.

[0054] In step S607, the average velocity signal calculation unit 104 adopts the average velocity SfA obtained in step S601 using the low-pass filter A.

[0055] In step S608, the average speed signal calculation unit 104 adopts the average speed SfB obtained in step S602 using the low-pass filter B.

[0056] In step S609, the average velocity signal calculation unit 104 adopts the average velocity SfC obtained in step S603 using the low-pass filter C.

[0057] In step S610, the average speed signal calculation unit 104 calculates the average speed adopted in any of steps S607 to S609 as the average speed data Sf(av).

[0058] The operation of the difference calculation unit 105, the gain multiplication unit 106, the limiting voltage calculation unit 107, and the output voltage limiting unit 108 is the same as in Embodiment 1.

[0059] As described above, in this embodiment, the average speed signal calculation unit 104 selects the average speed data Sf(av) for each motor speed from among the calculation results of low-pass filters with different cutoff frequencies. As a result, the CPU 15 can generate an appropriate control signal based on the average rotational speed of the DC motor 11 (average speed data Sf(av)) and the current limit value Imax, which is the maximum current to flow through the DC motor 11, thereby realizing a current limiting function.

[0060] In this embodiment, multiple velocity averaging results are obtained using all the low-pass filters included in the low-pass filter unit 103, and then one velocity averaging result is calculated as the average velocity data Sf(av) according to the acceleration data Sfac. However, the present invention is not limited to this. Alternatively, one low-pass filter may be selected from the multiple low-pass filters according to the acceleration data Sfac, and the average velocity data Sf(av) may be calculated by performing processing using the selected low-pass filter (first processing).

[0061] As explained above, in this embodiment, the faster the acceleration data Sfac, the faster the averaging frequency for calculating the average velocity data Sf(av). This way, because faster acceleration means less margin in the current current relative to the current limit Imax, the response to the current limit can be shortened. When the acceleration data Sfac is slow, there is more margin in the current current relative to the current limit Imax, so a slower averaging frequency is not a problem, and noise in the velocity data Sf can be removed more efficiently, suppressing malfunctions of the current limiting function.

[0062] As described above, the configuration of this embodiment allows for appropriate control of the driver circuit 13 that drives the DC motor 11. In particular, it is advantageous compared to the conventional example in that it can handle current limiting in the DC motor 11 according to speed. [Other examples] The present invention can also be realized by supplying a program that implements one or more of the functions of the above-described embodiments to a system or device via a network or storage medium, and by having one or more processors in the computer of that system or device read and execute the program. It can also be realized by a circuit (e.g., an ASIC) that implements one or more functions.

[0063] This embodiment includes the following configurations and methods. (Composition 1) An acquisition unit that acquires first information relating to the moving speed of a moving part based on the position information of at least one of the moving part and the motor that moves the moving part, A processing unit capable of performing multiple different processes on the first information, A control device characterized by having a control unit that controls the drive of the motor based on a second piece of information obtained by any of the above-mentioned plurality of processes and a current limit value of the motor. (Configuration 2) The processing unit obtains multiple pieces of information by performing the multiple processes on the first piece of information, The control device according to configuration 1, characterized in that the control unit selects the second piece of information from the plurality of pieces of information based on the first piece of information. (Composition 3) Based on the first information, the control unit selects a first process from the plurality of processes, The control device according to configuration 1, characterized in that the processing unit obtains the second information by performing the first processing on the first information. (Composition 4) The processing unit obtains multiple pieces of information by performing the multiple processes on the first piece of information, The control device according to configuration 1, characterized in that the control unit selects the second piece of information from the plurality of pieces of information based on the information obtained from the first piece of information. (Composition 5) The control unit selects a first process from the plurality of processes based on the information obtained from the first information, The control device according to configuration 1, characterized in that the processing unit obtains the second information by performing the first processing on the first information. (Composition 6) The control device according to any one of configurations 1 to 5, characterized in that the processing unit is capable of performing a plurality of different averaging processes on the first information. (Composition 7) The control device according to any one of configurations 1 to 6, characterized in that the processing unit comprises a plurality of low-pass filters having different cutoff frequencies. (Composition 8) The control device according to configuration 7, characterized in that, when the first information is greater than a threshold, the control unit controls the drive of the motor based on the second information obtained by processing using the low-pass filter with the largest cutoff frequency among the plurality of low-pass filters. (Composition 9) The control device according to configuration 7, characterized in that, when the information obtained from the first information is greater than a threshold, the control unit controls the drive of the motor based on the second information obtained by processing using the low-pass filter with the largest cutoff frequency among the plurality of low-pass filters. (Composition 10) The control device according to any one of configurations 1 to 9, characterized in that the control unit acquires a limit voltage for the motor based on the second information and the current limit value, and controls the drive of the motor so that the voltage applied to the motor does not exceed the limit voltage. (Composition 11) A control device described in any one of configurations 1 to 10, A drive device having a drive unit for driving the motor. (Composition 12) The drive device described in configuration 11, An optical device characterized by having an optical element as the movable part. (Composition 13) The optical device described in configuration 12, An imaging device characterized by having an image sensor. (Method 1) A step of acquiring first information relating to the moving speed of a moving part based on position information of at least one of the moving part and the motor that moves the moving part, A control device characterized by having the step of controlling the drive of the motor based on a second piece of information obtained by any of a plurality of different processes on the first piece of information and a current limit value of the motor. (Composition 14) A program characterized by causing a computer to execute the control method described in Method 1.

[0064] Although preferred embodiments of the present invention have been described above, the present invention is not limited to these embodiments, and various modifications and changes are possible within the scope of its gist. [Explanation of Symbols]

[0065] 10. Lens (moving part) 11 DC motor 13. Driver circuit (drive unit) 15. CPU (Control Unit) 102 Average speed signal calculation unit (acquisition unit) 103 Low-pass filter section (processing section) 108 Output Voltage Control Unit (Control Unit)

Claims

1. An acquisition unit that acquires first information relating to the moving speed of a moving part based on the position information of at least one of the moving part and the motor that moves the moving part, A processing unit capable of performing multiple different processes on the first information, A control device characterized by having a control unit that controls the drive of the motor based on a second piece of information obtained by any of the above-mentioned processes and a current limit value of the motor.

2. The processing unit obtains multiple pieces of information by performing the multiple processes on the first piece of information, The control device according to claim 1, characterized in that the control unit selects the second piece of information from the plurality of pieces of information based on the first piece of information.

3. The control unit selects a first process from the plurality of processes based on the first information, The control device according to claim 1, characterized in that the processing unit obtains the second information by performing the first processing on the first information.

4. The processing unit obtains multiple pieces of information by performing the multiple processes on the first piece of information, The control device according to claim 1, characterized in that the control unit selects the second piece of information from the plurality of pieces of information based on the information obtained from the first piece of information.

5. The control unit selects a first process from the plurality of processes based on the information obtained from the first information, The control device according to claim 1, characterized in that the processing unit obtains the second information by performing the first processing on the first information.

6. The control device according to any one of claims 1 to 5, characterized in that the processing unit is capable of performing a plurality of different averaging processes on the first information.

7. The control device according to any one of claims 1 to 5, characterized in that the processing unit comprises a plurality of low-pass filters having different cutoff frequencies.

8. The control device according to claim 7, characterized in that, when the first information is greater than a threshold, the control unit controls the drive of the motor based on the second information obtained by processing using the low-pass filter with the largest cutoff frequency among the plurality of low-pass filters.

9. The control device according to claim 7, characterized in that, when the information obtained from the first information is greater than a threshold, the control unit controls the drive of the motor based on the second information obtained by processing using the low-pass filter with the largest cutoff frequency among the plurality of low-pass filters.

10. The control device according to any one of claims 1 to 5, characterized in that the control unit acquires a limit voltage for the motor based on the second information and the current limit value, and controls the drive of the motor so that the voltage applied to the motor does not exceed the limit voltage.

11. A control device according to any one of claims 1 to 5, A drive device having a drive unit for driving the motor.

12. The drive device according to claim 11, An optical device characterized by having an optical element as the movable part.

13. The optical apparatus according to claim 12, An imaging device characterized by having an image sensor.

14. A step of acquiring first information regarding the moving speed of a moving part based on position information of at least one of the moving part and the motor that moves the moving part, A control device characterized by having the step of controlling the drive of the motor based on a second piece of information obtained by any of a plurality of different processes on the first piece of information and a current limit value of the motor.

15. A program characterized by causing a computer to execute the control method described in claim 14.

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