Remote control device, system, method, and recording medium for determining a delay setting value

1. A remote control device comprising:

a communication interface; and

a processor configured to:

receive, via the communication interface, a control result from a control target device wherein the control result is a result of controlling the control target device;

determine a delay setting value, based on a history of a delay amount of data that is transmitted to or received from the control target device;

control the communication interface to transmit the delay setting value to a delay adjustment device that controls the control target device;

generate control data for performing a feedback control with dead time compensation on the control target device, based on the control result and the delay setting value; and

control the communication interface to transmit a packet that includes the control data and a generation time of the control data to the delay adjustment device that controls the control target device.

2. The remote control device according to claim 1 , wherein the processor is further configured to: calculate an upper limit of the delay amount in the future, based on the history of the delay amount, and use the upper limit as the delay setting value.

3. The remote control device according to claim 2 , wherein the processor is further configured to:

identify a predetermined time series model, based on the history of the delay amount,

derive a probability distribution of the delay amount in the future from the predetermined time series model, and

calculate the upper limit of the delay amount, based on the probability distribution.

4. The remote control device according to claim 1 , wherein a Smith predictor is used for the dead time compensation.

5. A remote control method comprising:

receiving, by a remote control device, a control result from a control target device, wherein the control result is a result of controlling the control target device;

determining, by the remote control device, a delay setting value, based on a history of a delay amount of that is transmitted to or received from the control target device;

transmitting, by the remote control device, the delay setting value to a delay adjustment device that controls the control target device;

generating, by the remote control device, control data for performing a feedback control with dead time compensation on the control target device, based on the control result and the delay setting value; and

transmitting, by the remote control device, a packet that includes the control data and a generation time of the control data to the delay adjustment device that controls the control target device.

6. The remote control method according to claim 5 , further comprising calculating an upper limit of the delay amount in the future, based on the history of the delay amount, and using the upper limit as the delay setting value.

7. The remote control method according to claim 6 , further comprising:

identifying a predetermined time series model, based on the history of the delay amount,

deriving a probability distribution of the delay amount in future from the predetermined time series model, and

calculating the upper limit of the delay amount, based on the probability distribution.

8. The remote control method according to claim 5 , wherein a Smith predictor is used for the dead time compensation.

9. The remote control method according to claim 5 , further comprising:

outputting, by the delay adjustment device, the control data to the remote control device, based on the delay setting value and the generation time of the control data.

10. The remote control method according to claim 5 , further comprising:

outputting, by the delay adjustment device, the control data to the remote control device after a lapse of a time corresponding to the delay setting value from the generation time of the control data.

11. A non-transitory computer readable recording medium storing computer-executable instructions that, when executed by a processor of a remote control device, cause the processor to:

receive a control result from a control target device, wherein the control result is a result of controlling the control target device;

determine a delay setting value, based on a history of a delay amount of that is transmitted to or received from the control target device;

transmit the delay setting value to a delay adjustment device that controls the control target device;

generate control data for performing a feedback control with dead time compensation on the control target device, based on the control result and the delay setting value; and

transmit a packet that includes the control data and a generation time of the control data to the delay adjustment device that controls the control target device.

12. The non-transitory computer readable recording medium according to claim 11 , wherein the computer-executable instructions are further configured to cause the processor to:

calculate an upper limit of the delay amount in the future, based on the history of the delay amount, and use the upper limit as the delay setting value.

13. The non-transitory computer readable recording medium according to claim 12 , wherein the computer-executable instructions are further configured to cause the processor to:

identify a predetermined time series model, based on the history of the delay amount,

derive a probability distribution of the delay amount in future from the predetermined time series model, and

calculate the upper limit of the delay amount, based on the probability distribution.

14. The non-transitory computer readable recording medium according to claim 11 , wherein a Smith predictor is used for the dead time compensation.