good.
it's not fair of him to be such a twat be so unaccommodating (in both a legal and human way). especially when you have other problems that lie on top.
go to the course at the times you planned, as you said. also advise the course leaders that you are late because of childcare commitments and that the course time was changed at short notice.
and do tell HR, even if you think it's not a big issue now: the main reason for this is that if the course leaders then tell your boss that you arrived at 8:45 due to childcare commitments, he might tll HR that you were late on purpose and try to use it against you in the future.