Deploy iOS app directly from Xcode to iPad
Yes, it is possible to make the app work "perpetually" without recompiling and rebuilding it in Xcode. This can be done by re-signing the finished binary using command line tools (i.e. essentially just replacing the developer signature instead of remaking the whole binary over and over). However, this is probably not what you want as you will need to transfer that new binary to the iPad every week.

If you want to make it work "perpetually" without having to reinstall the app, you will need to get it signed by someone with a real developer certificate (i.e. obtained from either the Apple Developer Program or the Enterprise Developer Program).