A control device comprising: a wireless communication module configured to receive a control signal transmitted at a specific time point from a control signal generation means (100,120) wherein the control signal comprises a virtual control command that is a specific virtual code; a control module configured to extract the virtual control command from the control signal and then search for an actual control command corresponding to the virtual control command, the control module comprising a detail code extraction unit configured to extract a plurality of detail codes included in the virtual control command; and a control command calculation module configured to calculate an individual control command for controlling one or more driving units of the control device based on the actual control command, wherein the virtual control command for each actual control command is changed and generated for each unit count, wherein when the actual control command includes a first control command and a second control command, the virtual control command for the first control command is generated not to overlap with the virtual control command for the second control command, wherein the virtual control command is generated by combining a first code and a second code included in the plurality of detail codes according to a specific rule, and wherein the first code or the second code is generated differently according to the actual control command at the same time point, and is generated differently for each unit count, characterized in that the control module comprises a command search unit configured to search a storage location including a specific actual control command in the control module based on the plurality of detail codes, wherein the command search unit is configured to set the first code as a search starting point and search the storage location by applying the second code as a search path moving from the search starting point to the storage location and determine, as the storage location, a point moved along the search path corresponding to the second code from the starting point corresponding to the first code when a normally generated virtual control command is received for each unit count, wherein the unit count is set at a specific time interval, and is changed as the time interval elapses, wherein the control module and the control command calculation module are embedded as software in one chip. a wireless communication module configured to receive a control signal transmitted at a specific time point from a control signal generation means (100,120) wherein the control signal comprises a virtual control command that is a specific virtual code; a control module configured to extract the virtual control command from the control signal and then search for an actual control command corresponding to the virtual control command, the control module comprising a detail code extraction unit configured to extract a plurality of detail codes included in the virtual control command; and a control command calculation module configured to calculate an individual control command for controlling one or more driving units of the control device based on the actual control command, wherein the virtual control command for each actual control command is changed and generated for each unit count, wherein when the actual control command includes a first control command and a second control command, the virtual control command for the first control command is generated not to overlap with the virtual control command for the second control command, wherein the virtual control command is generated by combining a first code and a second code included in the plurality of detail codes according to a specific rule, and wherein the first code or the second code is generated differently according to the actual control command at the same time point, and is generated differently for each unit count, wherein the virtual control command is generated by combining a first code and a second code included in the plurality of detail codes according to a specific rule, and wherein the first code or the second code is generated differently according to the actual control command at the same time point, and is generated differently for each unit count, characterized in that the control module comprises a command search unit configured to search a storage location including a specific actual control command in the control module based on the plurality of detail codes, wherein the command search unit is configured to set the first code as a search starting point and search the storage location by applying the second code as a search path moving from the search starting point to the storage location and determine, as the storage location, a point moved along the search path corresponding to the second code from the starting point corresponding to the first code when a normally generated virtual control command is received for each unit count, wherein the unit count is set at a specific time interval, and is changed as the time interval elapses, wherein the control module and the control command calculation module are embedded as software in one chip.