JP2017047010A - Inverted movable body - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an inverted mobile body hardly moved when being located in a vicinity of an edge of a training area and capable of achieving a control gain in consideration of physical characteristics of a riding person.SOLUTION: An inverted movable body 100 operated according to a centroid movement of a riding person includes: a monitoring section 141 monitoring a peak value of a shift amount in a front/rear direction of an inverted movable body 100 from the center of a training area 300; a comparison section 142 comparing the peak value of the shift amount to a threshold value; a control gain setting section 143 setting a control gain determining movement easiness of the inverted movable body 100 with respect to the centroid movement; and a repeat section 144 causing monitoring, comparison, and setting of the control gain to be performed repeatedly. When the peak value of the shift amount is larger than the threshold, the control gain setting section 143 sets the control gain in a vicinity of an edge in a shift direction of the training area 300 so as to be lowered by a fixed amount.SELECTED DRAWING: Figure 4

Description

  The present invention relates to an inverted moving body.

  2. Description of the Related Art A training apparatus is known that performs balance training by boarding an inverted moving body, and changes the control gain of the inverted control in accordance with the degree of training improvement of the passenger (see, for example, Patent Document 1).

JP 2011-203549 A

  By the way, for example, a passenger with an uneven front and rear balance, such as a patient with a weak front balance, tends to have a biased center of gravity in a direction where the balance is weak. Therefore, when a passenger with an unbalanced front and rear boarded the inverted mobile body, there was a problem that the adjustment was insufficient only by changing the control gain as a whole according to the degree of training improvement.

  Further, when training is performed in the center of the training area, there is no problem even if the inverted moving body moves in a somewhat unintended direction. Conversely, when training is performed in the vicinity of the end of the training area, it is desirable to avoid the inverted moving body moving in the direction of going out of the training area.

  The present invention has been made to solve such problems, and it is difficult to move when the inverted moving body is near the end of the training area, and the physical characteristics of the passenger are taken into consideration. It is an object of the present invention to provide an inverted moving body that can have a control gain.

  An aspect of the present invention for achieving the above object is an inverted moving body that operates in accordance with the movement of the center of gravity of the occupant, the amount of deviation of the inverted moving body from the center of the training area in the front-rear direction. A monitoring unit that monitors a peak value, a comparison unit that compares the peak value of the deviation amount with a threshold value, and a control gain setting unit that sets a control gain that determines the ease of movement of the inverted moving body with respect to the movement of the center of gravity And a repeating unit that repeatedly performs the monitoring, the comparison, and the setting of the control gain a predetermined number of times, and the control gain setting unit has the training area when the peak value of the deviation amount is greater than the threshold value. This is an inverted moving body that is set so that the control gain in the vicinity of the end in the shift direction is lowered by a certain amount. According to this aspect, there is provided an inverted moving body that is less likely to move when the inverted moving body is in the vicinity of the end of the training area and that can have a control gain that takes into account the physical characteristics of the passenger. be able to.

  According to the present invention, there is provided an inverted moving body that is less likely to move when the inverted moving body is in the vicinity of the end of the training area and can have a control gain that takes into account the physical characteristics of the passenger. be able to.

It is a figure which shows the structure of the balance training system which has an inverted type moving body concerning embodiment of this invention. It is a figure explaining the ski game which is a training menu of the balance training system concerning embodiment of this invention. It is a figure explaining the rodeo game which is a training menu of the balance training system concerning embodiment of this invention. It is a block diagram which shows the structure of the control apparatus of the inverted moving body concerning embodiment of this invention. It is a flowchart which shows the process which changes sequentially the control gain of the inverted moving body concerning embodiment of this invention. It is a graph which shows the initial value of the control gain of the inverted moving body concerning embodiment of this invention. It is a graph which shows an example of the relationship between the peak value of the deviation | shift amount in the front-back direction of the inverted moving body concerning embodiment of this invention, and a threshold value. It is a figure which shows transition of the setting of the control gain of the inverted moving body in the example of FIG. 7 concerning embodiment of this invention. It is a graph which shows the control gain at the time of the passenger | crew who fluctuates equally back and forth in the inverted moving body concerning embodiment of this invention getting on. It is a graph which shows the control gain at the time of the passenger | crew who the balance of the front side in the inverted type mobile body concerning embodiment of this invention especially weak gets on.

Embodiment Hereinafter, an embodiment of the present invention will be described with reference to the drawings. First, the configuration of a balance training system 1000 having an inverted moving body 100 according to an embodiment of the present invention will be described using FIG.

  The balance training system 1000 includes an inverted moving body 100, a display 200, and a training area 300. The inverted moving body 100 is configured as, for example, a standing-type coaxial two-wheeled vehicle that can be ridden while a passenger is standing. Further, the inverted moving body 100 is configured such that, for example, the passenger moves forward and backward by moving the center of gravity back and forth, and the passenger can turn left and right by moving the center of gravity left and right. Yes.

  A specific configuration of the inverted moving body 100 will be described. The inverted moving body 100 includes an operation handle 110 that is operated by a passenger, a carriage unit 120 that is connected to the operation handle 110 and on which the passenger rides, and a pair of left and right drive wheels 130 that are rotatably provided on both sides of the carriage unit 120. And a control device 140 (not shown). The inverted moving body 100 rotates each drive wheel 130 in accordance with the inclination of the operation handle 110 and the carriage unit 120 due to the movement of the center of gravity of the occupant to perform desired travel such as forward / backward movement, left / right turning, acceleration / deceleration, and stop. It can be performed. For example, when the occupant moves the center of gravity in the left-right direction, the carriage unit 120 is configured to incline in the left-right direction according to the center-of-gravity movement.

  For example, the occupant can move the center of gravity in the front-rear direction and tilt the operation handle 110 and the carriage unit 120 back and forth to move the inverted moving body 100 forward and backward. In addition, the passenger can turn the inverted moving body 100 left and right by moving the center of gravity in the left and right direction and tilting the operation handle 110 and the carriage unit 120 in the left and right direction.

  When the inverted mobile body 100 moves forward and backward or turns left and right due to the movement of the center of gravity of the passenger, the control device 140 transmits a control signal corresponding to the forward and backward movement or left and right turn of the inverted mobile body 100 to the display 200. It has a function. Other functions of the control device 140 will be described in detail later with reference to FIG.

  The display 200 performs display according to the training menu for balance training. Here, the training menu is, for example, a ski game or a rodeo game, and the display 200 displays a player or the like indicating a passenger in the game.

  The display 200 receives from the control device 140 a control signal corresponding to forward / backward movement or left / right turning of the inverted moving body 100. The display 200 displays the player by moving forward or backward or turning left and right according to the received control signal. Thereby, the operation of the inverted moving body 100 and the operation of the player of the display 200 are linked.

  The training area 300 is an area in which the inverted mobile body 100 is determined to perform balance training in the area.

  The passenger performs left-right balance training while viewing the screen displayed on the display 200 in a state where the passenger is on the inverted moving body 100.

  Next, the training menu for left / right balance training will be described in detail by taking a ski game and a rodeo game as examples. The ski game is active left / right balance training, and the rodeo game is passive front / rear left / right balance training.

  First, the ski game will be described with reference to FIG. FIG. 2 is a diagram showing a screen display displayed on the display 200 during the ski game. As shown in FIG. 2, the display 200 displays a player and a gate indicating a passenger in the game.

  The passenger looks at the display 200 and turns the inverted moving body 100 left and right by moving the center of gravity so that the player passes through the gate. The closer the player passes the gate to the center of the gate, the higher the score. In the ski game, the passenger is only required to turn the inverted mobile body 100 left and right, and is not required to move back and forth. That is, the occupant needs to turn the inverted mobile body 100 left and right while maintaining the front-rear balance so as not to move the inverted mobile body 100 back and forth.

  Next, the rodeo game will be described with reference to FIG. FIG. 3 is a diagram showing a screen display displayed on the display 200 in the rodeo game. As shown in FIG. 3, on the display 200, a player indicating a passenger in the game, a horse on which the player is placed, and a circle are displayed.

  The inverted moving body 100 randomly moves back and forth and tries to turn left and right (hereinafter also referred to as disturbance). Further, the operation of the horse displayed on the display 200 is interlocked with the operation of the inverted moving body 100. The passenger looks at the display 200 and balances by moving the center of gravity so that the horse remains in the center of the circle. That is, when the horse is about to move later, the occupant moves the center of gravity in the forward direction, and stops the inverted moving body 100 from moving backward. When the horse is about to move forward, the occupant moves the center of gravity in the backward direction and stops the inverted moving body 100 from moving forward. When the horse is going to turn left, the occupant moves the center of gravity in the right direction and stops the inverted mobile body 100 from turning left. Further, when the horse is going to turn right, the passenger moves the center of gravity in the left direction, and stops the inverted moving body 100 from turning right. If the horse stays inside the circle, points are added, and the closer to the center of the circle, the higher the score.

  In the left-right balance training described above, when the inverted moving body 100 moves in the front-rear direction, the magnitude of the vector in the front-rear direction of the inverted moving body 100 relative to the center of the training area 300 is from the center of the training area 300. The amount of displacement of the inverted movable body 100 in the front-rear direction.

  Then, the structure of the control apparatus 140 of the inverted mobile body 100 concerning embodiment of this invention is demonstrated using FIG. The control device 140 includes a monitoring unit 141, a comparison unit 142, a control gain setting unit 143, and a repetition unit 144.

  The monitoring unit 141 is a functional unit that monitors the peak value of the amount of deviation of the inverted moving body 100 from the center of the training area 300 in the front-rear direction. When a training task is issued, the monitoring unit 141 monitors the peak value of the amount of deviation of the inverted mobile body 100 from the center of the training area 300 in the front-rear direction. Here, for example, when the training menu is a ski game, the training task is a task of passing one gate. When the training menu is a rodeo game, the training task stays in the center with respect to one disturbance operation. The challenge is to balance. In one left / right balance training, that is, one game in the training menu, for example, several tens of training tasks are issued.

  For example, the monitoring unit 141 calculates the peak value of the amount of deviation in the front-rear direction of the inverted mobile body 100 from the center of the training area 300 using the motor rotation speed of the inverted mobile body 100. Note that the monitoring method is not limited to the method of calculating from the motor speed of the inverted moving body 100. For example, a camera is installed outside the inverted moving body 100, and the monitoring unit 141 obtains the position of the inverted moving body 100 using an image recognition technique for an image captured by the camera, and a vector in the front-rear direction from the position. You may perform by calculating. Then, the monitoring unit 141 outputs the peak value of the deviation amount in the front-rear direction to the comparison unit 142.

  The comparison unit 142 receives the peak value of the deviation amount in the front-rear direction from the monitoring unit 141. The comparison unit 142 also compares the peak value of the amount of deviation in the front-rear direction with a threshold value. Note that the threshold is set for each of the forward direction and the backward direction. For example, for each of the forward direction and the backward direction, a first threshold value and a second threshold value having an absolute value larger than the first threshold value are set. In this case, the comparison unit 142 compares the peak value of the amount of deviation in the front-rear direction with the first threshold value and the second threshold value. Then, a comparison result including deviation direction information indicating whether the deviation is in the front or rear direction is output to the control gain setting unit 143.

  The control gain setting unit 143 is a functional unit that sets a control gain that determines the ease of movement of the inverted moving body 100 with respect to the movement of the center of gravity of the passenger. The control gain setting unit 143 receives the comparison result from the comparison unit 142. Moreover, the control gain setting part 143 sets the control gain in the edge part vicinity of the deviation | shift direction of the training area 300 to the value according to the comparison result.

  That is, the control gain setting unit 143 decreases the control gain in the vicinity of the front end of the training area 300 by a certain amount when the peak value of the forward shift amount is larger than the second threshold value. Further, when the peak value of the forward shift amount is smaller than the first threshold value, the control gain setting unit 143 increases the control gain in the vicinity of the front end portion of the training area 300 by a certain amount. Further, when the peak value of the backward shift amount is larger than the second threshold value, the control gain setting unit 143 decreases the control gain in the vicinity of the rear end portion of the training area 300 by a certain amount. Further, the control gain setting unit 143 increases the control gain in the vicinity of the rear end of the training area 300 by a certain amount when the peak value of the backward shift amount is smaller than the first threshold value.

  Further, the control gain setting unit 143 does not change the control gain when the peak value of the deviation amount in the front-rear direction is not less than the first threshold and not more than the second threshold. Further, when the control gain is the upper limit value, the control gain setting unit 143 does not increase the control gain even if the peak value of the deviation amount in the front-rear direction is smaller than the first threshold value.

  Then, the control gain setting unit 143 sends an end notification indicating that the control gain setting process for one training task has ended, regardless of whether the control gain has been changed or the control gain has not been changed. The data is output to the repetition unit 144. The control gain setting unit 143 also has a function of setting the control gain in the entire training area 300 to the upper limit value as the initial value of the control gain of the inverted mobile body 100.

  The repetition unit 144 receives an end notification from the control gain setting unit 143. In addition, when receiving the end notification, the repeating unit 144 determines whether or not the training task has been completed a predetermined number of times. Moreover, the repetition part 144 determines with progressing to the next training task, when the training task is not completed predetermined times. When the repetition unit 144 determines to proceed to the next training task, the repetition unit 144 outputs a notification for causing the monitoring unit 141, the comparison unit 142, and the control gain setting unit 143 to re-execute each process. Note that the repetition unit 144 may output a notification for re-execution to all of the monitoring unit 141, the comparison unit 142, and the control gain setting unit 143, or the output target may not be all. . For example, when it is determined that the repetition unit 144 proceeds to the next training task, the repetition unit 144 may output a notification for re-execution only to the monitoring unit 141. In this case, the comparison unit 142 re-executes the comparison process when the peak value of the deviation amount in the front-rear direction is received from the monitoring unit 141. Further, when the control gain setting unit 143 receives the comparison result from the comparison unit 142, the control gain setting unit 143 re-executes the control gain setting process.

  Next, a processing flow for sequentially changing the control gain of the inverted moving body 100 according to the embodiment of the present invention will be described using the flowchart of FIG. First, the control gain setting unit 143 sets the control gain in the entire training area 300 to the upper limit value as the initial value of the control gain of the inverted mobile body 100 (S101). A graph showing the initial value of the control gain of the inverted moving body 100 is shown in FIG. It is assumed that the control gain cannot be increased from the upper limit value set as the initial value.

  Next, left / right balance training is started (S102). Here, the start of the left / right balance training is to start a training menu game. Next, a training task in left / right balance training is issued (S103).

  Next, the monitoring unit 141 monitors the peak value of the deviation amount of the inverted moving body 100 from the center of the training area 300 in the front-rear direction (S104). Next, the comparison unit 142 determines whether or not the absolute value of the peak value monitored in S104 is larger than the absolute value of the second threshold (S105).

  When it is determined by S105 that the absolute value of the peak value is larger than the absolute value of the second threshold value, the control gain setting unit 143 decreases the control gain in the vicinity of the end portion in the shift direction of the training area 300 by a certain amount ( S106). Further, when it is determined in S105 that the absolute value of the peak value is equal to or smaller than the absolute value of the second threshold value, the comparison unit 142 determines that the absolute value of the peak value monitored in S104 is smaller than the absolute value of the first threshold value. It is determined whether or not (S107).

  When it is determined in S107 that the absolute value of the peak value is smaller than the absolute value of the first threshold, the control gain setting unit 143 increases the control gain in the vicinity of the end of the training area 300 in the shift direction by a certain amount ( S108). If the absolute value of the peak value is determined to be greater than or equal to the absolute value of the first threshold value in S107, the control gain setting unit 143 does not change the control gain of the inverted moving body 100, and moves in the front-rear direction. Monitoring of the peak value of the deviation amount is terminated (S109). In addition, after the execution of S106 and after the execution of S108, the monitoring of the peak value of the deviation amount in the front-rear direction is ended (S109).

  Next, the repeating unit 144 determines whether or not one repetition of left and right balance training has been completed (S110). When it is determined by S110 that the repetition for one left-right balance training is not completed, the process returns to S103 and proceeds to the next training task. If it is determined in S110 that the repetition for one left-right balance training has been completed, the current left-right balance training is terminated (S111). Here, the end of the left / right balance training means the end of one game in the training menu.

  Next, the repeating unit 144 determines whether or not to start the next left / right balance training, that is, the next game in the training menu (S112). When it determines with starting the next left-right balance training by S112, it returns to S102 and starts the next left-right balance training. Moreover, when it determines with not starting the next left-right balance training by S112, the process which changes the control gain of the inverted mobile body 100 sequentially is complete | finished.

  Next, an example of setting the control gain for the amount of deviation and the threshold value of the inverted moving body 100 in the front-rear direction will be described with reference to FIGS. 7 and 8. FIG. 7 is a diagram illustrating an example of a relationship between a peak value of a deviation amount in the front-rear direction of the inverted moving body 100 from the center and a threshold value. FIG. 8 is a diagram showing the transition of the control gain setting of the inverted moving body 100 in the example of FIG.

  First, as shown in FIG. 8A, the inverted mobile object 100 is set to the upper limit value of the control gain in the entire training area 300 as the initial value of the control gain in the initial state before the start of training. Next, as shown in (1) in FIG. 7, when the peak value of the forward shift amount of the inverted mobile body 100 from the center of the training area 300 is larger than the second threshold value, FIG. ), The control gain in the vicinity of the front end of the training area 300 is lowered by a certain amount.

  Next, as shown in (2) in FIG. 7, when the peak value of the backward displacement amount from the center of the training area 300 is larger than the second threshold value, FIG. ), The control gain in the vicinity of the rear end of the training area 300 is lowered by a certain amount.

  Next, as shown in (3) in FIG. 7, when the peak value of the forward shift amount of the inverted mobile body 100 from the center of the training area 300 is smaller than the first threshold value, FIG. ), The control gain in the vicinity of the front end of the training area 300 is increased by a certain amount.

  Next, as shown in (4) in FIG. 7, the peak value of the backward shift amount from the center of the training area 300 to the backward moving body 100 is not less than the first threshold and not more than the second threshold. In this case, as shown in FIG. 8E, the control gain in the vicinity of the rear end of the training area 300 is not changed.

  As shown in FIG. 8, by repeating the setting of the control gain, the control gain of the inverted mobile body 100 can be adapted to the physical characteristics of the passenger. The physical characteristics of the occupant indicate that the occupant fluctuates evenly back and forth, that the balance between the front and back is particularly weak, or that the front and back balance ability has almost recovered.

  Next, it will be described with reference to FIGS. 6, 9, and 10 that the control gain after the setting of the control gain is in accordance with the physical characteristics of the passenger.

  First, the control gain when a passenger who fluctuates evenly in front and rear gets on will be described with reference to FIG. FIG. 9 is a graph of the control gain after repeating the setting of the control gain when a passenger who fluctuates evenly in front and back gets on. When a passenger who fluctuates evenly in front and back gets on, the amount of deviation in the forward direction and the amount of deviation in the backward direction are equal. Therefore, a value obtained by subtracting the number of times when the peak value of the deviation amount in the forward direction is smaller than the first threshold value from the number of times that the peak value of the deviation amount in the forward direction is larger than the second threshold value (hereinafter referred to as the forward difference value). And the value obtained by subtracting the number of times the peak value of the backward shift amount is smaller than the first threshold from the number of times the peak value of the backward shift amount is greater than the second threshold (hereinafter referred to as the backward difference). Is called “value”).

  Here, the relationship between the forward difference value and the backward difference value and the control gains near the front end and the rear end of the training area 300 will be described. The greater the forward difference value, the lower the control gain near the front end of the training area 300, and the greater the rearward difference value, the lower the control gain near the rear end of the training area 300. This is because, as the forward difference value and the backward difference value are larger, the number of times the control gain is lowered by a certain amount by executing S106 in FIG. 5 is larger than the number of times the control gain is raised by a certain amount by executing S108.

  For this reason, when the passenger who fluctuates equally back and forth gets on the board, as shown in FIG. It becomes lower than the control gain near the center. Thereby, it can be set as the control gain which supports the deviation | shift in a front direction and a back direction equally with respect to the passenger who fluctuates equally back and forth.

  Next, the control gain when a passenger with a particularly weak front balance gets on will be described with reference to FIG. FIG. 10 is a graph of the control gain after repeating the setting of the control gain when a passenger with a particularly weak front balance gets on. When a passenger with a particularly weak balance on the front side gets on, the amount of deviation in the forward direction is larger than the amount of deviation in the backward direction. Accordingly, the forward difference value is larger than the backward difference value. For this reason, when a passenger with a particularly weak balance on the front side gets on, the control gain in the vicinity of the front end of the training area 300 becomes even lower than the control gain in the vicinity of the rear end as shown in FIG. Thereby, it can be set as the control gain which mainly supports the shift | offset | difference of a front direction with respect to the passenger whose balance of the front side is especially weak. In the graph of FIG. 10, the control gain near the front end is linearly changed, but the control gain near the front end may be changed nonlinearly.

  Next, the control gain when a passenger who has almost recovered the front and rear balance ability gets on will be described with reference to FIG. When a passenger who has substantially recovered the front-rear balance ability gets on, the absolute value of the peak value of the deviation amount in the front-rear direction does not become larger than the absolute value of the second threshold value. Alternatively, even if the absolute value of the second threshold value may be exceeded, if the passenger tries to return to the center of the training area 300 by himself and the front and rear balance ability has almost recovered, the training area 300 can be operated by himself. You can go back to the center of Therefore, the absolute value of the peak value of the deviation amount in the front-rear direction does not last longer than the absolute value of the second threshold value, and is smaller than the absolute value of the first threshold value. Therefore, both the forward difference value and the backward difference value are negative values. For this reason, when a passenger who has almost recovered the front and rear balance ability gets on, the control gain of the entire training area 300 is the same as the initial value of the control gain shown in FIG. As a result, a passenger who has almost recovered the balance ability in the front-rear direction can be trained independently without extra support.

  As described above, in this embodiment, the peak value of the deviation amount in the front-rear direction of the inverted mobile body 100 from the center of the training area 300 is monitored, and the peak value and threshold value of the deviation amount in the front-rear direction are monitored. When the peak value of the deviation amount is larger than the threshold value, the control gain in the vicinity of the end portion in the deviation direction of the training area 300 is set to be lowered by a certain amount. By doing in this way, when the inverted mobile body 100 is in the vicinity of the end part of the training area 300, it can be made difficult to move. In the present embodiment, monitoring, comparison, and control gain setting are repeatedly performed in consideration of the shift direction. By doing in this way, it can be set as the control gain which considered the physical characteristic of the passenger of the inverted mobile body 100. FIG. Therefore, it is possible to provide an inverted moving body that is less likely to move when the inverted moving body is in the vicinity of the end of the training area and that can have a control gain that takes into account the physical characteristics of the passenger.

  Note that the present invention is not limited to the above-described embodiment, and can be changed as appropriate without departing from the spirit of the present invention. For example, the amount of change in the control gain may be changed according to the peak value of the amount of deviation of the inverted mobile body 100 from the center of the training area 300 in the front-rear direction. For example, when a third threshold value having an absolute value larger than the second threshold value is provided and the absolute value of the peak value of the deviation amount in the front-rear direction is larger than the absolute device of the third threshold value, This can be realized by rapidly decreasing the control gain for the movement of the center of gravity in the vicinity of the end.

  Further, for example, the processing of the monitoring unit 141, the comparison unit 142, the control gain setting unit 143, and the repetition unit 144 can be realized by causing the CPU to execute a computer program. The computer program described above can be stored using various types of non-transitory computer readable media and supplied to a computer. Non-transitory computer readable media include various types of tangible storage media. Examples of non-transitory computer-readable media include magnetic recording media (for example, flexible disks, magnetic tapes, hard disk drives), magneto-optical recording media (for example, magneto-optical disks), CD-ROMs (Read Only Memory), CD-Rs, CD-R / W, semiconductor memory (for example, mask ROM, PROM (Programmable ROM), EPROM (Erasable PROM), flash ROM, RAM (Random Access Memory)) are included. The program may also be supplied to the computer by various types of transitory computer readable media. Examples of transitory computer readable media include electrical signals, optical signals, and electromagnetic waves. The temporary computer-readable medium can supply the program to the computer via a wired communication path such as an electric wire and an optical fiber, or a wireless communication path.

100 Inverted type moving body 141 Monitoring unit 142 Comparison unit 143 Control gain setting unit 144 Repetition unit 300 Training area

Claims (1)

An inverted moving body that operates according to the movement of the center of gravity of the passenger,
A monitoring unit for monitoring the peak value of the amount of deviation in the front-rear direction of the inverted moving body from the center of the training area;
A comparison unit for comparing the peak value of the deviation amount and a threshold;
A control gain setting unit for setting a control gain for determining the ease of movement of the inverted moving body with respect to the movement of the center of gravity;
A repeating unit that repeats the monitoring, the comparison, and the setting of the control gain a predetermined number of times,
When the peak value of the deviation amount is larger than the threshold value, the control gain setting unit sets the control gain in the vicinity of the end portion in the deviation direction of the training area to be lowered by a certain amount.

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