JP4681925B2 - Camera with image stabilization function - Google Patents

Description

  The present invention relates to a camera having a camera shake correction function, and more particularly to setting and adjustment of parameters determined in a control system.

  In a camera having a camera shake correction function, an angular velocity sensor is provided or a motion vector is detected from a video signal in order to detect a change in the posture of the camera due to camera shake. In order to prevent image blurring, an optical lens such as a prism is driven so as to cancel the movement of the camera due to camera shake. As a result, an image without image blur can be obtained (see Patent Document 1).

For the control of camera shake correction, for example, PID control that is general-purpose feedback control is applied. In PID control, control parameters such as proportional gain, integration time, and derivative time are adjusted according to the characteristics of the control system, and parameter values are determined by, for example, the limit sensitivity method (see Patent Document 2).
JP-A-5-199449 JP 9-34503 A

  If the camera is used for a long time, the characteristics of the control system such as the response characteristics change due to wear in the camera shake correction mechanism. However, since the control parameters are determined in advance according to the characteristics of the control system at the time of manufacture, control errors occur due to long-term use, and image blur cannot be prevented.

  The camera of the present invention is a camera provided with a camera shake correction mechanism that prevents image blur by optical correction, and can always perform appropriate camera shake correction regardless of changes in the camera shake correction mechanism over time. The camera of the present invention includes a camera shake detecting means for detecting a camera posture change due to camera shake and outputting a camera shake detection signal, and an image formation area of a subject image obtained by a photographing optical system so as to prevent image blur caused by the camera shake. And a camera shake correction mechanism for adjusting the image quality. For example, the camera shake detection means may be constituted by a gyrometer that detects angular velocity. Further, the camera shake correction mechanism may be configured such that a camera shake correction lens is provided in the photographing optical system and the lens is relatively shifted in a direction to cancel the camera shake. Or you may make it the structure which shifts an image pick-up element relatively in the direction which cancels camera shake.

  The camera of the present invention further includes a control unit that feedback-controls the camera shake correction mechanism according to the control parameter based on the camera shake detection signal, and a parameter adjustment unit that determines the control parameter according to the characteristics of the control system including the camera shake correction mechanism. The characteristics of the control system vary in response characteristics and stability depending on the characteristics of the camera shake correction mechanism. The control parameters are determined according to the characteristics of the control system. The control means executes, for example, PID control. In this case, the control parameters are proportional gain, integration time, and differentiation time. In the case of PID control, the parameter adjusting means may determine the control parameter by the limit sensitivity method.

  In the camera of the present invention, the parameter adjusting means determines the control parameter based on the hypothetical input element corresponding to the camera shake detection signal in a state where the shooting posture of the camera is maintained. Regardless of whether the camera posture has changed, it is assumed that an input element corresponding to camera shake is input to the control system, and an operation amount is given to the camera shake correction mechanism. Then, the value of the control parameter is changed in the process of executing the feedback control based on the deviation between the control amount output from the camera shake correction mechanism and the input element. Among them, control parameters that maximize the characteristics of the feedback control system, that is, quick response, steady deviation, and damping characteristics are determined. For example, when the control parameter is determined by the limit sensitivity method in PID control, it is assumed that a step corresponding to a camera shake detection signal has been input, and the proportional gain is changed while the integration time and derivative time of the control parameter are kept constant. . And what is necessary is just to determine a control parameter based on the proportional gain and vibration period when a continuous vibration arises.

  Here, the “photographing posture” of the camera represents a state in which the posture is not changed due to camera shake and the camera is stationary in a horizontal posture, and indicates the posture of the camera that should be originally determined at the time of photographing. That is, it means a camera posture in which the optical axis of the camera (the bottom surface and the top surface of the camera housing) is substantially parallel to the horizontal direction and is stationary. For example, when the direction in which the lens or the image sensor in the camera shake correction mechanism is relatively shifted is two directions that are perpendicular to the optical axis of the photographing optical system and are orthogonal to each other, Are horizontal and vertical directions. The response characteristics of the control system vary depending on the camera posture difference (tilted posture, etc.) due to the camera shake correction mechanism or the camera's own weight. In the present invention, the control parameter is determined based on the original attitude of the camera that the photographer intends to determine at the time of shooting (same as the attitude when setting the control parameter at the time of manufacture). Therefore, control parameters suitable for the situation in which the camera shake detection means and the camera shake correction mechanism operate are obtained, and camera shake correction is executed by appropriate feedback control.

  The photographer may determine the shooting posture of the camera, but in order to more appropriately determine the posture of the camera, it is preferable to provide camera posture detection means for detecting whether or not the camera is in the shooting posture. In order not to complicate the internal configuration, it is preferable to detect the shooting posture using camera shake detection means. For example, a horizontal posture detection unit that detects whether the camera is in a horizontal posture and outputs a horizontal posture detection signal is provided, and the shooting posture of the camera is determined based on the camera shake detection signal by the camera shake detection unit and the horizontal posture detection signal. It is good to detect. The horizontal posture detection means is constituted by a gyrometer, for example.

  If the camera posture is lost during adjustment of the control parameter, there is a possibility that an appropriate control parameter cannot be obtained. Therefore, during control parameter adjustment, a camera posture monitoring unit is provided for detecting whether or not the camera is out of the shooting posture. When the camera is out of the shooting posture, a forced stop unit for forcibly stopping the control parameter adjustment is provided. It is preferable to provide it.

  The adjustment of the control parameter may be started according to the photographer's intention, or the control parameter may be automatically adjusted. When executed by the photographer's judgment, a parameter adjustment button for starting adjustment of the control parameter is provided.

  Since it is necessary to adjust the control parameter in accordance with the change with time of the camera shake correction mechanism, it is preferable to execute the control parameter adjustment based on the cumulative time using the camera shake correction, the number of times of use, or the like. For example, it is preferable to provide execution time monitoring means for detecting whether the cumulative camera shake correction execution time of the camera exceeds an allowable limit time that does not require adjustment of the control parameter. When the photographer starts executing the parameter adjustment, an informing means for informing the necessity of the adjustment of the control parameter is provided when the usage time of the camera exceeds the allowable limit time. On the other hand, when the control parameter is automatically adjusted, it is preferable that the parameter adjusting means adjust the control parameter if the usage time of the camera exceeds the allowable limit time.

  The camera shake correction control device for a camera according to the present invention provides a subject obtained by a photographing optical system so as to prevent image blur caused by camera shake based on a camera shake detection signal obtained by a camera shake detection unit that detects a change in camera posture due to camera shake. A control unit that feedback-controls a camera shake correction mechanism that adjusts an image formation area according to a control parameter; and a parameter adjustment unit that determines the control parameter in accordance with a characteristic of a control system including the camera shake correction mechanism. The control parameter is determined based on a hypothetical input element corresponding to a camera shake detection signal in a state in which the photographing posture of the camera is maintained. However, mobile devices such as a mobile phone with a photographing function and a mobile terminal are also included in the camera here.

  The camera shake correction control method for a camera according to the present invention is based on a camera shake detection signal obtained by a camera shake detection means for detecting a camera posture change due to camera shake, and a subject obtained by a photographing optical system so as to prevent image blur caused by camera shake. A camera shake correction mechanism that adjusts the image formation area is feedback-controlled according to the control parameters, and the control parameters are adjusted according to the characteristics of the control system including the camera shake correction mechanism. In this state, the control parameter is determined based on an assumed input element corresponding to the camera shake detection signal.

  The camera shake correction control program for a camera according to the present invention is based on a camera shake detection signal obtained by a camera shake detection means for detecting a camera posture change caused by camera shake, and a subject obtained by a photographing optical system so as to prevent image blur caused by camera shake. The control means for feedback-controlling the image stabilization mechanism for adjusting the image formation area according to the control parameter, and the parameter adjustment means for determining the control parameter in accordance with the characteristics of the control system including the image stabilization mechanism, function the camera. In a state where the posture is maintained, the parameter adjustment means is made to function so as to determine a control parameter based on an assumed input element corresponding to a camera shake detection signal.

  As described above, according to the present invention, it is possible to perform an appropriate camera shake correction regardless of the use of the camera.

  Hereinafter, a camera with a camera shake correction function according to an embodiment of the present invention will be described with reference to the drawings.

  FIG. 1 is a schematic perspective view of a digital camera according to the first embodiment. FIG. 2 is a diagram schematically illustrating the attitude sensor. FIG. 3 is a schematic diagram of a camera shake correction mechanism.

  The camera 10 is a digital camera having a camera shake correction function, and a camera shake correction mechanism 26 shown in FIG. 3 is provided behind the lens barrel 11. A release button 13, a camera shake correction button 16, and a parameter adjustment button 18 are provided on the upper surface 10U of the camera.

  Gyrometers 20A and 20B for detecting camera shake are provided inside the camera, and the gyrometers 20A and 20B detect angular velocities when the camera pitches and yaws, respectively. However, the movement of the camera 10 around the optical axis E, that is, the movement on the XY plane shown in FIGS. 1 and 3, is yawed, and the movement of the optical axis E around the vertical direction, that is, the direction perpendicular to the XY plane. And a movement on a plane including the Y direction is defined as pitching.

  In addition, a posture sensor 17 that detects the posture of the camera 10 is provided inside the camera, and detects the posture of the camera in a stationary state. As shown in FIG. 2, the attitude sensor 17 is a hemispherical gyrometer having a hollow inside, and is formed so that a cross-sectional curve is a parabolic shape. The posture sensor 17 includes a container 21 whose top is directed toward the bottom surface of the camera 10, a sphere 23 that can freely move inside the container 21, and a posture switch 22 that supports the bottom of the container 21. The container 21 is hermetically sealed.

  In a state where the camera 10 is in a horizontal posture, that is, in a state where the optical axis E of the camera 10 and the camera bottom surface 10S are substantially parallel to the horizontal plane, the sphere 23 is positioned on the top of the container 21 and the posture switch 22 is Turns on. When the camera 10 is tilted from the horizontal posture, the sphere 22 moves from the top of the container 21 as indicated by a broken line, and the posture switch 22 is turned off.

  As shown in FIG. 3, the camera shake correction mechanism 26 includes a rectangular moving stage 26A in which the CCD 40 is mounted near the center, and an opening AP through which light passing through the lens barrel 11 passes, and the moving stage 26A. And a rectangular fixed stage 26B opposed to each other, and a support (not shown) for supporting the moving stage 26A and the fixed stage 26B. The moving stage 26 </ b> A is movable along an X direction and a Y direction that are on a plane perpendicular to the optical axis E and perpendicular to each other by driving of a motor (not shown). When the camera 10 is in the horizontal posture state, the X direction is a direction along the horizontal plane, and the Y direction is a direction along the vertical direction. When angular velocities corresponding to pitching and yawing are detected by the gyrometers 20A and 20B, the moving stage 26A moves so as to cancel (compensate) image blur due to camera shake. The size of the opening AP of the fixed stage 26B is determined according to the moving range of the CCD 40.

  Magnetic sensors 27A and 27B such as Hall elements are arranged around the CCD 40 of the moving stage 26A along the X and Y directions. On the other hand, on the fixed stage 26B, magnets 24A and 24B are arranged along the X direction and the Y direction so as to face the magnetic sensors 27A and 27B. When hand movement is detected and the moving stage 26A moves, the magnetic sensors 27A and 27B detect magnetic field changes according to changes in the relative positions with respect to the magnets 24A and 24B, and the moving stage 26A moves in the X and Y directions, respectively. Detect the amount.

  FIG. 4 is a block diagram of the camera 10.

  A system control circuit 50 including a CPU controls the camera 10, and a program for executing processing operations of the entire camera is stored in the ROM 51. Circuits such as the release full-press switch 13B, the release half-press switch 13A, the parameter adjustment switch 18A, and the main switch 15A are connected to the system control circuit 50. When the power is turned on by an operation on the main button (not shown), The main switch 15A is turned on, and power is supplied to each circuit.

  When the shooting mode is set, a processing operation for displaying a moving image is executed. When the light passing through the photographing optical system 15 reaches the CCD 40 via the shutter 28, a subject image is formed on the light receiving surface of the CCD 40. In the CCD 40, an analog image signal corresponding to the subject image is generated by photoelectric conversion, and the image signal is sequentially read from the CCD 40 at predetermined time intervals by the CCD drive circuit 52. The analog image signal read from the CCD 40 is amplified by the amplifier circuit 42 and converted into a digital signal by the A / D converter 44.

  In the image processing circuit 46, various processes such as a white balance adjustment process and a gamma correction process are performed on the digital image signal. The processed image signal is temporarily stored in a frame memory (not shown) and sent to the LCD driver 47. The LCD driver 47 drives the liquid crystal display unit 30 based on the image signal. As a result, the subject image is displayed as a moving image on the liquid crystal display unit 30 provided on the back of the camera.

  When the release button 13 is half-pressed, the half-press is detected by the release button half-press switch 13A, and the brightness of the subject and the distance to the subject are detected by the exposure detector 63 and the like, and shooting is performed for focus adjustment. A focusing lens (not shown) in the optical system 15 is driven by a lens driving circuit 64. The operation of the shutter 28 and lens driving in the photographing optical system 15 are controlled by an exposure control circuit 58.

  When the release button 13 is fully pressed, a photographing operation is executed. That is, when the shutter 28 opens at a predetermined opening for a predetermined period and a subject image is formed on the CCD 40, an image signal for one frame corresponding to the subject image is read from the CCD 40. The read image signal is processed by the amplifier circuit 42, the A / D converter 44, and the image processing circuit 46, and temporarily stored in the frame memory. The image signal read from the frame memory is sent to the recording control circuit 62 via the image processing circuit 46 and the system control circuit 50. In the recording control circuit 62, the image signal is compressed, and the compressed image data is stored in the memory card 60.

  When the camera shake correction button 16 is pressed, the camera shake correction switch 16A is turned on, and an operation signal for executing camera shake correction is detected by the system control circuit 50. The system control circuit 50 enables driving of the camera shake correction mechanism 26 in order to execute camera shake correction processing. When the camera shake correction button 16 is pressed again and the camera shake correction switch 16A is turned off, the time when the camera shake correction switch 16A is turned on is stored in the memory 50R. The time during which the camera shake correction switch 16A is ON is accumulated, and the cumulative execution time of camera shake correction is stored in the memory 50R. When the parameter adjustment button 18 is pressed, the parameter adjustment switch 18A is turned on, and a control parameter adjustment process described later is executed.

  FIG. 5 is a block diagram of the control system.

  The controller A1 and the control parameter changing unit A4 are configured by the system control circuit 50, the control target A2 is configured by the camera shake correction mechanism 26, and the detection unit A3 is configured by the magnetic sensors 27A and 27B. When a signal corresponding to the angular velocity is output from the gyrometers 20A, 20B due to camera shake, a target signal is input to the controller A1 based on the detection signal, and the controller A1 outputs a drive signal as an operation amount to the control target A2. To do. When a signal corresponding to the amount of movement is output from the magnetic sensors 27A and 27B by the movement of the moving stage 26A of the camera shake correction mechanism 26, the signal is input as a control amount to the detection unit A3 and is input to the control system as an observation signal. Provide feedback. Based on the deviation, the controller A1 feedback-controls the control object A2.

The controller A1 is a PID controller, and executes control by combining P (proportional) operation, I (integral) operation, and D (differential) operation. The proportional gain K _P , the integration time T _I , and the differentiation time T _D that are control parameters are set to predetermined values in advance by the limit sensitivity method at the time of manufacture. That is, assuming that the step is input to the controller A1, the proportional gain K _P is increased by performing a proportional operation while fixing the integration time T _I and the differential time T _D (T _I → ∞, T _D → 0). I will let you. Then, a proportional gain K _PC when the continuous vibration occurs and its vibration period T _C are determined, and the optimal proportional gain K _P , integration time T _I , and differential time T _D are determined from the proportional gain K _PC and vibration period T _C. Determine the value.

On the other hand, when the parameter adjustment button 18 is pressed while the camera 10 is in use, it is considered that a step signal corresponding to camera shake has been input, and the controller A1 outputs an operation amount. In accordance with this step input, the control parameters are adjusted by the limit sensitivity method, and the values of the control parameters (proportional gain K _P , integration time T _I , derivative time T _D ) are determined.

  FIG. 6 is a flowchart showing control parameter adjustment processing. This adjustment process is periodically executed in the state of the camera shake correction mode by the camera shake correction button 16 or the power-on state of the camera.

  In step S101, it is determined whether or not the cumulative ON time of the camera shake correction switch 16A, that is, the camera shake correction execution time since the use of the camera has exceeded a predetermined time T1. Here, the predetermined time T1 indicates a time during which the control parameter needs to be adjusted due to a mechanical change (such as wear) of the camera shake correction mechanism 26 over time. If it is determined that the cumulative execution time of camera shake correction does not exceed the predetermined time T1, step S101 is repeatedly executed. On the other hand, if it is determined that the cumulative execution time of camera shake correction exceeds the predetermined time T1, the process proceeds to step S102.

  In step S102, the posture sensor 17 is in the ON state and the outputs from the gyrometers 20A and 20B are 0, that is, no camera shake occurs, and the photographing posture of the camera to be taken by the photographer during photographing is maintained. It is judged whether or not. Here, a state in which the camera 10 is not shaken and the camera 10 is stationary in a horizontal posture so that the optical axis E is in the horizontal direction is defined as a shooting posture of the camera.

  If it is determined in step S102 that the attitude sensor 17 is in the OFF state or the outputs from the gyrometers 20A and 20B are not 0, step S102 is repeatedly executed. On the other hand, if it is determined that the attitude sensor 17 is in the ON state and the outputs from the gyrometers 20A and 20B are 0, the process proceeds to step S103, and character information (notifying the user that adjustment of the control parameter is necessary) For example, “parameter adjustment is necessary” or the like is displayed on the liquid crystal display unit 30. When step S103 is executed, the process proceeds to step S104.

  In step S104, it is determined whether or not the parameter adjustment switch 18A is ON, that is, whether or not the parameter adjustment button 18 has been pressed by the user. If it is determined that the parameter adjustment switch 18A is not in the ON state, step S104 is repeatedly executed. On the other hand, if it is determined that the parameter adjustment switch 18A is in the ON state, the process proceeds to step S105.

In step S105, in order to obtain values of control parameters (proportional gain K _P , integration time T _I , differential time T _D ) suitable for the current response characteristics of the control system including the camera shake correction mechanism 26, a step corresponding to camera shake is performed. Assuming that there is (input element), the camera shake correction mechanism 26 is driven, and control parameter adjustment by the limit sensitivity method is executed. In step S106, character information that informs the user of the control parameters is displayed on the liquid crystal display unit 30.

  In step S107, it is determined whether or not the posture sensor 17 is in the OFF state or the outputs from the gyrometers 20A and 20B are not 0, that is, whether the camera 10 is out of the shooting posture due to camera shake or the like. If it is determined in step S107 that the attitude sensor 17 is in the OFF state or the outputs from the gyrometers 20A and 20B are not 0, the process proceeds to step S108, and the adjustment of the control parameter by the limit sensitivity method is forcibly stopped and forced. Character information indicating the cancellation is displayed on the liquid crystal display unit 30. When step S108 is executed, the process returns to step S102. On the other hand, when it is determined that the attitude sensor 17 is in the ON state or the outputs from the gyrometers 20A and 20B are 0, the process proceeds to step S109.

In step S109, it is determined whether or not the adjustment of the control parameters is completed, that is, the camera shake correction mechanism 26A is in the continuous vibration state, and the optimal control parameters (proportional gain K _P , integration time T _I , derivative time T _D ) are obtained. It is determined whether or not it has been. If it is determined that the control parameter adjustment has not ended, the process returns to step S107. On the other hand, when it is determined that the adjustment of the control parameter is finished, the parameter adjustment process is finished.

  Thus, according to the present embodiment, the gyrometers 20A and 20B and the camera shake correction mechanism 26 are provided in the camera 10, and the attitude sensor 17 and the parameter adjustment button 18 are provided. When the cumulative camera shake correction execution time of the camera exceeds the predetermined time T1, when the parameter adjustment button 18 is pressed, the control parameter is adjusted by the limit sensitivity method. At this time, it is monitored that the camera 10 is maintained in the photographing posture based on output signals from the posture sensor 17 and the gyrometers 20A and 20B.

  Next, a digital camera according to the second embodiment will be described with reference to FIG. In the second embodiment, when the cumulative camera shake correction execution time exceeds a predetermined time, the control parameter is automatically adjusted. About another structure, it is substantially the same as 1st Embodiment.

  FIG. 7 is a flowchart showing control parameter adjustment processing in the second embodiment.

  The execution of steps S201 and S202 is the same as the execution of steps S101 and S102 in FIG. That is, it is determined whether or not the cumulative execution time of camera shake correction exceeds the predetermined time T1, and if the predetermined time T1 is exceeded, it is determined whether or not the camera 10 is maintained in the shooting posture.

  The execution of steps S203 and S204 is the same as the execution of steps S104 and S105 in FIG. That is, when adjustment of the control parameter is necessary, a control parameter suitable for the current response characteristic of the camera shake correction mechanism 26 is automatically set by the limit sensitivity method. The execution of steps S205 to S207 is the same as the execution of steps S107 to S109 in FIG. 6, and the adjustment of the control parameters ends when the control parameters are determined.

  As the camera shake correction mechanism, a camera shake correction lens such as a prism may be provided and the lens may be shifted in accordance with the camera shake. Further, the control operation may be realized by a control method other than PID control, and the control parameters according to the control method may be adjusted. Instead of determining the adjustment time of the control parameter based on the cumulative execution time of camera shake correction, the control parameter may be determined according to other use conditions such as the number of times of use of camera shake correction (number of times the camera shake correction switch 16A is turned on). The photographer may determine the shooting posture of the camera.

1 is a schematic perspective view of a digital camera according to a first embodiment. It is the figure which showed the attitude | position sensor typically. It is a schematic diagram of a camera shake correction mechanism. It is a block diagram of a camera. It is a block diagram of a control system. It is the flowchart which showed the adjustment process of the control parameter. It is the flowchart which showed the adjustment process of the control parameter in 2nd Embodiment.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 Camera 15 Imaging optical system 17 Attitude sensor 18 Parameter adjustment button 20A Gyrometer 20B Gyrometer 26 Camera shake correction mechanism 50 System control circuit

Claims (12)

Photographic optics,
Camera shake detection means for detecting a camera posture change due to camera shake and outputting a camera shake detection signal;
A camera shake correction mechanism that adjusts an imaging area of a subject image obtained by the photographing optical system so as to prevent image blur caused by camera shake;
Control means for feedback-controlling the camera shake correction mechanism according to a control parameter based on the camera shake detection signal;
Parameter adjusting means for determining the control parameter in accordance with the characteristics of a control system including the camera shake correction mechanism,
Assuming that the parameter adjusting means has an assumed input element corresponding to camera shake in a state where the shooting posture of the camera is maintained, a camera shake detection signal output from the camera shake detection means for the camera shake correction. Driving the camera shake correction mechanism by giving an operation amount not based on
The parameter adjusting means determines a control parameter that matches the characteristics of the control system while changing the value of the control parameter in the process of feedback control by the control means after giving the manipulated variable. camera. Further have a camera posture detection means camera detects whether the imaging posture,
The camera according to claim 1 , wherein when the camera is detected to be in a shooting posture, the parameter adjusting unit gives the operation amount . The camera posture detection means has horizontal posture detection means for detecting whether the camera is in a horizontal posture and outputs a horizontal posture detection signal, and the camera shake detection signal by the camera shake detection means and the horizontal posture detection signal The camera according to claim 2, wherein the camera detects whether the camera is in a shooting posture based on the camera.   The camera according to claim 3, wherein the horizontal posture detection unit includes a gyrometer. Camera posture monitoring means for detecting whether the camera is out of the shooting posture during the adjustment of the control parameters;
2. The camera according to claim 1, further comprising: a forcible canceling unit that forcibly cancels the adjustment of the control parameter when the camera deviates from the shooting posture. 3.   The camera according to claim 1, further comprising a parameter adjustment button for starting adjustment of the control parameter. Execution time monitoring means for detecting whether or not the cumulative camera shake correction execution time of the camera exceeds an allowable limit time that does not require adjustment of control parameters;
The camera according to claim 6, further comprising notification means for notifying the necessity of adjustment of the control parameter when the cumulative camera shake correction execution time of the camera exceeds the allowable limit time. Further comprising execution time monitoring means for detecting whether or not the cumulative camera shake correction execution time of the camera exceeds an allowable limit time that does not require adjustment of the control parameter;
The camera according to claim 1, wherein the parameter adjustment unit determines a control parameter when the usage time of the camera exceeds an allowable time. The control means performs PID control;
The camera according to claim 1, wherein the parameter adjusting unit determines the control parameter by a limit sensitivity method. A camera shake correction mechanism that adjusts the imaging area of the subject image obtained by the photographic optical system so as to prevent image blur caused by camera shake based on the camera shake detection signal obtained by camera shake detection means that detects camera posture change due to camera shake Control means for performing feedback control according to control parameters;
Parameter adjusting means for determining the control parameter in accordance with the characteristics of a control system including the camera shake correction mechanism,
Assuming that the parameter adjusting means has an assumed input element corresponding to camera shake in a state where the shooting posture of the camera is maintained, a camera shake detection signal output from the camera shake detection means for the camera shake correction. Driving the camera shake correction mechanism by giving an operation amount not based on
The parameter adjusting means determines a control parameter that matches the characteristics of the control system while changing the value of the control parameter in the process of feedback control by the control means after giving the manipulated variable. Camera shake correction control device. A camera shake correction mechanism that adjusts the imaging area of the subject image obtained by the photographic optical system so as to prevent image blur caused by camera shake based on the camera shake detection signal obtained by camera shake detection means that detects camera posture change due to camera shake Feedback control according to the control parameters,
A method for adjusting the parameters to be determined in accordance with characteristics of a control system including the camera shake correction mechanism,
Assuming that there is an assumed input element corresponding to camera shake in a state where the camera's shooting posture is maintained, an operation amount that is not based on the camera shake detection signal output from the camera shake detection means is set for the camera shake correction. To drive the image stabilization mechanism,
A camera shake correction control method for a camera , wherein the control parameter is determined in accordance with the characteristics of the control system while changing the value of the control parameter in the process of feedback control by the control means after the operation amount is given. . Camera
A camera shake correction mechanism that adjusts the imaging area of the subject image obtained by the photographic optical system so as to prevent image blur caused by camera shake based on the camera shake detection signal obtained by camera shake detection means that detects camera posture change due to camera shake Control means for performing feedback control according to control parameters;
It said control parameter, and a control system characteristic together define program Ru to function as a parameter adjusting means including the camera shake correction mechanism,
Assuming that there is an assumed input element corresponding to camera shake in a state where the camera's shooting posture is maintained, an operation amount that is not based on the camera shake detection signal output from the camera shake detection means is set for the camera shake correction. To act as the parameter adjusting means so as to drive the camera shake correction mechanism ,
Functioning as the parameter adjusting means so as to determine a control parameter suitable for the characteristics of the control system while changing the value of the control parameter in the process of feedback control by the control means after giving the manipulated variable An image stabilization control program for cameras.

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