A method of calculating a drive speed of a piezoelectric
actuator, the piezoelectric
actuator comprising an
impact drive
system and a driven member, the
impact drive
system comprising a fixing member, a piezoelectric element, and a shaft connected in this order and the driven member being provided on the shaft to be moveable along a longitudinal axis direction of the shaft, wherein the piezoelectric element is disposed on one surface of the fixing member to be extendable and shrinkable in a direction perpendicular to the surface of the fixing member, wherein the shaft is disposed in a direction perpendicular to and on a surface of the piezoelectric element opposite to a surface facing the fixing member, and wherein the piezoelectric element provides a movement of the driven member when a
voltage is applied to the piezoelectric element, the method comprising calculating a drive speed Sp by the following equation (II) : Sp = μ *2 *f *αv *αs *αf ··· (II) where μ is a displacement of the piezoelectric element calculated by the following equation (III), f is a frequency of a
voltage applied to the piezoelectric element, αv is a speed distribution coefficient calculated by the equation (I), αs is a shaft damping coefficient, and αf is a
transfer efficiency of a displacement of the driven member by one cycle of extension and shrink of the piezoelectric element, αv = (Mw + Mp) / (Mw + 2 *Mp + Ms) ··· (I) where Mw is a
mass of the fixed member, Mp is a
mass of the piezoelectric element, and Ms is a
mass of the shaft, μ = n *V *d33 *k··· (III) where n is a number of
layers of the piezoelectric element, V is an input
voltage applied to the piezoelectric element, d33 is a
piezoelectric coefficient, and k is a linear compensation coefficient.