| 摘要 |
PROBLEM TO BE SOLVED: To accurately evaluate a driving mechanism by simulating an operation including all influences of an inertial element, a viscous element, and an elastic element. SOLUTION: When an operation of a virtual mechanism model interlocked with a controller 103 is started to be calculated, a driving control part 108 of the controller 103 calculates a controlled variable for a target value according to a control program 109. The driving control part 108 outputs an applied voltage as a control signal based upon the calculated controlled variable to a simulation device 102. A simulation execution part 107 of the simulation device 102 calculates a current of an actuator circuit model at prescribed time intervals based upon the inputted applied voltage and the actuator circuit model obtained by an actuator circuit 105 and calculates a behavior corresponding to the calculated current of the virtual mechanism model obtained by a driving mechanism model part 106 to analyze the behavior. COPYRIGHT: (C)2005,JPO&NCIPI
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