| 摘要 |
<p>A mobile position control device (60) comprising a coordinates conversion block (70), a translating direction control system (80) for feedback-controlling a Y1 linear motor (20A), a yawing direction control system (90) for feedback-controlling a Y2 linear motor (20B), and a thrust non-interfering block (100). Since estimated disturbance components are removed from a Y-direction translating thrust instruction value uy and a theta-direction thrust instruction value utheta respectively by a translating disturbance observer (82) and a rotating disturbance observer (92) even if a translating direction disturbance d1, and rotating direction disturbance d2 are input to the translating direction control system (80) and the yawing direction control system (90) respectively, linear motors (20A, 20B) can generate disturbance-unaffected drive forces F1, F2 respectively.</p> |
