Control device, recording medium, and control system

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.

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.