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 the 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;
• a second command value generating part, generating a second command value for simulation;
• 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 frequency transfer function for simulation;
• a frequency response outputting part, outputting the frequency response characteristic of the mechanical system based on the frequency transfer function for simulation;
• and
• a display control part, displaying a result of the time response simulation and the frequency response characteristic on a display part simultaneously or selectively.