| 摘要 |
Multipliers 21a and 21b output values, which are obtained by multiplying a total drive command value E s by first and second gains G 1 and G 2 , respectively, as first and second drive command values E 1 and E 2 . Controllers 23a and 23b control first and second actuators (motors) 5 and 7, respectively, on the basis of the first and second drive command values. The detection values of the drive amounts of the actuators are denoted by E f1 and E f2 , respectively, and the detection value of the drive amount of a driven body is denoted by E f . A gain calculator 27 calculates the gains G 1 and G 2 on the basis of E f1 , E f and E f2 . An upper limit value of E f , which denotes the drive amount of the driven body, is denoted by L max . When E f1 , E f2 or E f approaches zero, the first gain G 1 is brought close to (E f1 - L max /2)/(E f - L max ). |
