Omron Corporation

Shota Miyaguchi

Mamoru Egi

Yasumoto Mori

Yasutomo Kawanishi

Yasushi Ono

Yasushi Ohno

The present invention is suitable for easily properly setting control parameters in short time. The simulation device of the present invention comprises: a frequency response function computing part () computing a frequency response function according to a first command value and a measured value of a mechanical system; an impulse response computing part () computing an impulse response by performing inverse Fourier transform on the frequency response function obtained according to the frequency response function and the control parameters; and a time response outputting part () executing time response simulation of the mechanical system () according to a second command value and the impulse response.

Simulation device, simulation method, control program and recording medium

The present invention easily displays a frequency response and a time response to a user. The simulation device of the present invention comprises: a frequency response function computing part () computing a frequency response function according to a measured value of a response of a mechanical system (), a time response outputting part () executing time response simulation, a frequency response outputting part () outputting a frequency response characteristic and a display control part () displaying the time response simulation and frequency response characteristic simultaneously or selectively.

Control that is less likely to cause an overshoot is performed when an actual inertia value is yet to be determined. A development support apparatus sets a ratio of a position proportional gain to a velocity proportional gain to a value smaller than a ratio set when a servo driver has determined an actual inertia value of a load machine.

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Nara, Japan

Shota Miyaguchi