Control device for drive device

A control device for a drive device including a first and a second actuators, a driven body that is driven by the actuators, and a power transmission mechanism that transmits the driving forces of the actuators to the driven body such that the driven body is driven by an amount equivalent to the total of the drive amounts of the actuators, the control device comprising:

• a first multiplier that outputs a value, which is obtained by multiplying a generated total drive command value by a first gain G1, as a first drive command value;
• a second multiplier that outputs a value, which is obtained by multiplying the total drive command value by a second gain G2, as a second drive command value;
• a first controller that controls the first actuator on the basis of the first drive command value;
• a second controller that controls the second actuator on the basis of the second drive command value;
• a gain calculator that calculates the gains G1 and G2;
• a first drive amount detector that detects the drive amount of the first actuator and outputs a value Ef1 indicating the detection value to the gain calculator;
• a second drive amount detector that detects the drive amount of the second actuator and outputs a value Ef2 indicating the detection value to the gain calculator;
• and
• a total drive amount detector that detects the drive amount of the driven body and outputs a value Ef indicating the detection value to the gain calculator,
• wherein the gain calculator calculates the first gain G1 according to a first gain calculation formula using Ef1 and Ef as variables and calculates the second gain G2 according to a second gain calculation formula using Ef2 and Ef as variables,
• the first and second gain calculation formulae are set such that the first and the second gains G1 and G2 become ½ regardless of the values of the variables while the drive device is normal,
• Ef changes within a range from zero to an upper limit value Lmax,
• the gain calculator brings the first gain G1 close to (Ef1−Lmax/2)/(Ef−Lmax) and brings the second gain G2 close to (Ef2−Lmax/2)/(Ef−Lmax) in the case where Ef1, Ef2, or Ef approaches zero.