Correction device, correction device controlling method, information processing program, and recording medium

A method for controlling a correction device that:

• corrects a command value for controlling a control target in a plurality of control cycles each having a given time interval generated from target orbit data, the command value generated in each control cycle in which the control target is controlled, the command value corrected in a current control cycle by comparing the command value with a current control cycle controlled variable comprising feedback information output from the control target in the current control cycle to generate a current control cycle corrected command value, and
• receives the current control cycle corrected command value and current control cycle controlled variable with a feedback control system that processes the current control cycle corrected command value and the current control cycle controlled variable and causes the current control cycle controlled variable of the control target to follow the command value in the current control cycle, the method comprising:
• acquiring, at a controlled variable acquiring part, the current control cycle controlled variable of the control target in the current control cycle with respect to the target orbit data;
• outputting, with the controlled variable acquiring part, the current control cycle controlled variable to the feedback control system;
• acquiring, at a reference command value acquiring part, the command value in the current control cycle;
• receiving, at a command value corrector, the acquired command value from the reference command value acquiring part and the current control cycle controlled variable from the controlled variable acquiring part;
• generating, with the command value corrector, the current control cycle corrected command value based on the acquired command value and the current control cycle controlled variable;
• receiving, at a corrected command value acquiring part, the current control cycle corrected command value from the command value corrector;
• outputting, with the corrected command value acquiring part, the current control cycle corrected command value to the feedback control system;
• receiving, at a learning controller, the current control cycle controlled variable from the controlled variable acquiring part;
• generating, with the learning controller, a correction amount of the command value generated in each control cycle from next target orbit data using the current control cycle controlled variable of the control target corresponding to the target orbit data and the command value of the current control cycle;
• and
• receiving, at the reference command value acquiring part, a sum of the correction amount and the command value of the current control cycle.

A non-transitory computer-readable storage medium storing instructions to control a correction device that:

• corrects a command value for controlling a control target in a plurality of control cycles each having a given time interval generated from target orbit data, the command value generated in each control cycle in which the control target is controlled, the command value corrected in a current control cycle by comparing the command value with a current control cycle controlled variable comprising feedback information output from the control target in the current control cycle to generate a current control cycle corrected command value, and
• receives the current control cycle corrected command value and current control cycle controlled variable with a feedback control system that processes the current control cycle corrected command value and the current control cycle controlled variable and causes the current control cycle controlled variable of the control target to follow the command value in the current control cycle, the instructions when executed, causing a controller to perform operations comprising:
• acquiring, at a controlled variable acquiring part, the current control cycle controlled variable of the control target in the current control cycle with respect to the target orbit data;
• outputting, with the controlled variable acquiring part, the current control cycle controlled variable to the feedback control system;
• acquiring, at a reference command value acquiring part, the command value in the current control cycle;
• receiving, at a command value corrector, the acquired command value from the reference command value acquiring part and the current control cycle controlled variable from the controlled variable acquiring part;
• generating, with the command value corrector, a current control cycle corrected command value based on the acquired command value and the current control cycle controlled variable;
• receiving, at a corrected command value acquiring part, the current control cycle corrected command value from the command value corrector;
• outputting, with the corrected command value acquiring part, the current control cycle corrected command value to the feedback control system;
• receiving, at a learning controller, the current control cycle controlled variable from the controlled variable acquiring part;
• generating, with the learning controller, a correction amount of the command value generated in each control cycle from next target orbit data using the current control cycle controlled variable of the control target corresponding to the target orbit data and the command value of the current control cycle;
• and
• receiving, at the reference command value acquiring part, a sum of the correction amount and the command value of the current control cycle.