JP2001281110A - Simulation device for vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a simulation device for a vehicle capable of simulating easily the change of friction coefficients between wheels and the road surface. SOLUTION: A truck 5 having the wheels 3 mounted on a body 1 through a steering device 4 is supported by a support mechanism 6. A load correlated with steering reaction force of the steering device 4 is applied by a load application mechanism 11 on the wheels 3 on support bodies 21 of the support mechanism 6. A means for providing irregularities on wheel loading parts of the supports 21 is provided. The form of the irregularities can be changed so that the friction coefficients between the supports 21 and the wheels 3 can be changed.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle simulation device used for simulating a steering state of a vehicle.

[0002]

2. Description of the Related Art Conventionally, in order to test the steering characteristics when developing a steering apparatus for a vehicle, a bogie supporting mechanism having wheels mounted on a main body via the steering apparatus has been provided, and the supporting mechanism has a wheel supporting body. Then, a vehicle simulation device provided with a load applying mechanism capable of applying a load correlated to a steering reaction force of the steering device to wheels on the support is used. By applying a load corresponding to the actual running state to the wheels, the steering state of the vehicle can be simulated.

[0003]

When the simulation apparatus simulates a change in the coefficient of friction between a wheel and a road surface, it is necessary to replace a wheel or a member constituting a wheel support. . However, such replacement work requires labor and time.

An object of the present invention is to provide a vehicular simulation apparatus that can solve the above-mentioned problem.

[0005]

SUMMARY OF THE INVENTION The present invention comprises a bogie supporting mechanism having wheels mounted on a main body via a steering device, the supporting mechanism having a support on which the wheels are mounted, and In a vehicle simulation device provided with a load applying mechanism capable of applying a load correlated to a steering reaction force of a steering device to wheels on the support, means for providing irregularities in a wheel mounting portion of the support is provided. And the shape of the unevenness can be changed so that the coefficient of friction between the support and the wheel can be changed. According to the configuration of the present invention, by applying the load corresponding to the load correlated to the steering reaction force during the actual running of the vehicle to the wheels on the support by the load applying mechanism, the actual steering state of the vehicle is changed. Can be simulated. At this time, by changing the form of the unevenness provided on the support, the friction coefficient between the support and the wheel can be changed without replacing the wheel or replacing the members constituting the wheel support. can do.

At least a part of the wheel mounting portion of the support is constituted by a plurality of receiving members, each of which is removable from the supporting mechanism, and the irregularities are provided by removing at least one receiving member. Is preferred. This makes it possible to provide the support with irregularities simply by removing any of the receiving members. Further, in accordance with the position of the receiving member to be removed or the number of receiving members to be removed, the form of the unevenness is changed to more easily adjust the friction coefficient between the support and the wheel. be able to.

[0007] It is preferable that at least a part of the support is constituted by a plurality of vertically displaceable receiving members, and the irregularities are provided by displacement of at least one receiving member. Thus, the support can be provided with irregularities only by displacing any of the receiving members. Further, in accordance with the position of the receiving member to be displaced or the number of receiving members to be displaced, the form of the unevenness is changed to more easily adjust the coefficient of friction between the support and the wheel. be able to.

[0008] It is preferable that the amount of displacement of each receiving member can be changed, and that the form of the unevenness can be changed by changing the amount of displacement of at least one receiving member. Thereby, the coefficient of friction between the support and the wheel can be more easily adjusted by changing the form of the unevenness by changing the displacement amount of the receiving member.

[0009]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A vehicle simulation apparatus shown in FIG. 1 comprises a bogie 5 having left and right wheels 3 attached to a front portion of a frame-shaped main body 1 via a suspension 2 and a steering device 4 by a support mechanism 6. To support. It is possible to change the toe angle of both wheels 3 by steering the steering wheel 7 of the steering device 4.

The support mechanism 6 has left and right first supports 21. The left and right wheels 3 include a rubber tire and a metal wheel mounted on the inner periphery of the tire.
It is individually supported by the support 21. That is, the left wheel 3 is placed on the first support 21 on the left, and the right wheel 3 is placed on the first support 21 on the right. Rear left and right wheels (not shown) are attached to the rear portion of the main body 1 via a suspension, and are mounted on another support having the same upper surface as the upper surface of the first support 21.

Each of the left and right first supports 21 is supported by the left and right support device 10 so as to be rotatable about a vertical axis and to be movable in the front-rear direction and the left-right direction. That is, as shown in FIG. 2, each support device 10 includes a plate-shaped second support 23 that rotatably supports the first support 21 about a shaft 22 along a vertical direction, and a second support 23 that supports the first support 21. A plate-like third support 25 for supporting the movable member 23 along the left-right direction of the carriage 5 via a rail 24;
And a plate-shaped fourth support 27 that movably supports the trolley 5 along the front-rear direction of the carriage 5 via the rail 26. The fourth support 27 is attached to a fixed side 50 such as a floor.

A load applying mechanism 11 capable of individually applying a load correlated to the steering reaction force of the steering device 4 to the left and right wheels 3 on the first support 21 is provided. The magnitude and direction of the load applied by the load applying mechanism 11 can be changed. In the present embodiment, the load applying mechanism 11 includes a first left and right load applying device 30 and a second left and right load applying device 40.

Each first load applying device 30 has a first
A load is applied via the support 21. That is, each first
The load applying device 30 includes a first actuator 31 and a second actuator 31.
It has an actuator 32 and a third actuator 33. In the present embodiment, each of the actuators 31, 32, 3
3 is constituted by a telescopic hydraulic actuator,
By expanding and contracting, it can also exert a vibration function. Each actuator may be electrically operated.

The cylinder tube 31a of each first actuator 31 is connected to the second support 23 so as to be swingable about a vertical axis 31c, and the moving rod 31b is connected to the first support 2
1 is a vertical shaft 3 at a position eccentric from the shaft 22.
It is connected to the center of 1d so as to be relatively rotatable, and is extendable and contractable along the lateral direction without passing through the shaft 22. As a result, each first actuator 31 causes the first support 2
By applying a moment for rotating each of the wheels 1 around the vertical axis 22, a load around the vertical axis can be applied to each of the wheels 3 on each first support 21. The direction and magnitude of this load can be changed according to the driving direction and driving force of each first actuator 31.

The cylinder tube 32a of each second actuator 32 is connected to the third support 25 so as to be swingable about a vertical axis 32c, and the moving rod 32b is connected to the second support 2
3 is swingably connected to the center of the vertical shaft 32d, and is extendable and contractable along the left and right direction of the carriage 5 (the left and right direction in FIG. 2). The cylinder tube 33a of each third actuator 33 is connected to the fourth support 27 so as to be swingable about a vertical axis 33c, and the moving rod 33b is connected to the third support 25.
Is pivotally connected to the center of the vertical shaft 33d,
Are extendable along the front-rear direction (vertical direction in FIG. 2). Thereby, a lateral force for moving each of the first supports 21 along the left and right directions of the carriage 5 can be applied by each of the second actuators 32 via each of the second supports 23. Each third support 33 is used by each third actuator 33.
A lateral force for moving each of the first support members 21 in the front-rear direction of the carriage 5 can be applied via the third support members 25 and the third support members 25. Therefore, each of the second and third actuators 32, 33
Thereby, a load along the lateral direction corresponding to the resultant force of the two lateral forces can be applied to each of the wheels 3 on each first support 21.
The direction and magnitude of the load can be changed according to the driving direction and driving force of each of the second and third actuators 32 and 33.

Each second load applying device 40 has a fourth actuator 41 capable of applying a load to each of the left and right wheels 3 via each suspension 2. In the present embodiment, each fourth actuator 41 is constituted by a hydraulic actuator that can expand and contract along the up-down direction, and can also exert a vibration function by expanding and contracting. Each actuator may be electrically operated. In each fourth actuator 41, a cylinder tube 41a is attached to the fixed side 50, and a telescopic rod 41b is in contact with the suspension 2. Thus, each of the left and right wheels 3 can be pressed against the first support 21 by the respective fourth actuator 41 via the suspension 2 along the up-down direction. Due to the pressing, a load along the vertical direction is applied to each of the left and right wheels 3 via the suspension 2, and the load is changed by expansion and contraction of the fourth actuator 41. The load applied to each of the left and right wheels 3 in the vertical direction is applied not to the suspension 2 but to the first support 21.
You may make it give from a side. For example, as shown by a two-dot chain line in FIG. 1, the left and right support device 10 is supported by a left and right actuator 41 ′ that can expand and contract in the vertical direction,
The left and right wheels 3 are pushed up by the respective actuators 41 ′ via the first support bodies 21, and the upward displacement of the suspensions 2 due to the pushing is received by the fixed side 50.

As shown in FIGS. 2 and 3 (1) and (2), each first support 21 is composed of a support frame 61 and a plurality of receiving members 62. The support frame 61 has a rectangular plate-shaped bottom wall 61a, and side walls 61b and 61c extending upward from both edges of the bottom wall 61a along the front-rear direction. In the present embodiment, the receiving members 62 have a quadrangular prism shape, and are arranged side by side on the bottom wall 61a with the longitudinal direction being the front-rear direction. The upper surface of each receiving member 62 is flush with each other and flush with the upper surfaces of the side walls 61b and 61c. Each of the receiving members 62 is individually connected to the bottom wall 61a by bolts 63 near the front and rear ends, and can be removed from the support mechanism 6 by removing the bolts 63.

As shown in (1) to (3) of FIG. 4, by removing the receiving member 62, the unevenness 70 is provided at the mounting position of the wheel 3 on the first support 21. In the illustrated example, the unevenness 70 is provided by removing the plurality of receiving members 62, but the unevenness can be provided by removing at least one receiving member 62. Also,
The form of the unevenness 70 can be changed in accordance with the position of the receiving member 62 to be removed and the number of receiving members 62 to be removed. By changing the form of the unevenness 70, the coefficient of friction between the first support 21 and the wheel 3 can be changed. For example, as shown in FIG. 4A, the form of the unevenness 70 when the number of receiving members 62 to be removed is small, and the receiving member 6 to be removed as shown in FIG.
The coefficient of friction is different from the form of the unevenness 70 when the number of 2 is large. In addition, the unevenness 70 shown in FIG.
4 and the form of the unevenness 70 shown in FIG. 4 (3), since the removal positions are different even if the number of receiving members 62 to be removed is the same, the friction coefficients are different.

In the above arrangement, the change in load acting on the wheels of the vehicle due to the roll motion caused by the lateral acceleration is determined by the fourth
The simulation can be performed by changing the vertical load applied to the left and right wheels 3 by the expansion and contraction of the actuator 41. Further, the change in the cornering force acting on the wheels in the actual steering state of the vehicle can be simulated by the change in the lateral load acting on each of the left and right wheels 3 on the first support 21. That is, FIG. 5 shows the load acting on the actual wheels, and the rotational surface (indicated by a two-dot chain line b) of the wheel T forms a slip angle θ with respect to the traveling direction of the vehicle (indicated by an arrow a). In the steering state, the cornering force F acts on the wheel T along the lateral direction, and the self-aligning torque M acts around the vertical axis. The lateral load applied to the left and right wheels 3 is controlled by the second actuator 32 to move each of the first support members 21 along the left and right direction of the bogie 5 and the third actuator 33 by the third actuator 33. Each one of the supports 21 corresponds to a resultant force of a lateral force for moving the support 21 in the front-rear direction of the carriage 5. The magnitude and direction of the resultant force can be arbitrarily changed by changing the pressure generated by each of the second and third actuators 32 and 33. Therefore,
A change in cornering force can be simulated by the expansion and contraction of each of the second and third actuators 32 and 33.
Further, the change in the self-aligning torque acting on the wheels in the actual steering state of the vehicle can be simulated by the change in moment about the kingpin axis acting on each of the left and right wheels 3 on the first support 21. That is, the self-aligning torque acting on the actual vehicle wheels acts around the kingpin axis. The load applied to the left and right wheels 3 around the vertical axis 22 is the first
The moment corresponds to a moment when the first support 21 is rotated about the vertical axis 22 by the actuator 31.
The magnitude and direction of this moment can be arbitrarily changed by changing the driving force of each first actuator 31. Therefore, it is possible to simulate a change in the self-aligning torque due to the expansion and contraction of each first actuator 31.

As shown in FIG. 6, the first to fourth actuators 31, 32, 33, 41 are connected to a control device 51 constituted by a computer. The control device 51 has the first to fourth actuators 31, 32, 3
Stroke sensor 3 for detecting strokes of 3 and 41
1 ', 32', 33 ', 41', an input device 52, and a sensor 53 for detecting a steering angle of the steering wheel 7 are connected. The control device 51 stores a control program for calculating a load correlated with the steering reaction force based on the running conditions of the vehicle including the steering angle. The load correlated with the steering reaction force is, for example, a shared load of the wheel acting along the vertical direction on the wheel, a cornering force acting along the lateral direction,
The self-aligning torque acting around the kingpin axis is used as the driving condition, and the driving conditions are, for example, the vehicle speed, the vehicle weight, the friction coefficient between the wheel and the ground contact surface, and the steering angle, and are correlated with the vehicle driving condition and the steering reaction force. The relationship with the applied load can be obtained using a theoretical formula or an empirical formula. The control device 51 includes a vehicle driving condition input from the input device 52 and a sensor 53.
A stroke target value corresponding to a load correlated with the steering reaction force is calculated based on the steering angle detected by the control unit, and the stroke target value and first to fourth stroke sensors by the stroke sensor are calculated.
The first to fourth actuators 31, 32, 33, 41 are feedback-controlled so as to eliminate deviations from the stroke detection values of the actuators 31, 32, 33, 41.
The stroke sensors 31 ', 32', 33 ', 4
1 'instead of the first corresponding to the load correlated to the steering reaction force.
A driving force sensor for detecting the driving force of the fourth to fourth actuators 31, 32, 33, 41 may be connected to the control device 51. Such a driving force sensor is, for example, the first
The first to fourth actuators 31, 32, 33, 41 are arranged between the support plate 21 and the second support 23.
And a known multi-axis sensor that outputs a signal corresponding to the driving force given by In this case, the control device 5
1 calculates a driving force target value corresponding to a load correlated with a steering reaction force based on a traveling condition of the vehicle input from the input device 52 and a steering angle detected by the sensor 53;
The first to fourth actuators 31 and 32 are arranged so as to eliminate a deviation between the drive force target value and the drive force detection values of the first to fourth actuators 31, 32, 33 and 41 by the drive force sensor.
32, 33, and 41 are feedback-controlled. By the feedback control, a load corresponding to a load correlated with the steering reaction force during actual running of the vehicle is applied to the left and right wheels 3. That is, by applying a load corresponding to a load correlated to the steering reaction force during actual vehicle running to the wheels 3 by the load applying mechanism 11, it is possible to simulate the actual steering state of the vehicle, Mechanism 1
The magnitude and direction of the load applied by 1 and the wheels 3
Since the coefficient of friction between the first support 21 and the first support 21 can be changed, a simulation can be performed in accordance with a change in running conditions. Note that a sensor for detecting the turning angle of the wheel 3 is provided in place of the steering angle detecting sensor 53 of the steering wheel 7, and the turning angle detected by the sensor is used in place of the steering angle to provide the feedback. Control may be performed. For example, when a rack and pinion type steering device is used as the steering device 4, the sensor for detecting the steering angle can be configured by a sensor that detects the amount of movement of the rack. Also, the steering wheel and the wheel are not mechanically connected, and the wheel is controlled by an actuator in accordance with the operation of the steering wheel, and the steering angle of the wheel changes, and the steering angle changes in accordance with the change in the steering angle. The present invention can also be applied to a case where a steering state of a vehicle in which a steering reaction force is applied to a wheel by a actuator is simulated. In this case, the steering angle detected by such a steering angle detection sensor is used. The above feedback control may be performed.

According to the above configuration, when simulating the actual steering state of the vehicle, the form of the unevenness 70 provided on the first support 21 is changed to replace the wheel 3 or to perform the first operation.
The coefficient of friction between the first support 21 and the wheel 3 can be changed without exchanging the members constituting the support 21. Also, the irregularities 70 can be provided on the first support 21 simply by removing any of the receiving members 62. Further, according to the position of the receiving member 62 to be removed and the number of the receiving members 62 to be removed, the form of the unevenness 70 can be changed to change the friction coefficient.

FIGS. 7A, 7B and 8 show a second embodiment of the present invention. The difference from the first embodiment is that each first support body 121 includes a support frame 161 and a plurality of receiving members 1.
62, and is provided with vertical displacement means for each of the receiving members 162. The support frame 161 is
A square plate-shaped bottom wall 161a and side walls 161 extending upward and downward from both edges of the bottom wall 161a along the front-rear direction
b, 161c. Each receiving member 162 is provided on the bottom wall 1.
Above 61a, it is sandwiched between both side walls 161b and 161c so as to be vertically displaceable. In this embodiment, a plurality of adjustment bolts 163 are provided as the vertical displacement means. Each bolt 163 is screwed into the bottom wall 161a from below. Each receiving member 162 includes a pair of bolts 163.
Thus, it is supported near the front and rear ends. In the illustrated example, the upper surfaces of the receiving members 162 are flush with each other and the upper surfaces of the side walls 161b and 161c in a state where each bolt 163 is most screwed into the bottom wall 161a. Thus, by changing the screwing amount of each bolt 163 into the support frame 161, each receiving member 162 can be individually displaced up and down, and the displacement amount can be changed.

As shown in FIG. 8, when the receiving member 162 is displaced, the unevenness 170 is provided at the support portion of the first support 121 for the wheel 3. In the example shown in the figure, the unevenness 17
0, but at least one receiving member 16
If 2 is displaced, irregularities can be provided. In addition, according to which position of the receiving member 162 to be displaced and the number of the receiving members 162 to be displaced, the unevenness 170
Can be changed. Furthermore, receiving member 1
By changing the displacement amount of 62, it is possible to change the form of the unevenness 170. Thereby, the coefficient of friction between the first support 121 and the wheel 3 can be more easily adjusted. Other configurations, operations and effects are the same as those of the first embodiment. Each bolt 163 is connected to the bottom wall 16.
Each receiving member 162 is screwed halfway into 1a.
May be made to be flush with each other, and from this state, the receiving member 162 is displaced upward or downward by changing the screwing amount of the bolt 163 to provide the unevenness.

FIGS. 9 (1), (2) and FIG. 10 show a third embodiment of the present invention. The difference from the first embodiment is that each first support 221 includes a support frame 261 and a plurality of receiving members 262, and includes a vertical displacement unit for each of the receiving members 262. The support frame 261
Is a quadrangular plate-shaped bottom wall 261a and side walls 261 extending upward from both edges of the bottom wall 261a in the front-rear direction.
b, 261c, and a rectangular plate-shaped upper wall 261d supported by both side walls 261b, 261c. The same number of through holes 261d 'as the receiving member 262 are formed in the upper wall 261d. A double-acting hydraulic cylinder 263 is provided as a vertical displacement means for each receiving member 262, and the receiving member 262 is
Is configured. Each hydraulic cylinder 263 has a bottom wall 261
a. Each receiving member 262 has a through hole 26
1d 'is inserted so as to be vertically displaceable. In the illustrated example, in a state where each hydraulic cylinder 263 has the receiving member 262 located at the lowest position, the upper surfaces of the receiving members 262 are flush with each other and flush with the upper surface of the upper wall 261d. Each hydraulic cylinder 263 is connected to a hydraulic source via a hydraulic control device (not shown) so that the receiving member 2
62 can be individually displaced up and down by hydraulic pressure, and the amount of displacement can be changed.

As shown in FIG. 10, the receiving member 262
Is displaced, the unevenness 270 is provided at the support portion of the first support 221 for the wheel 3. In the illustrated example, the unevenness 2 is obtained by displacing the plurality of receiving members 262.
70, but at least one receiving member 2
By displacing 62, irregularities can be provided. Also,
Depending on which position of the receiving member 262 is displaced and the number of receiving members 262 to be displaced, the unevenness 27
The form of 0 can be changed. Further, by changing the displacement amount of the receiving member 262, it is possible to change the form of the unevenness 270. Thereby, the first
The coefficient of friction between the support 221 and the wheel 3 can be adjusted more easily. Other configurations, operations and effects are the same as those of the first embodiment. In a state where the hydraulic cylinder 263 has displaced the receiving member 262 halfway upward, the upper surfaces of the receiving members 262 are made to be flush with each other, and the receiving member 262 is displaced upward or downward by the hydraulic cylinder 263 from that state. By doing so, irregularities may be provided. In the third embodiment, the unevenness 270 may be formed by vertically moving all the receiving members 262, and the shape of the unevenness 270 may be changed by a change in the amount of the displacement. Further, the receiving member 262 may be vertically displaced by an electric actuator.

The present invention is not limited to the above embodiment. For example, the shape and number of the receiving members are not particularly limited. Also,
The entire support may be constituted by a plurality of receiving members,
In short, it is sufficient that at least a part of the wheel mounting portion of the support is constituted by a plurality of receiving members. When a simulation of a four-wheel steering vehicle is performed, a load is applied to the left and right wheels at the rear of the bogie in the same manner as the front left and right wheels, and the rear left and right wheels have the same configuration as the support of the front left and right wheels. It may be placed on top. Further, a load may be directly applied to each of the left and right wheels by an actuator without passing through a suspension or a receiving member.

[0027]

According to the present invention, it is possible to provide a vehicle simulation device capable of easily simulating a change in a friction coefficient between a wheel and a road surface.

[Brief description of the drawings]

FIG. 1 is a front view for explaining the configuration of a vehicle simulation apparatus according to a first embodiment of the present invention;

FIG. 2 is a partial plan view of the vehicle simulation device according to the first embodiment of the present invention.

FIG. 3 is a front sectional view and (2) is a side sectional view of a support in the vehicle simulation apparatus according to the first embodiment of the present invention.

FIGS. 4 (1) to (3) are explanatory diagrams of an operation of a support in the vehicle simulation apparatus according to the first embodiment of the present invention.

FIG. 5 is an explanatory diagram of a load acting on a wheel.

FIG. 6 is an explanatory diagram of a configuration of a control system according to the present invention.

FIG. 7 is a front sectional view of a support in the vehicle simulation apparatus according to the second embodiment of the present invention, and FIG.

FIG. 8 is an explanatory diagram of an operation of a support in a vehicle simulation device according to a second embodiment of the present invention.

FIG. 9 is a front sectional view of a support in a vehicle simulation apparatus according to a third embodiment of the present invention, and FIG.

FIG. 10 is an explanatory diagram of an operation of a support in a vehicle simulation device according to a third embodiment of the present invention.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Main body 3 Wheel 4 Steering device 5 Dolly 6 Support mechanism 11 Load application mechanism 21 1st support body 62,162,262 Receiving member 70,170,270 Unevenness

Continuing on the front page (72) Inventor Katsutoshi Nishizaki 3-5-8 Minamisenba, Chuo-ku, Osaka-shi, Osaka Inside Koyo Seiko Co., Ltd. (72) Inventor Tomoho Kada 3-58 Minamisenba, Chuo-ku, Osaka-shi, Osaka Inside Koyo Seiko Co., Ltd. (72) Takayoshi Takamatsu, Inventor 3-5-8 Minamisenba, Chuo-ku, Osaka-shi, Osaka Prefecture Inside Koyo Seiko Co., Ltd. (72) Masaya Segawa 3-5-2, Minamisenba, Chuo-ku, Osaka-shi, Osaka No.Koyo Seiko Co., Ltd.

Claims (4)

[Claims] 1. A bogie supporting mechanism having wheels mounted on a main body via a steering device, the supporting mechanism having a support on which the wheels are mounted, and having a correlation with a steering reaction force of the steering device. A vehicle simulation device provided with a load applying mechanism capable of applying a load to a wheel on the support, comprising means for providing irregularities in a wheel mounting portion of the support, the support and the wheel A vehicle simulation device characterized in that it is possible to change the form of the unevenness so that the friction coefficient between the two can be changed. At least a part of the wheel mounting portion of the support is constituted by a plurality of receiving members, each of which can be removed from the supporting mechanism, and by removing at least one receiving member, the unevenness is reduced. The vehicle simulation device according to claim 1, which is provided. 3. The support according to claim 1, wherein at least a part of said support comprises a plurality of vertically displaceable receiving members, and said irregularities are provided by displacement of at least one receiving member.
4. The vehicle simulation device according to claim 1. 4. The amount of displacement of each receiving member can be changed, and the form of the unevenness can be changed by changing the amount of displacement of at least one receiving member.
4. The vehicle simulation device according to claim 1.