An auxiliary support device is required in the fiber placement process of the composite material fuselage of a certain aircraft. In order to meet this requirement, a two wheels type servo intermediate support device is designed. The automatic generation algorithm of transient position information of support wheel was researched based on the characteristics of the device. Firstly, the whole calculation formula of the transient position of the supporting wheel was given in detail based on the Computer Aid Design (CAD) pattern of the supported core-mold. The calculation method of the position coordinate change of the support wheel with the increase of fiber placement layers was given on the basis of the above. The algorithm lays a theoretical foundation for the development of the control system. The experimental device based on tail section of LE-500 aircraft as supporting is made, and the experimental results show that the device can meet the engineering requirements of following support for large scale weak rigid components.