Simulation device, simulation method, control program and recording medium

A simulation method, performing simulation of a mechanical system which has a controlled object containing a motor and a motor control device controlling the motor, comprising:

• a frequency response function computing step, computing a frequency response function containing characteristics of the controlled object based on a relation between a first command value driving the mechanical system and a measured value of response of the mechanical system driven by the first command value;
• a parameter setting step, setting control parameters changing characteristics of a simulation circuit having a control block structure corresponding to the mechanical system;
• a frequency transfer function setting step, setting a velocity closed frequency transfer function or a position closed frequency transfer function computed based on the frequency response function and the control parameters into a frequency transfer function for simulation;
• an impulse response computing step, computing an impulse response by performing inverse Fourier transform on the frequency transfer function for simulation;
• a second command value generating step, generating a second command value for simulation;
• a time response outputting step, executing time response simulation of the mechanical system relative to the second command value based on the second command value and the impulse response;
• a frequency response outputting step, using the frequency transfer function for simulation to output frequency response characteristic of the mechanical system;
• and
• a display control step, displaying a result of the time response simulation and the frequency response characteristic on a display part simultaneously or selectively.

A non-transitory recording medium recording a control program, when the control program is executed, causing a computer having a processor to act as a simulation device to perform operations that simulates a mechanical system which has a controlled object containing a motor and a motor control device controlling the motor, and the operations comprises:

• computing a frequency response function containing characteristics of the controlled object based on a relation between a first command value driving the mechanical system and a measured value of response of the mechanical system driven by the first command value;
• setting control parameters changing characteristics of a simulation system having a control block structure corresponding to the mechanical system;
• setting a velocity closed frequency transfer function or a position closed frequency transfer function computed based on the frequency response function and the control parameters into a frequency transfer function for simulation;
• computing an impulse response by performing inverse Fourier transform on the frequency transfer function for simulation;
• generating a second command value for simulation;
• executing time response simulation of the mechanical system relative to the second command value based on the second command value and the impulse response;
• using the frequency transfer function for simulation to output frequency response characteristic of the mechanical system;
• and
• displaying a result of the time response simulation and the frequency response characteristic on a display part simultaneously or selectively.