Control device, recording medium, and control system

1. A control device for controlling a control object, the control device comprising:

a processor and a memory, configured to: generate a second command value obtained by compensating a first command value output at every control cycle according to a trajectory with a correction amount output at every control cycle according to correction data and calculate and output a control output for controlling a movement of the control object according to the second command value;

update the correction data based on a deviation between the first command value and a feedback value from the control object; and

determine an initial value of the correction data used in a state in which the update of the correction data is not executed, wherein the processor is further configured to:

acquire a response characteristic indicating a relationship between a command value assigned for the control object and a feedback value shown in the control object in response to the command value;

estimate a feedback value to be shown in the control object based on a value obtained by compensating the first command value with temporary correction data and the response characteristic; and

update the temporary correction data based on a deviation between the first command value and the estimated feedback value, wherein the processor is further configured to:

execute a simulation learning computation by using uncorrected response data and characteristic-measuring response data corresponding to a temporal change of a feedback value generated in response to a pre-correction command value defined in a characteristic-measuring command value pattern being assigned for the control object; and

set the temporary correction data obtained by executing the simulation learning computation as the initial value of the correction data.

2. The control device according to claim 1 , wherein the processor is further configured to calculate a model error from a deviation between a feedback value shown in the control object in response to the output of the first command value and a corresponding estimated feedback value.

3. The control device according to claim 2 , wherein the processor reflects the model error in post-update temporary correction data.

4. The control device according to claim 2 , wherein the processor updates a current temporary correction data with a value obtained by multiplying a deviation from the estimated feedback value by a predetermined coefficient.

5. The control device according to claim 1 , wherein the processor:

outputs a third command value at every control cycle according to a step-like designated value pattern; and

calculates a response characteristic for a unit pulse by temporal difference approximation for a temporal change in a feedback value acquired corresponding to the third command value.

6. The control device according to claim 1 , wherein the processor assigns an arbitrary command value for the control object and determines a transfer function estimated by a system identification method based on a temporal change in a feedback value acquired corresponding to the arbitrary command value as a response characteristic.

7. The control device according to claim 1 , wherein the processor is further configured to repeat processing of the estimating and the updating until a predetermined end condition is satisfied.

8. A non-transitory recording medium storing a control program for realizing a control device for controlling a control object, the control program executing, in a computer:

a step of generating a second command value obtained by compensating a first command value output at every control cycle according to a trajectory with a correction amount output at every control cycle according to correction data and calculating and outputting a control output for controlling a movement of the control object according to the second command value;

a step of updating the correction data based on a deviation between the first command value and a feedback value from the control object; and

a step of determining an initial value of the correction data used in a state in which the update of the correction data is not executed,

wherein the step of determining the initial value of the correction data comprises:

acquiring a response characteristic indicating a relationship between a command value assigned for the control object and a feedback value shown in the control object in response to the command value;

estimating a feedback value to be shown in the control object based on a value obtained by compensating the first command value with temporary correction data and the response characteristic; and

updating the temporary correction data based on a deviation between the first command value and the estimated feedback value, wherein the step of determining the initial value of the correction data further comprises:

executing a simulation learning computation by using uncorrected response data and characteristic-measuring response data corresponding to a temporal change of a feedback value generated in response to a pre-correction command value defined in a characteristic-measuring command value pattern being assigned for the control object; and

setting the temporary correction data obtained by executing the simulation learning computation as the initial value of the correction data.

9. A control system for controlling a control object, the control system comprising:

One or more processors and a memory, configured to: generate a second command value obtained by compensating a first command value output at every control cycle according to a trajectory with a correction amount output at every control cycle according to correction data; calculate and output a control output for controlling a movement of the control object according to the second command value;

update the correction data based on a deviation between the first command value and a feedback value from the control object; and

determine an initial value of the correction data used in a state in which the update of the correction data is not executed, wherein the one or more processors are further configured to:

acquire a response characteristic indicating a relationship between a command value assigned for the control object and a feedback value shown in the control object in response to the command value;

estimate a feedback value to be shown in the control object based on a value obtained by compensating the first command value with temporary correction data and the response characteristic; and

update the temporary correction data based on a deviation between the first command value and the estimated feedback value, wherein the one or more processors are further configured to:

execute a simulation learning computation by using uncorrected response data and characteristic-measuring response data corresponding to a temporal change of a feedback value generated in response to a pre-correction command value defined in a characteristic-measuring command value pattern being assigned for the control object; and

set the temporary correction data obtained by executing the simulation learning computation as the initial value of the correction data.

10. The control device according to claim 3 , wherein the processor updates a current temporary correction data with a value obtained by multiplying a deviation from the estimated feedback value by a predetermined coefficient.

11. The control device according to claim 2 , wherein the processor:

outputs a third command value output at every control cycle according to a step-like designated value pattern; and

calculates a response characteristic for a unit pulse by temporal difference approximation for a temporal change in a feedback value acquired corresponding to the third command value.

12. The control device according to claim 3 , wherein the processor:

outputs a third command value output at every control cycle according to a step-like designated value pattern; and

calculates a response characteristic for a unit pulse by temporal difference approximation for a temporal change in a feedback value acquired corresponding to the third command value.

13. The control device according to claim 4 , wherein the processor:

outputs a third command value output at every control cycle according to a step-like designated value pattern; and

calculates a response characteristic for a unit pulse by temporal difference approximation for a temporal change in a feedback value acquired corresponding to the third command value.

14. The control device according to claim 2 , wherein the processor assigns an arbitrary command value for the control object and determines a transfer function estimated by a system identification method based on a temporal change in a feedback value acquired corresponding to the arbitrary command value as a response characteristic.

15. The control device according to claim 3 , wherein the processor assigns an arbitrary command value for the control object and determines a transfer function estimated by a system identification method based on a temporal change in a feedback value acquired corresponding to the arbitrary command value as a response characteristic.

16. The control device according to claim 4 , wherein the processor assigns an arbitrary command value for the control object and determines a transfer function estimated by a system identification method based on a temporal change in a feedback value acquired corresponding to the arbitrary command value as a response characteristic.

17. The control device according to claim 2 , wherein the processor is further configured to repeat processing of the estimating and the updating until a predetermined end condition s satisfied.

18. The control device according to claim 3 , wherein the processor is further configured to repeat processing of the estimating and the updating until a predetermined end condition is satisfied.

19. The control device according to claim 4 , wherein the processor is further configured to repeat processing of the estimating and the updating until a predetermined end condition is satisfied.

20. The control device according to claim 5 , wherein the processor is further configured to repeat processing of the estimating and the updating until a predetermined end condition is satisfied.