Two-axis position control system

Abstract

A two-axis position control system according to an embodiment of the present invention comprises: a first magnet arranged on one surface of a moving body; a second magnet arranged on another surface of the moving body; a first coil unit arranged at a position facing the first magnet to move the first magnet in a first direction; a second coil unit arranged at a position facing the second magnet to move the second magnet in a second direction; a magnetic sensor unit arranged at a position facing the first magnet and including a first Hall sensor and a second Hall sensor; and a driver unit that drives the first coil unit and the second coil unit on the basis of the positions of the first magnet and the second magnet detected by the magnetic sensor unit, so as to move the first magnet and the second magnet, wherein the sensor unit operates in a single Hall mode to sense the position of the first magnet in the first direction, and the sensor unit operates in a multi-Hall mode to sense the position of the second magnet in the second direction, such that the number of components in the two-axis position control system can be reduced.

Description

2-axis position control system

[0001] The present invention relates to a two-axis position control system, and more specifically, to a two-axis position control system that reduces the number of constituent elements in an X and Y two-axis position control system and enables the use of simple but various sensing methods.

[0002] A digital camera is a device capable of saving images of a subject as digital files of photos or videos, and includes digital still cameras (DSC), digital video cameras (DVC), or digital camera modules mounted on mobile phones.

[0003] With the recent widespread adoption of digital imaging devices such as digital still cameras or digital video cameras, there is an increasing demand among consumers for acquiring high-quality still images or videos. In particular, there is a growing demand for camera modules equipped with an Optical Image Stabilizer (OIS) function to prevent image clarity degradation caused by hand shake. To perform OIS, the camera module can move the lens barrel two-dimensionally in a direction perpendicular to the optical axis. To control this two-dimensional movement of the lens barrel, it is necessary to accurately detect the two-dimensional position of the lens barrel. As one of the methods for detecting the two-dimensional position of the lens barrel, a method of detecting the position using the magnetic flux density of a magnet can be utilized. For example, a method can be used in which a magnetic sensor is positioned at a predetermined distance from the magnet used for moving the lens barrel, and the position of the lens barrel is detected using a detection signal detected by the magnetic sensor. At least two magnetic sensors may be positioned to detect the two-dimensional position of the lens barrel. The magnetic sensor described above can determine the position of a magnet that slides and moves relative to the magnetic sensor.

[0004] Conventionally, at least two magnetic sensors were required to detect the two-dimensional position of the lens barrel, but there is a need to develop a simple structure to increase the flexibility of the camera module structure and reduce development costs.

[0005] The technical problem that the present invention aims to solve is to provide a 2-axis position control system that can increase the flexibility of implementing a position control system and reduce the development cost of a camera module using the position control system.

[0006] A two-axis position control system according to one embodiment of the present invention comprises: a first magnet disposed on one surface of a moving body; a second magnet disposed on the other surface of the moving body; a first coil unit disposed at a position opposite to the first magnet and moving the first magnet in a first direction; a second coil unit disposed at a position opposite to the second magnet and moving the second magnet in a second direction; a magnetic sensor unit disposed at a position opposite to the first magnet and including a first Hall sensor and a second Hall sensor; and a driver unit that drives the first coil unit and the second coil unit to move the first magnet and the second magnet based on the positions of the first magnet and the second magnet detected by the magnetic sensor unit, wherein the position of the first magnet in the first direction is sensed by the sensor unit operating in a single Hall mode, and the position of the second magnet in the second direction is sensed by the sensor unit operating in a multi-Hall mode.

[0007] In one embodiment, the single Hall mode is a mode that senses a change in position by comparing the sum of the first Hall sensor value and the second Hall sensor value at the first time and the second time, respectively, and the multi Hall mode may be a mode that senses a change in position by comparing the sum of the first Hall sensor value and the second Hall sensor value with the difference between the first Hall sensor value and the second Hall sensor value at the first time and the second time, respectively.

[0008] In another embodiment, the value of the single Hall mode can be calculated by assigning a weight to each Hall sensor value that is inversely proportional to the distance between the center of the first magnet and the first Hall sensor and the second Hall sensor in the single Hall mode.

[0009] In another embodiment, the driver unit is composed of a first coil driver that drives the first coil unit and a second coil driver that drives the second coil unit, and the first coil driver and the sensor unit are included in the same IC, and the second coil driver may be included in a different IC.

[0010] In addition, the driver unit is composed of a first coil driver that drives the first coil unit and a second coil driver that drives the second coil unit, and the first coil driver, the second coil driver, and the sensor unit may be included in a single IC.

[0011] According to the present invention, the number of constituent elements in a two-axis position control system of X and Y is reduced, allowing for the use of simple yet diverse sensing methods.

[0012] In addition, according to the present invention, the flexibility of implementing a position control system can be increased, and the development cost of a camera module using the position control system can be reduced.

[0013] Furthermore, according to the present invention, since only one magnetic sensor including two Hall sensors and two drivers are used in a closed-loop voice coil motor driver (CL VCM driver) that adjusts the position of a camera lens or module using an electromagnetic field generated by driving a coil, the system implementation can be made flexible according to the situation and an economical solution can be developed.

[0014] Figure 1 illustrates a camera module using single hall sensing.

[0015] Figure 2 illustrates a camera module with cross sensing applied using a multi-hall sensor.

[0016] FIG. 3 illustrates a camera module according to a preferred embodiment of the present invention.

[0017] Figure 4 shows the first magnetic sensor (52) illustrated in Figure 3 in more detail.

[0018] FIG. 5 shows an example in which a first magnetic sensor (52) and a first coil driver (53) form one chip, and a second coil driver (63) forms another chip.

[0019] FIG. 6 illustrates an example in which a first magnetic sensor (52) and a first coil driver (53) as well as a second coil driver (63) are configured as a single chip.

[0020] A two-axis position control system according to one embodiment of the present invention comprises: a first magnet disposed on one surface of a moving body; a second magnet disposed on the other surface of the moving body; a first coil unit disposed at a position opposite to the first magnet and moving the first magnet in a first direction; a second coil unit disposed at a position opposite to the second magnet and moving the second magnet in a second direction; a magnetic sensor unit disposed at a position opposite to the first magnet and including a first Hall sensor and a second Hall sensor; and a driver unit that drives the first coil unit and the second coil unit to move the first magnet and the second magnet based on the positions of the first magnet and the second magnet detected by the magnetic sensor unit, wherein the position of the first magnet in the first direction is sensed by the sensor unit operating in a single Hall mode, and the position of the second magnet in the second direction is sensed by the sensor unit operating in a multi-Hall mode.

[0021] Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings to clarify solutions to the technical problems of the present invention. However, in describing the present invention, if a description of related prior art would obscure the essence of the present invention, such description will be omitted. Furthermore, terms used in this specification are defined considering their functions in the present invention, and these may vary depending on the intentions or conventions of designers, manufacturers, etc. Therefore, the definitions of terms described below should be based on the content throughout this specification.

[0022] Figure 1 illustrates a camera module using single hall sensing.

[0023] Referring to FIG. 1(a) and FIG. 1(b), a moving body (100), a first magnet (10), a second magnet (20), a first coil part (11), a second coil part (21), a first Hall sensor (12), a second Hall sensor (22), a first coil driver (13), and a second coil driver (23) are shown.

[0024] In order to move the moving body (100) in the up and down direction (y-axis direction), the second coil driver (23) drives the second coil part (21) located at a certain distance from the bottom surface (a surface parallel to the x-axis direction) of the moving body (100).

[0025] A second magnet (20) is disposed on the lower surface of the movable body (100), but the second magnet (20) may be disposed on the upper surface of the movable body (100). In this case, it is preferable that the second coil part (21), the second Hall sensor (22), and the second coil driver (23) are also disposed on the upper surface of the movable body (10).

[0026] The second Hall sensor (22) measures the magnetic flux of the second magnet (20) that is affected by the driving coil of the second coil part (21). The vertical displacement (y-axis direction) of the moving body (100) can be measured from the change in magnetic flux measured by the second Hall sensor (22).

[0027] The second coil driver (23) is preferably positioned adjacent to the second Hall sensor (22), but it may be positioned separately.

[0028] Referring to FIG. 1(b), a first coil driver (13) drives a first coil part (11) located at a certain distance from the left side (a side parallel to the y-axis direction) of the moving body (100) to move the moving body (100) in the left and right directions (x-axis direction).

[0029] Although the first magnet (10) is positioned on the left side of the moving body (100), the first magnet (10) may be positioned on the right side of the moving body (100). In this case, it is preferable that the first coil part (11), the first Hall sensor (12), and the first coil driver (13) are also positioned on the right side of the moving body (100).

[0030] The first Hall sensor (12) measures the magnetic flux of the first magnet (10) that is affected by the driving coil of the first coil part (11). The displacement of the moving body (100) in the left-right direction (x-axis direction) can be measured from the change in magnetic flux measured by the first Hall sensor (12).

[0031] The coil driver (13) is preferably positioned adjacent to the first Hall sensor (12), but it may be positioned separately.

[0032] The first Hall sensor (12) and the second Hall sensor (22) of the camera module shown in FIG. 1 are Hall sensors consisting of a single hole, and cross-sensing can be performed using the multi-Hall sensor shown in FIG. 2 to offset changes such as the temperature characteristics of the Hall sensor and magnetic flux.

[0033]

[0034] Figure 2 illustrates a camera module with cross sensing applied using a multi-hall sensor.

[0035] The difference between Fig. 2 and Fig. 1 is that Fig. 1 uses a single Hall sensor, whereas Fig. 2 uses a multi-Hall sensor. In addition, the camera module of Fig. 2 has the driving axis and the sensing axis crossed to perform cross-sensing.

[0036] Referring to FIG. 2(a) and FIG. 2(b) for a more detailed view, as in FIG. 1, a moving body (100), a first magnet (10), a second magnet (20), a first coil part (11), a second coil part (21), a first magnetic sensor (32), a second magnetic sensor (42), a first coil driver (33), and a second coil driver (43) are shown.

[0037] In order to move the moving body (100) in the vertical direction (y-axis direction), the second coil driver (43) drives the second coil part (21) located at a certain distance from the bottom surface (a surface parallel to the x-axis direction) of the moving body (100). Meanwhile, the first magnetic sensor (32) is composed of multiple holes, and the vertical displacement (y-axis direction) of the moving body (100) is measured from the change in magnetic flux measured by the first magnetic sensor (32).

[0038] That is, for the vertical movement of the moving body (100), the second coil driver (43) on the lower surface (a surface parallel to the x-axis direction) drives the second coil section (21), but the change in magnetic flux is measured using the first magnetic sensor (32) positioned at a certain distance from the left surface (a surface parallel to the y-axis direction) and the vertical displacement of the moving body (100) is measured. Accordingly, the sensing axis that senses the vertical movement of the moving body (100) is parallel to the y-axis direction, and the second coil section (21) that drives the moving body (100) vertically is positioned parallel to the x-axis direction.

[0039] The first magnetic sensor (32) is preferably configured with multiple holes to measure magnetic flux, and the vertical position of the moving body (100) is measured by the difference in values ​​measured from two or more multi-holes.

[0040] In order to move the moving body (100) in the left and right directions (x-axis direction), the first coil driver (33) drives the first coil part (11) located at a certain distance from the left side (a side parallel to the y-axis direction) of the moving body (100). Meanwhile, the second magnetic sensor (42) is composed of multiple holes, and the displacement of the moving body (100) in the left and right directions (x-axis direction) is measured from the change in magnetic flux measured by the second magnetic sensor (42).

[0041] That is, for the left and right movement of the moving body (100), the first coil driver (33) on the left side (a side parallel to the y-axis direction) drives the first coil section (11), but the change in magnetic flux is measured using the second magnetic sensor (42) which is spaced apart from the bottom side (a side parallel to the x-axis direction) and the left and right movement displacement of the moving body (100) is measured. Accordingly, the sensing axis that senses the left and right movement of the moving body (100) is parallel to the x-axis direction, and the first coil section (11) that drives the moving body (100) left and right is arranged parallel to the y-axis direction.

[0042] It is preferable that the second magnetic sensor (42) be configured with multiple holes to measure magnetic flux, and the left and right positions of the moving body (100) are measured by the difference in values ​​measured from two or more multi-holes.

[0043] As seen above, the camera module illustrated in FIG. 2 has a driving axis and a sensing axis that cross each other, and the temperature coefficient is offset by the ratio of the difference and sum of the Hall sensor values ​​constituting the multi-hole, so it has the effect of being insensitive to environmental changes such as temperature.

[0044]

[0045] FIG. 3 illustrates a camera module according to a preferred embodiment of the present invention.

[0046] Referring to FIG. 3, a moving body (100), a first magnet (10), a second magnet (20), a first coil part (11), a second coil part (21), a first magnetic sensor (52), a first coil driver (53), and a second coil driver (63) are shown.

[0047] The difference between Fig. 2 and Fig. 3 is that Fig. 2 has a first magnetic sensor (52) and a second magnetic sensor (42), whereas Fig. 3 measures x-axis and y-axis displacement using only the first magnetic sensor (52).

[0048] Referring to FIG. 3(a) and FIG. 3(b) for a more detailed view, a second coil driver (63) drives a second coil part (21) located at a certain distance from the lower surface (a surface parallel to the x-axis direction) of the moving body (100) to move the moving body (100) in the up and down direction (y-axis direction).

[0049] Meanwhile, in FIG. 3, the second magnetic sensor (42) is not present, and the displacement in the left-right direction (x-axis direction) and the displacement in the up-down direction (y-axis direction) of the moving body (100) are measured from the change in magnetic flux measured by the first magnetic sensor (52) composed of multiple holes.

[0050] That is, for the vertical movement of the moving body (100), the second coil driver (63) on the lower surface (a surface parallel to the x-axis direction) drives the second coil section (21), but the change in magnetic flux is measured using the first magnetic sensor (52) positioned at a certain distance from the left surface (a surface parallel to the y-axis direction), and the vertical displacement of the moving body (100) is measured.

[0051] The first magnetic sensor (32) is preferably configured with multiple holes to measure magnetic flux, and the vertical position of the moving body (100) is measured by the difference in values ​​measured from two or more multi-holes.

[0052] Additionally, referring to FIG. 3(a) and FIG. 3(c) for a more detailed view, the first coil driver (53) drives the first coil part (11) located at a certain distance from the left side (a side parallel to the y-axis direction) of the moving body (100) in order to move the moving body (100) in the left and right directions (x-axis direction).

[0053] As with Fig. 3(b), in Fig. 3(c), the second magnetic sensor (42) is not present, and the displacement in the left-right direction (x-axis direction) and the displacement in the up-down direction (y-axis direction) of the moving body (100) are measured from the change in magnetic flux measured by the first magnetic sensor (52) composed of multiple holes.

[0054] That is, for the left and right movement (x-axis direction) of the moving body (100), the first coil driver (53) on the left side (a side parallel to the y-axis direction) drives the first coil part (11), and the change in magnetic flux is measured using the first magnetic sensor (52) which is spaced a certain distance from the left side (a side parallel to the y-axis direction), and the left and right movement displacement of the moving body (100) is measured.

[0055] In order to move the moving body (100) in the left and right directions (x-axis direction), the first coil driver (53) drives the first coil part (11) located at a certain distance from the left side (a side parallel to the y-axis direction) of the moving body (100).

[0056] Meanwhile, the first magnetic sensor (42) measures not only the vertical displacement (y-axis direction) of the moving body (100) from the change in magnetic flux, but also the horizontal displacement (x-axis direction) of the moving body (100).

[0057] According to one embodiment of the present invention, for vertical movement (y-axis direction) of a moving body (100), a second coil portion (21) located at a certain distance from the lower surface (a surface parallel to the x-axis direction) of the moving body (100) generates an electric magnetic field, and a first magnetic sensor (52) positioned at a certain distance from the left surface (a surface parallel to the y-axis direction) of the moving body (100) measures the change in magnetic flux. In this case, it is preferable that the first magnetic sensor (52) be configured in a multi-hall mode.

[0058] In addition, according to another embodiment of the present invention, for left and right movement (x-axis direction) of the moving body (100), a first coil part (11) located at a certain distance from the left side (a side parallel to the y-axis direction) of the moving body (100) creates an electric magnetic field, and a change in magnetic flux is measured using a first magnetic sensor (52) positioned at a certain distance from the left side (a side parallel to the y-axis direction) of the moving body (100). In this case, it is preferable that the first magnetic sensor (52) be configured in a single Hall mode.

[0059] Below, we will examine in more detail the case where the first magnetic sensor (52) according to an embodiment of the present invention operates in a multi-hole mode and the case where it operates in a single-hole mode.

[0060]

[0061]

[0062] Figure 4 shows the first magnetic sensor (52) illustrated in Figure 3 in more detail.

[0063] FIG. 4(a) is a case where the first magnet (10) is in an initial position, and the distance from the center of the first magnet (10) to the first Hall sensor (121) and the distance to the second Hall sensor (122) are arranged differently.

[0064] FIG. 4(b) illustrates the case in FIG. 4(a) where the moving body (100) moves only up and down without moving left and right, and FIG. 4(c) illustrates the case in which the moving body (100) moves only left and right without moving up and down.

[0065] The first magnetic sensor (52) is configured to include a first Hall sensor (121) and a second Hall sensor (122).

[0066] The following is an example of calculating displacement for a case involving only vertical movement without horizontal movement.

[0067] The case where there is only up and down movement without left and right movement is when the value of the first Hall sensor (121) at the first point in Fig. 4(a) is 90 and the value of the second Hall sensor (122) is 90, and at the second point in Fig. 4(b) the value of the first Hall sensor (121) is 100 and the value of the second Hall sensor (122) is 80.

[0068] When there is only vertical movement of the moving body (100), if the multi-hall mode values ​​of the first magnetic sensor (52) in multi-hall mode at the first and second points in time are calculated using Equation 1, 0 is calculated at the first point in time and 1 / 9 at the second point in time. Here, Hall1 is the value of the first Hall sensor (121) and Hall2 is the value of the second Hall sensor (122).

[0069]

[0070] On the other hand, in the case of single-hole mode, if the single-hole mode values ​​at the first and second time points are calculated using mathematical formula 2, 180 is calculated at the first time point and 180 is also calculated at the second time point.

[0071]

[0072] Therefore, when the moving body (100) moves only up and down without left and right movement, it is preferable for the first magnetic sensor (52) to operate in multi-hall mode to calculate the up and down movement displacement.

[0073] On the other hand, an example of calculating displacement for a case involving only left-right movement without up-and-down movement is as follows.

[0074] The case where there is only left and right movement without up and down movement is as shown in FIG. 4(a), where the value of the first Hall sensor (121) at the first time point is 100 and the value of the second Hall sensor (122) is 80, and at the second time point in FIG. 4(c), where the value of the first Hall sensor (121) is 50 and the value of the second Hall sensor (122) is 40.

[0075] When there is only left and right movement of the moving body (100), if the multi-hall mode value at the first time point and the second time point of the first magnetic sensor (52) of the multi-hall mode is calculated using Equation 1, the same value of 1 / 9 is calculated for both time points. Here, Hall1 is the value of the first Hall sensor (121), and Hall2 is the value of the second Hall sensor (122).

[0076] On the other hand, in the case of single-hole mode, if the single-hole mode values ​​at the first and second time points are calculated using mathematical formula 2, 180 is calculated at the first time point and 90 is calculated at the second time point.

[0077] Therefore, when the moving body (100) moves only left and right without moving up and down, it is preferable for the first magnetic sensor (52) to operate in a single-hole mode to calculate the left and right movement displacement.

[0078]

[0079] According to another embodiment of the present invention, when the first magnetic sensor (52) is in single Hall mode, a weight inversely proportional to the distance between the center of the first magnet (10) and the first Hall sensor (121) and the second Hall sensor (122) can be assigned to each Hall sensor value of Equation 2 to calculate the single Hall mode value.

[0080] Referring again to FIG. 3(b) and FIG. 4(b), when the moving body (100) moves up and down (in the y-axis direction), the distance from the center of the first magnet (10) to the first Hall sensor (121) and the distance to the second Hall sensor (122) differ depending on the position of the first magnet (10), and by assigning a weight inversely proportional to the distance to each Hall sensor value (Hall1, Hall2) of Equation 2, the displacement of the moving body (100) can be calculated more accurately.

[0081] The first Hall sensor (121) and the second Hall sensor (122) are sensors that identify position and angle by changing the measured value according to the change in magnetic flux. The sensors can be integrated with a voice coil motor (VCM) driver to control the x and y axis positions of the camera module and use a closed-loop (CL) method to receive feedback on the position value.

[0082] Generally, the displacement of a moving body (100) is measured by including two Hall sensors on each of the two axes of x and y, but the present invention discloses a method of simultaneously sensing the X and Y positions of a moving body (100) using one magnetic sensor including two Hall sensors and two coil drivers, which increases the flexibility of implementing a 2-axis position control system and has the effect of reducing costs.

[0083]

[0084] FIG. 5 shows an example in which a first magnetic sensor (52) and a first coil driver (53) form one chip, and a second coil driver (63) forms another chip.

[0085] Referring to FIG. 5, it is preferable to position the second coil driver (63) before the FPCB. The part indicated by the dotted line in FIG. 5 represents the FPCB.

[0086] A first coil driver (53) that drives the first coil section (11) and a second coil driver (63) that drives the second coil section (21) are placed on separate chips. That is, the first coil driver (53) and the first magnetic sensor (52) may be included in the same IC, and the second coil driver (63) may be included in a different IC. In the case of FIG. 5, the location of the driving circuit (second coil driver (63)) can reduce the amount of power driving noise applied to the magnetic sensor, thus helping to improve performance.

[0087]

[0088] FIG. 6 illustrates an example in which a first magnetic sensor (52) and a first coil driver (53) as well as a second coil driver (63) are configured as a single chip.

[0089] Referring to FIG. 6, a first coil driver (53) that drives the first coil section (11) and a second coil driver (63) that drives the second coil section (21) are arranged on a single chip.

[0090] When the first magnetic sensor (52), the first coil driver (53), and the second coil driver (63) are configured as a single chip, the development cost can be reduced compared to when they are configured as two chips.

[0091] In the case where the chip is connected via an FPCB as shown in Fig. 6, it is difficult to separate the driver and power included in the chip, so power routing becomes weaker compared to a general PCB, and power noise affects the IC performance. In this case, as shown in Fig. 5, if one of the driver ICs (second coil driver (63)) is connected to the beginning of the FPCB or to a main PCB with robust power wiring, the influence of power noise on the Hall sensor is reduced, and performance is improved.

[0092] Meanwhile, in the case of Fig. 6, since only one IC is used, a connection from one axis to another axis is required, and an FPCB is used for this connection.

[0093]

[0094] Furthermore, it is obvious that the embodiments according to the present invention can solve various other technical problems in the relevant technical field as well as in related technical fields other than those mentioned in this specification.

[0095] The present invention has been described above with reference to specific embodiments. However, those skilled in the art will clearly understand that various modified embodiments may be implemented within the technical scope of the present invention. Therefore, the embodiments disclosed above should be considered in an illustrative rather than a restrictive sense. That is, the true technical scope of the present invention is set forth in the claims, and all variations within the scope of equivalents should be interpreted as being included in the present invention.

Claims

1. A first magnet disposed on one surface of a moving body; A second magnet disposed on the other side of the above-mentioned movable body; A first coil portion positioned opposite to the first magnet and moving the first magnet in a first direction; A second coil portion positioned opposite to the second magnet to move the second magnet in a second direction; A magnetic sensor unit disposed at a position opposite to the first magnet and comprising a first Hall sensor and a second Hall sensor; and It includes a driver unit that drives the first coil unit and the second coil unit to move the first magnet and the second magnet based on the positions of the first magnet and the second magnet detected by the magnetic sensor unit, The position of the first magnet in the first direction is sensed by the sensor unit operating in single-hole mode, and A 2-axis position control system characterized in that the position of the second magnet in the second direction is sensed by the sensor unit operating in multi-hall mode.

2. In Paragraph 1, The above single Hall mode is a mode that senses a change in position by comparing the sum of the first Hall sensor value and the second Hall sensor value at the first time and the second time, respectively. A 2-axis position control system characterized in that the above multi-hall mode is a mode for sensing a change in position by comparing the sum of the first Hall sensor value and the second Hall sensor value at the first time and the difference between the first Hall sensor value and the second Hall sensor value at the second time, respectively.

3. In Paragraph 2, A two-axis position control system characterized by calculating the value of the single Hall mode by assigning a weight to each Hall sensor value that is inversely proportional to the distance between the center of the first magnet and the first Hall sensor and the second Hall sensor in the single Hall mode.

4. In Paragraph 1, The above driver unit is composed of a first coil driver that drives the first coil unit and a second coil driver that drives the second coil unit, and A two-axis position control system characterized in that the first coil driver and the sensor unit are included in the same IC, and the second coil driver is included in a different IC.

5. In Paragraph 1, The above driver unit is composed of a first coil driver that drives the first coil unit and a second coil driver that drives the second coil unit, and A two-axis position control system characterized in that the first coil driver, the second coil driver, and the sensor unit are included in a single IC.

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