Control method for vibration type actuator including vibrator and contact body moving relative to each other, drive control device, vibration type drive device, and apparatus

Abstract

A vibration type drive device capable of maintaining stable drive performance and controllability includes a vibration type actuator comprising a vibrator and a contact body, and a drive control device. The drive control device applies two-phase alternating current voltages to the energy conversion element of the vibrator by a drive portion, converts a control amount of feedback control based on the relative position/speed into a phase difference between the two-phase alternating current voltages, and outputs the phase difference to the drive portion by using, for the relative movement, a phase difference of a first or second quadrant in a coordinate system (in a first direction) and a phase difference of a third or fourth quadrant (in a second direction), with θ representing the phase difference, SIN θ corresponding to the vertical axis, and COS θ corresponding to the horizontal axis in the coordinate system.