Patent ID: 6859006

Claim:
A position control method for use in a driving apparatus comprising a driving source which drives a driven member through a power transmission mechanism and a position detection circuit which detects a driving position of the driving source and outputting a speed command value to the driving source to perform speed control, the method of performing control such that the position detected by the position detection circuit reaches a target position, the method comprising the steps of: comparing a remaining driving amount of the driving source to the target position with an amount of a mechanical dead zone of the power transmission mechanism; controlling the position of the driving source by performing a proportional and derivative operation on a deviation of the position detected by the position detection circuit from a command position obtained on the basis of the speed command value while the remaining driving amount is larger than the amount of the mechanical dead zone of the power transmission mechanism; and controlling the position of the driving source by performing a proportional, integral, and derivative operation on the deviation of the position detected by the position detection circuit from the command position derived on the basis of the speed command value when the remaining driving amount becomes smaller than the amount of the mechanical dead zone of the power transmission mechanism.