JP2001359286A - Vibration type actuator drive controller, fault detection/fixing method and recording medium - Google Patents

Abstract

PROBLEM TO BE SOLVED: To detect a fault including deterioration of performance with a small and low price structure, in order to quickly stop the drive of a vibration type actuator, when a fault is generated in the vibration type actuator. SOLUTION: A drive speed and a drive frequency for driving a vibration type motor are detected (S10, S11), and a variation rate of the drive speed for change of drive frequency is calculated, based on the detected drive speed and drive frequency (S12). When this variation rate (gradient) lies outside of the predetermined range, it is deemed that a fault has been generated in the vibration type motor (S13), and driving of the vibration motor is stopped and a warning is issued to the external side.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vibration type actuator drive control device, an abnormality detection / treatment method, and a storage medium, and more particularly, to applying an AC signal to an electromechanical energy conversion element to excite it to obtain a driving force. The present invention relates to a vibration-type actuator drive control device that performs drive control of a vibration-type actuator, an abnormality detection and treatment method applied to the vibration-type actuator drive control device, and a storage medium that stores a program that executes the abnormality detection and treatment method.

[0002]

2. Description of the Related Art Conventionally, a vibration-type actuator which is excited by applying an AC signal to an electro-mechanical energy conversion element (elastic body) and obtains a driving force by using the vibration energy is, for example, a vibration type actuator. Type motors and the like exist.

[0003] Various proposals have been made regarding abnormality detection of a vibration type motor. For example, Japanese Patent Application Laid-Open No. 5-49275
According to the publication, the vibration amplitude of the piezoelectric body constituting the vibration type motor is detected by the vibration detecting means, and when the detected vibration amplitude is equal to or smaller than a predetermined threshold and is decreasing, the voltage supply to the piezoelectric body is stopped. I do. This prevents the vibration type motor from being damaged.

In Japanese Patent Application Laid-Open No. H11-146675, various measured values capable of estimating the driving speed and driving position deviation of a vibration type motor are periodically acquired, and the difference between these and a set standard value is constantly monitored. Then, a motor control device for detecting the occurrence of an abnormality is provided to prevent a reduction in constant speed rotation performance and damage to the motor and the like.

Further, in Japanese Patent Application Laid-Open No. Hei 7-123745, when the vibration type motor is started, if it cannot be started even after performing the starting operation a predetermined number of times, the start of the vibration type motor is stopped. When the type motor cannot be started or when a very serious abnormality occurs in the vibration type motor, the start of the vibration type motor is surely stopped.

[0006]

However, in the vibration type motor disclosed in the above-mentioned Japanese Patent Application Laid-Open No. 5-49275, a vibration detecting means for detecting a vibration state is required. There is a problem that the cost for the control circuit increases.

In the vibration type motor disclosed in Japanese Patent Application Laid-Open No. H11-146675, the operation of detecting an abnormal state is performed during normal driving after the motor is started. Even in the state,
In some cases, the vibration motor was started. Also,
In the case where the performance of the vibration type motor is slightly deteriorated due to wear of the friction surface or the like, there is a case where it is possible to drive at the target speed, and there is a problem that the performance deterioration abnormality at that time cannot be detected.

Further, in the vibration type motor disclosed in Japanese Patent Application Laid-Open No. 7-123745, even if the vibration type motor cannot be started due to an abnormality, the motor is started a predetermined number of times.
There is a problem that the vibration type motor and the device connected thereto are seriously damaged.

The present invention has been made in view of such a problem, and when an abnormality has occurred in a vibration type actuator, the abnormality is reduced by a small and inexpensive configuration.
An object of the present invention is to provide a vibration-type actuator drive control device, an abnormality detection / treatment method, and a storage medium, which detect performance degradation and stop the activation of the vibration-type actuator promptly.

[0010]

According to the first aspect of the present invention, there is provided a vibration-type actuator for obtaining a driving force by applying an AC signal to an electromechanical energy conversion element to excite the element to excite the element. In a vibration-type actuator drive control device that performs drive control, an operation parameter detection unit that detects an operation parameter indicating an operation state at the time of starting the vibration-type actuator, based on the operation parameter detected by the operation parameter detection unit, Abnormality detecting means for detecting an abnormality of the vibration type actuator;
When an abnormality of the vibration-type actuator is detected by the abnormality detection unit, a treatment execution unit that performs at least one of a treatment for stopping the driving of the vibration-type actuator and a treatment for displaying a warning outside is provided. It is characterized by having.

Further, according to the invention of claim 6, the present invention is applied to a vibration type actuator drive control device which performs drive control of a vibration type actuator which obtains a driving force by applying an AC signal to an electro-mechanical energy conversion element to excite it. An abnormality parameter detection step for detecting an operation parameter indicating an operation state at the time of activation of the vibration type actuator, and the vibration type actuator based on the operation parameter detected by the operation parameter detection step. An abnormality detection step of detecting an abnormality of the vibration type actuator, when an abnormality of the vibration type actuator is detected by the abnormality detection step, a measure for stopping the driving of the vibration type actuator, and a measure for displaying a warning externally, Having at least one action execution step And it features.

Further, according to the eleventh aspect of the present invention,
An abnormality detection and treatment method applied to a vibration-type actuator drive control device that performs drive control of a vibration-type actuator that obtains a driving force by applying an AC signal to an electro-mechanical energy conversion element to excite and obtain a driving force is stored by a computer. In the readable storage medium, the abnormality detection / treatment method includes an operation parameter detection step of detecting an operation parameter indicating an operation state at the time of starting the vibration type actuator, and an operation parameter detected by the operation parameter detection step. An abnormality detecting step of detecting an abnormality of the vibration-type actuator, a measure for stopping the driving of the vibration-type actuator when an abnormality of the vibration-type actuator is detected by the abnormality detection step, and displaying an external warning Actions to take And having a treatment execution step of performing Kutomo one.

[0013]

Embodiments of the present invention will be described below with reference to the drawings.

(First Embodiment) FIG. 2 is a sectional view showing the structure of a vibration-type actuator that is driven and controlled by a drive control device according to the present invention. This vibration type actuator is a known traveling wave type vibration type motor. Hereinafter, the configuration of the vibration motor will be described with reference to FIG.

A stator 2 as a vibrator is fixed to a base 1 with screws, and the stator 2 includes a vibrator 21 and a piezoelectric element 2.
2 and a friction material 23. A piezoelectric element 22 is fixed to the back surface of a vibrator 21 made of an elastic material such as metal, and a friction material 23 is bonded to the other surface. The rotor 3 as a moving body is pressed by the stator 2 via the rubber 7 by the pressure spring 6 and is in pressure contact with the stator 2. The disk 5 is shrink-fitted to the rotating shaft 4, and the inner diameter of the pressure spring 6 is fixed to the disk 5. The rotating shaft 4 includes a pair of deep groove ball bearings 8 having an outer ring fixed to the base 1.
1, 82 while being rotatably supported, and the rotating shaft 4 being pushed into the stator 2 by the amount of pressure displacement of the pressure spring 6 for bringing the rotor 3 into press contact with the stator 2 with an appropriate force. Is supported on the inner ring of the bearing 82 by a snap ring 9 mounted in a groove of the rotating shaft 4. Bearing 81
An appropriate preload is applied to the inner ring by the disk 5,
As a result, the play is eliminated, and the radial runout of the rotating shaft 4 is suppressed.

A driving voltage is supplied to the piezoelectric element 22 via the connector 10 and the flexible printed circuit board 11, whereby a progressive vibration wave is generated in the stator 2. By bringing the rotor 3 into pressure contact with the stator 2 where the progressive vibration wave is generated, the rotor 3 is driven to rotate, and a rotational force can be taken out from the rotating shaft 4.

Although not shown, a load to be driven by the vibration type motor is attached to one end of the rotation shaft 4 of the vibration type motor, and the other end is for detecting the rotation speed of the vibration type motor. A rotary encoder is installed. The encoder used in the present embodiment is an increment encoder that outputs a two-phase pulse signal having a frequency according to the rotation speed and a phase relationship according to the rotation direction.

FIG. 1 is a block diagram showing the configuration of a first embodiment of the vibration-type actuator drive control device according to the present invention.

Reference numeral 101 denotes a microprocessor which manages the operation of the entire apparatus including the operation of the vibration motor 107. The microprocessor 101 outputs information to each unit in the control unit indicated by a dotted line in FIG. 1, thereby switching between driving and stopping the vibration type motor 107, setting the driving speed, setting control parameters, and the like. I have. Further, the state of the vibration type motor 107 is detected by obtaining information from each of these units, and based on this, the driving of the vibration type motor 107 is interrupted, and the display unit 109 displays that the vibration type motor 107 is abnormal. And so on.

Here, the display unit 109 is provided with the vibration type motor 1.
07 is a part for notifying a person who operates the device equipped with the operation status of the device. For example, the vibration type motor 107
When the device equipped with is a copier device, the display unit 109 is a liquid crystal screen arranged near the operation buttons, and the operation status of the copier device is displayed on this liquid crystal screen by character information. . When the device on which the vibration type motor 107 is mounted is an ink jet printer or the like, the display unit 109 is a light emitting element such as an LED arranged on the surface of the housing, and the light emitting element is turned on or off. , The operation status of the inkjet printer or the like.

In FIG. 1, the control section surrounded by a dotted line is constituted by a digital circuit such as a gate array. 102
Is a speed detection circuit, which counts the cycle of the pulse signal output from the encoder 108 at the timing of the clock, and calculates the reciprocal of the obtained count value.
A value corresponding to the driving speed of the vibration motor 107 is detected. The speed information detected by the speed detection circuit 102 is output to the subtractor 103 and the microprocessor 101. The subtractor 103 calculates a speed deviation which is a deviation between the speed information detected by the speed detector 102 and the speed command value output from the microprocessor 101. The calculated speed deviation is output to PI calculation section 104. PI
The operation unit 104 operates the vibration type motor 107 based on information obtained by summing a value obtained by multiplying the speed deviation by a proportional gain and a value obtained by integrating a value obtained by integrating the speed deviation by an integral gain. Is determined. The driving frequency determined by the PI calculation unit 104 is output to the oscillation circuit 105 and the microprocessor 101.

The oscillating circuit 105 generates four-phase pulse signals having the input driving frequency and having a phase shift of 90 ° from each other. Reference numeral 106 denotes a booster circuit including a transformer therein. The booster circuit 106 push-pulls the primary side of the transformer at the timing of the four-phase pulse signal, thereby generating a two-phase AC signal boosted to a voltage value at which the vibration motor 107 can be driven. .

In general, the vibration type motor operates the rotor by transmitting the energy of the vibration of the stator to the rotor by frictional force. Therefore, the characteristics of the vibration type motor may be deteriorated due to abrasion of the friction surface or a change in the friction coefficient. .

FIG. 4 is a characteristic diagram showing a relationship between a driving frequency and a driving speed in the vibration type motor.

According to this specific diagram, when the driving frequency coincides with the resonance frequency fr of the stator, the driving speed becomes maximum, and after the resonance frequency fr, the driving speed gradually decreases in a high frequency region, and gradually decreases in a low frequency region. In this case, the driving speed drops sharply.

Here, it is assumed that the characteristics of the normal vibration type motor are characteristics A shown in FIG. On the other hand, when the performance of the vibration type motor is reduced due to the above-described wear or change in the friction coefficient,
In general, the characteristics of the vibration type motor change as a characteristic B shown in FIG. In the case of the characteristic B, the vibration type motor does not immediately stop operating, but since the maximum driving speed decreases, the vibration type motor stops driving depending on the size of the load connected to the vibration type motor. In some cases, the operation may become unstable, or the operation of the vibration type motor may be unstable, causing serious damage to a device on which the vibration type motor is mounted.

The characteristics A and B in FIG. 4 have different driving speed gradients with respect to the driving frequency. The present embodiment focuses on this point, and detects the above gradient when the vibration type motor is driven, and compares the magnitude of the detected gradient with a reference value to determine whether or not an abnormal state exists. Make a decision. This makes it possible to stop driving the vibration type motor or display a warning to the operator before causing fatal damage to the device on which the vibration type motor is mounted.

In this embodiment, in the vibration-type actuator drive control device having the structure shown in FIG. 1, the microprocessor 101 detects the state of the vibration-type motor 107, and when the vibration-type motor 107 is in an abnormal state, Motor 1
07 is immediately stopped, and the display unit 109 displays that fact.

FIG. 3 is a flowchart showing a processing procedure of abnormality detection and abnormality handling performed by the microprocessor 101. Hereinafter, the operation of the microprocessor 101 will be described in detail along the step (S) shown in FIG.

When the vibration type motor 107 is started,
The microprocessor 101 sends a speed command value for gradually increasing the target speed to the subtractor 103 of the control unit, thereby accelerating the vibration motor 107. The speed command value at the time of acceleration is read from a target speed table stored in a memory inside the microprocessor 101 in advance. In the target speed table, a plurality of target speed data whose values are set to gradually increase are stored in order corresponding to the table numbers in ascending order, and the target speed data VRi is stored in the i-th table number.
Is supported.

When a drive command is issued to the vibration type motor 107, the processing shown in FIG. 3 is started.

In step S1, a table number i is set to 1, which is an initial value. In step S2, the target speed table VRi (= VR1) corresponding to the table number i (= 1) is read out with reference to the target speed table, and sent to the subtractor 103 as a speed command value.

Thereafter, in step S3, driving of the vibration motor 107 is started. That is, the vibration type motor 10
7 is applied with a drive voltage.

In step S4, the microprocessor 1
01 performs a wait operation for stopping the operation for a predetermined time. The wait operation is an operation of the microprocessor 101, and the control unit always operates without stopping the operation. In addition, the above-mentioned predetermined time is set in the vibration type motor 10.
The time is set to be sufficiently longer than the mechanical time constant of 7. As a result, the vibration type motor 10
7 has reached near the target speed data VRi (= VR1).

In step S5, the reference number i is set to a predetermined value a
Is determined. If the reference number i is not the predetermined value a, the process proceeds to step S6. In step S6, reference number i
Is a predetermined value b (a <b). If the reference number i is not the predetermined value b, the process proceeds to step S7, and it is determined whether the acceleration is completed. If the acceleration has not been completed, 1 is added to the reference number i in step S8,
In step S9, referring to the target speed table, the target speed data VRi corresponding to the table number i is read,
It is sent to the subtractor 103 as a speed command value. Then, the process returns to step S4.

If it is determined in step S5 that the reference number i is the predetermined value a, the process proceeds to step S10, in which the driving frequency fa applied to the vibration type motor 107 at that time and the vibration type motor 107 at that time are determined. Drive speed Va
Is detected and stored. If it is determined in step S6 that the reference number i is the predetermined value b, the process proceeds to step S11.
Then, the drive frequency fb applied to the vibration motor 107 at that time and the drive speed Vb of the vibration motor 107 at that time are detected and stored.

In the next step S12, a gradient indicating the degree of change in the driving speed with respect to the conversion of the driving frequency is calculated based on the following equation.

Gradient = (Vb-Va) / (Fb-Fa) In step S13, it is determined whether or not the gradient data obtained in step S12 is within a predetermined range. If the gradient data is out of the predetermined range, it is determined that an abnormality has occurred, and in step S14, driving of the vibration motor 107 is stopped and a warning is displayed on the display unit 109. On the other hand, when the gradient data is within the predetermined range,
It is determined that the operation is normal, the process proceeds to step S7, and thereafter, the target speed is increased until the acceleration is completed, and the processing operation of completing the acceleration is performed.

As described above, an abnormality is detected during acceleration of the vibration type motor 107 at the time of startup, and a warning is displayed when the vibration type motor 107 is in an abnormal state, and at the same time, the operation of the vibration type motor 107 is stopped. Fatal damage to a device on which the mold motor is mounted can be prevented.

(Second Embodiment) Next, a second embodiment will be described.

Since the configuration of the second embodiment is basically the same as the configuration of the first embodiment, the configuration of the first embodiment will be used in the description of the second embodiment. Second
In the second embodiment, the method of detecting an abnormality performed by the microprocessor 101 is different from that of the first embodiment.

That is, in general, in a vibration type motor, the vibration amplitude is amplified by vibrating the stator at the natural frequency of the stator. However, there are usually a plurality of natural frequencies of the stator. Therefore, for example, even if the annular stator is designed to vibrate at seven vibration wave numbers, this stator also vibrates at six or eight vibration wave numbers. However, if the stator vibrates at a vibration frequency different from the design, the driving efficiency of the vibration type motor is deteriorated, or the rotation direction is opposite to the desired direction.

When the relationship between the driving frequency and the driving speed of the vibration type motor shown in FIG. 4 is expressed with the driving frequency region further expanded, the characteristics shown in FIG. 5 are obtained. In FIG. 5, when the resonance frequency at which the vibration-type motor rotates optimally (resonance frequency when the stator vibrates at the designed vibration frequency) is fr, the resonance frequency fr + 1 higher or lower than the resonance frequency fr There is a resonance frequency fr-1. These resonance frequencies fr + 1 and fr-1 are resonance frequencies when the stator vibrates at a vibration frequency different from the design. Each of the driving speeds at the resonance frequencies fr + 1 and fr-1 has such a property that their absolute values are smaller and the driving rotation directions are reversed as compared with the driving speed at the resonance frequency fr.

By the way, when the piezoelectric element adhered to the stator of the vibration type motor is broken or peeled off,
When the pressure of the rotor with respect to the stator changes, the original resonance frequency fr changes, and the resonance frequency fr also changes.
+1 and the resonance frequency fr-1 may also change. When the same drive frequency as that in the normal state is applied to the vibration type motor whose resonance frequency has changed and driven, the resonance frequency fr + 1 and the resonance frequency fr− shown in FIG.
In the vicinity of 1, there is a possibility that the drive of the vibration type motor is controlled. In such a case, the driving rotation direction of the vibration type motor is
It is opposite to the original drive rotation direction.

In the present embodiment, focusing on such points, the driving rotation direction of the vibration type motor at the time of startup is detected, and if it is not the intended direction, it is determined that an abnormality has occurred. Then, the operation of the vibration type motor is stopped or a warning is displayed to a person who operates the device before causing fatal damage to the device on which the vibration type motor is mounted.

FIG. 6 is a flowchart showing a procedure of abnormality detection and abnormality processing performed by the microprocessor 101 in the second embodiment. In FIG. 6, the same processing steps as those in the first embodiment shown in FIG. 3 are denoted by the same step numbers, and the description thereof will be omitted. Only different processing parts will be described.

In the second embodiment, step S
At 21, it is determined whether or not the table number i is a predetermined value c. If the table number i is not the predetermined value c, step S
7 and the same processing as in the first embodiment is performed. on the other hand,
If the table number i is the predetermined value c, the process proceeds to step S22, and the rotation direction of the vibration motor 107 is detected. The rotation direction is detected by the speed detection circuit 102. Specifically, it is detected based on the phase relationship between the two-phase encoder signals sent from the encoder 108.

In the step S23, it is determined whether or not the rotation direction detected in the step S22 is the original direction. If the rotation direction is the original direction, the process proceeds to step S7, and a normal acceleration operation is performed. If the rotation direction is not the original direction, the process proceeds to step S14, where the rotation of the vibration type motor 107 is stopped and the display unit 109 displays the vibration type motor 1
07 indicates an abnormal state.

In order to determine the predetermined value c, the rotation speed at which the vibration type motor 107 starts to rotate stably after starting is detected, and a target speed corresponding to the detected rotation speed is determined in the target speed table. The table number corresponding to the searched and found target speed is set to a predetermined value c. The reason for adopting such a determination method is that chattering or the like occurs in the vibration type motor 107 in an unstable state at the beginning of rotation, and when the processing of step S22 and step S23 is performed in this state,
This is because accurate abnormality determination may not be performed. That is, since the vibration type motor 107 momentarily reverses the rotation direction due to the chattering, an erroneous rotation direction is detected depending on the detection timing of the rotation direction, and erroneous abnormality determination is performed.

Thus, also in the second embodiment,
Abnormality is detected during acceleration at the time of startup of the vibration type motor 107, and a warning is displayed when the vibration type motor 107 is in an abnormal state, and at the same time, the operation of the vibration type motor 107 is stopped. Fatal damage can be prevented.

In each of the above-described embodiments, when the abnormality of the vibration type motor 107 is detected, the driving of the vibration type motor 107 is stopped, and a warning is displayed on the display unit 109. Instead, the vibration type motor 107
When the abnormality is detected, only the action of stopping the driving of the vibration motor 107 or displaying a warning on the display unit 109 may be taken.

A storage medium storing a program code of software for realizing the functions of the above-described embodiments is supplied to a system or an apparatus, and the computer (or CPU or MP) of the system or the apparatus is supplied.
It goes without saying that the present invention is also achieved when U) reads out and executes the program code stored in the storage medium.

In this case, the program code itself read from the storage medium realizes the functions of the above-described embodiments, and the storage medium storing the program code constitutes the present invention. .

As a storage medium for supplying the program code, for example, a floppy disk, hard disk, optical disk, magneto-optical disk, CD-ROM, CD
-R, a magnetic tape, a nonvolatile memory card, a ROM, or the like can be used.

When the computer executes the readout program code, not only the functions of the above-described embodiments are realized, but also an OS or the like running on the computer based on the instructions of the program code. Performs some or all of the actual processing, and the functions of the above-described embodiments are realized by the processing.
Needless to say, this is included in the present invention.

Further, after the program code read from the storage medium is written into a memory provided in a function expansion board inserted into the computer or a function expansion unit connected to the computer, based on the instruction of the program code, It is needless to say that the present invention includes a case where the CPU or the like provided in the function expansion board or the function expansion unit performs part or all of the actual processing, and the processing realizes the functions of the above-described embodiments. No.

[0057]

As described above in detail, according to the present invention, when the vibration-type actuator is started, it is determined whether or not the vibration-type actuator is in an abnormal state, by changing the driving speed with respect to the change in the driving frequency, or by changing the driving speed. Detect based on rotation direction.

Thus, the occurrence of abnormality of the vibration type actuator can be detected with a small and inexpensive configuration, and abnormality including performance deterioration can be detected. Furthermore, it can be detected promptly at startup.

If an abnormality has occurred in the vibration-type actuator, the operation of the vibration-type actuator is stopped, and / or a message indicating that the vibration-type actuator is abnormal is displayed.

As a result, the vibration-type actuator is quickly stopped, and the vibration-type actuator is mounted when the characteristics of the vibration-type actuator deteriorate due to wear between the vibrating body and the moving body or abnormalities of the vibrating body. The device is prevented from being used continuously, which can prevent the device from being fatally damaged. Further, it is possible to promptly prompt the operator to take measures.

[Brief description of the drawings]

FIG. 1 is a block diagram showing a configuration of a first embodiment of a vibration-type actuator drive control device according to the present invention.

FIG. 2 is a cross-sectional view illustrating a configuration of a vibration-type actuator that is driven and controlled by a drive control device according to the present invention.

FIG. 3 is a flowchart illustrating a processing procedure of abnormality detection and abnormal-state processing performed by a microprocessor;

FIG. 4 is a characteristic diagram showing a relationship between a driving frequency and a driving speed in a vibration type motor.

FIG. 5 is a characteristic diagram expressing a relationship between a driving frequency and a driving speed of a vibration type motor in a wide driving frequency region.

FIG. 6 is a flowchart illustrating a processing procedure of abnormality detection and abnormality processing performed by a microprocessor according to the second embodiment.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Base 2 ... Stator 22 ... Piezoelectric element (electric-mechanical energy conversion element) 3 ... Rotor 4 ... Rotation axis 101 ... Microprocessor (abnormality detection means, treatment execution means) 102 ... Speed detection circuit (operation parameter detection means) 103 ... Subtractor 104 ... PI calculation unit 105 ... Oscillation circuit 106 ... Boost circuit 107 ... Vibration type motor (vibration type actuator) 108 ... Encoder 109 ... Display unit

Claims (15)

[Claims] 1. A vibration-type actuator drive control device for driving and controlling a vibration-type actuator that obtains a driving force by applying an AC signal to an electro-mechanical energy conversion element to excite the same, wherein an operation state of the vibration-type actuator at the time of startup is provided. Operating parameter detecting means for detecting an operating parameter indicating: an abnormality detecting means for detecting an abnormality of the vibration-type actuator based on the operation parameter detected by the operating parameter detecting means; and the vibration-type actuator by the abnormality detecting means. Characterized in that it has a treatment executing means for performing at least one of a treatment for stopping the driving of the vibration-type actuator when a malfunction is detected and a treatment for displaying a warning externally. Drive control device. 2. The operating parameter is a plurality of driving speeds and driving frequencies at different timings at the time of starting the vibration type actuator, and the abnormality detecting means performs driving based on the plurality of driving speeds and driving frequencies. Calculating means for calculating the degree of change of the driving speed with respect to a change in frequency; comparing means for comparing the degree of change calculated by the calculating means with a predetermined range value; and a result of comparison by the comparing means, the calculated change The vibration-type actuator drive control device according to claim 1, further comprising: a determination unit that determines that an abnormality has occurred in the vibration-type actuator when the degree is out of the predetermined range value. 3. The predetermined range value is a range value of a degree of change in drive speed with respect to a change in drive frequency, which should be exhibited at the time of startup of the vibration type actuator in a state where no abnormality has occurred in the vibration type actuator. 3. The drive control device for a vibration type actuator according to claim 2, wherein: 4. The method according to claim 1, wherein the operation parameter is a driving rotation direction at the time of starting the vibration-type actuator, the abnormality detection unit compares the detected driving rotation direction with a predetermined rotation direction, When the result of comparison by the comparison means is that the detected drive rotation direction is different from the predetermined rotation direction, the determination means determines that an abnormality has occurred in the vibration-type actuator. The vibration actuator drive control device according to claim 1. 5. The method according to claim 4, wherein the predetermined rotation direction is a direction in which the vibration-type actuator should be driven and rotated at the time of startup in a state where no abnormality has occurred in the vibration-type actuator. Vibration type actuator drive control device. 6. An abnormality detection / treatment method applied to a vibration-type actuator drive control device for performing drive control of a vibration-type actuator that obtains a driving force by applying an AC signal to an electro-mechanical energy conversion element to excite the electro-mechanical energy conversion element, An operation parameter detection step of detecting an operation parameter indicating an operation state at the time of activation of the vibration actuator, and an abnormality detection step of detecting an abnormality of the vibration actuator based on the operation parameter detected by the operation parameter detection step. When an abnormality of the vibration-type actuator is detected by the abnormality detection step, a treatment execution step of performing at least one of a treatment for stopping the driving of the vibration-type actuator and a treatment for displaying a warning outside is performed. An abnormality detection / treatment method characterized by having: 7. The operating parameter is a plurality of driving speeds and driving frequencies at different timings when the vibration type actuator is started, and the abnormality detecting step is performed based on the plurality of driving speeds and driving frequencies. A calculating step of calculating a degree of change in the driving speed with respect to a change in frequency; a comparing step of comparing the degree of change calculated in the calculating step with a predetermined range value; a result of the comparison in the comparing step; 7. The method according to claim 6, further comprising a step of determining that an abnormality has occurred in the vibration-type actuator when the degree is out of the predetermined range value. 8. The predetermined range value is a range value of a degree of change in drive speed with respect to a change in drive frequency, which should be exhibited at the time of startup of the vibration type actuator in a state where no abnormality has occurred in the vibration type actuator. The abnormality detection / treatment method according to claim 7, wherein: 9. The method according to claim 8, wherein the operation parameter is a driving rotation direction at the time of starting the vibration type actuator, the abnormality detecting step is a comparing step of comparing the detected driving rotation direction with a predetermined rotation direction, As a result of the comparison in the comparison step, when the detected drive rotation direction is different from the predetermined rotation direction,
7. The abnormality detection / treatment method according to claim 6, further comprising: a determination step of determining that an abnormality has occurred in the vibration type actuator. 10. The method according to claim 9, wherein the predetermined rotation direction is a direction in which the vibration-type actuator should be driven to rotate at the time of startup in a state where no abnormality has occurred in the vibration-type actuator. Anomaly detection and treatment method. 11. A method for detecting and treating an abnormality applied to a vibration-type actuator drive control device that performs drive control of a vibration-type actuator that obtains a driving force by applying an AC signal to an electro-mechanical energy conversion element to excite the electro-mechanical energy conversion element as a program. In a storage medium stored by a computer and readable by a computer, the abnormality detection / treatment method includes: an operation parameter detection step of detecting an operation parameter indicating an operation state at the time of starting the vibration type actuator; and an operation parameter detection step. An abnormality detection step of detecting an abnormality of the vibration-type actuator based on the performed operation parameter; and a step of stopping the driving of the vibration-type actuator when an abnormality of the vibration-type actuator is detected by the abnormality detection step. Show warnings externally Of the treatment, storage medium characterized by having a treatment execution step of performing at least one. 12. The operation parameter is a plurality of drive speeds and drive frequencies at different timings when the vibration type actuator is started, and the abnormality detecting step is performed based on the plurality of drive speeds and drive frequencies. A calculating step of calculating a degree of change in the driving speed with respect to a change in frequency; a comparing step of comparing the degree of change calculated in the calculating step with a predetermined range value; a result of the comparison in the comparing step; 12. The storage medium according to claim 11, further comprising: a step of determining that an abnormality has occurred in the vibration-type actuator when the degree is out of the predetermined range value. 13. The predetermined range value is a range value of a degree of change in drive speed with respect to a change in drive frequency, which should be exhibited at the time of startup of the vibration type actuator in a state where no abnormality has occurred in the vibration type actuator. 13. The storage medium according to claim 12, wherein: 14. The method according to claim 1, wherein the operation parameter is a driving rotation direction at the time of starting the vibration-type actuator, the abnormality detecting step is a comparing step of comparing the detected driving rotation direction with a predetermined rotation direction, As a result of the comparison in the comparison step, when the detected drive rotation direction is different from the predetermined rotation direction,
A determining step of determining that an abnormality has occurred in the vibration-type actuator.
The storage medium according to the above. 15. The apparatus according to claim 14, wherein the predetermined rotation direction is a direction in which the vibration-type actuator should be driven and rotated at the time of startup in a state where no abnormality has occurred in the vibration-type actuator. Storage medium.