Simulation device, simulation method, control program and recording medium

A simulation device, simulating 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 part, 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 simulation system, having a control block structure corresponding to the mechanical system;
• a parameter setting part, setting a control parameter changing characteristics of the simulation system;
• a frequency transfer function setting part, setting a frequency transfer function computed based on the frequency response function or based on the frequency response function and the control parameter into a frequency transfer function for simulation;
• an impulse response computing part, computing an impulse response by performing inverse Fourier transform on the frequency transfer function for simulation;
• a second command value generating part, generating a second command value, the second command value being used for simulation by using the impulse response;
• and
• a time response outputting part, executing time response simulation of the mechanical system relative to the second command value based on the second command value and the impulse response.