Patent ID: 7333862

Claim:
A position control device of a moving body, wherein first and second driving parts configured to drive corresponding ends of a first moving body movably provided in a first axial direction and a third driving part configured to drive a second moving body moving a second axial direction perpendicular to the first axial direction are controlled so that a moving body unit formed by the first moving body and the second moving body is moved, the position control device of the moving body comprising: a position of center of gravity calculating part configured to calculate a position of a center of gravity of the moving body unit corresponding to a moving position of the second moving body; a coefficient of distribution calculating part configured to calculate a coefficient of distribution setting a distribution ratio of a thrust force of the first driving part and a thrust force of the second driving part corresponding to the position of the center of gravity calculated by the position of center of gravity calculating part; a command value calculating part configured to multiply a first axis thrust force target value calculated by a position control compensator in the first axial direction by the coefficient of distribution calculated by the coefficient of distribution calculating part and configured to calculate a first axis thrust force command value of the first and second driving parts so that moments of forces in rotational directions due to the thrust forces on the first and second driving parts acting around the axis of the center of gravity are balanced; a moment of inertia calculating part configured to calculate a moment of inertia in a rotational direction wherein the position of the center of gravity of the moving body unit that changes corresponding to the moving position of the second moving body is an axis; a rotational direction thrust force calculating part configured to calculate a third axis thrust force command value around the axis of the center of gravity so that a ratio of the moment of inertia calculated by the moment of inertia calculating part to a thrust force gain of a position control compensator in the rotational direction is constant; and a driving thrust force command value calculating part configured to calculate thrust force command values for the first and second driving parts by using the first axis thrust force command value and the third axis thrust force command value, respectively.