JP2002062230A - Load testing method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a load testing method capable of applying a load to a specimen in a target wave form without repeatedly shaking the specimen. SOLUTION: This load testing method comprises a process for constructing a virtual model showing the transfer relation of input and output of a driving device 21 on a computer 51; a process for finding a transfer function of input and output of the virtual model; a process for finding a reverse transfer function of the transfer function; a process for finding a primary control wave form for outputting the target wave form with the driving device based on the reverse transfer function; a process for finding a primary output wave form by inputting the primary control wave form in the virtual model; a process for updating the primary control wave form so that an error of the primary output wave form to the target wave form is decreased and inputting again the updated wave form in the virtual model, and sequentially updating control wave forms so that an error of the updated output wave form to the target wave form is decreased; and a process for applying a load to the specimen 14 by inputting the updated control wave form in the driving device.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method of inputting a control waveform as an input signal to a drive device provided with a servo valve, a hydraulic actuator, etc., so that a change in an amount representing a motion such as acceleration, speed, displacement or load is obtained. The present invention relates to a load test method for applying a load to a specimen so as to obtain a target waveform.

[0002]

2. Description of the Related Art Conventionally, in an impact test or a high-speed load test that requires high responsiveness in an intrusion tester, a crash tester, or the like, when a load is applied to a specimen by a driving device, the specimen is damaged. And the cost and time required for the test are large. Therefore, it has been difficult to modify the control waveform input to the driving device so that the acceleration, speed, displacement, load, and the like applied to the specimen become the target waveform by repeated excitation, that is, iteration. Therefore, it was not easy to apply a load to the specimen with the target waveform. In a test in which the specimen can be repeatedly vibrated, such as a suspension durability test, a virtual model showing the transmission relationship between the input and output of the drive unit is constructed on a computer, and the specimen is Actually excite. Then, the acceleration, velocity, displacement, load, etc. applied to the actual specimen are measured, and the control waveform input to the driving device is set so that the acceleration, velocity, displacement, load, etc., applied to the specimen become a target waveform. Is required by iteration (repetition).

[0003]

By the way, even in a test in which it is difficult to repeatedly excite the specimen, such as an impact test or a high-speed load test that requires a high response, a load is applied to the specimen with the target waveform. It is desired to apply a load.

The present invention has been made to solve the above problems, and provides a load test method capable of applying a load to a specimen with a target waveform without repeatedly exciting the specimen. The purpose is to:

[0005]

According to the load test method of the present invention, a control waveform is input to a driving device (21), and a load is applied to a specimen (14) with a target waveform. Then, a virtual model construction step of constructing a virtual model indicating a transmission relationship between the input and output of the drive device on a computer (51), and a transfer function generation for obtaining a transfer function between input and output of the virtual model of the drive device A step of generating an inverse transfer function for obtaining an inverse transfer function of the transfer function, and a primary control waveform calculation for obtaining a primary control waveform for the drive device to output a target waveform based on the inverse transfer function A step of inputting the primary control waveform to the virtual model of the driving device to obtain a primary output waveform, and a step of reducing an error between the primary output waveform and the target waveform. Then, the primary control waveform is updated, the updated control waveform is input again to the virtual model of the driving device to obtain an updated output waveform, and the control waveform is set so that the error between the updated output waveform and the target waveform is reduced. Update sequentially And control waveform update process, the update control waveform error becomes small and the update output waveform and the target waveform, and a real test step of adding a load load specimen is inputted to the drive device.

A load test method comprises the steps of: constructing, on a computer, a non-linear virtual model showing a transmission relationship between an input and an output of a driving device; and inputting and outputting a non-linear part of the virtual model of the driving device. A transfer function generating step of approximately obtaining a linear transfer function between the input and output of the virtual model of the drive device while a transfer relationship between the linear models is linearly approximated, and an inverse transfer function generating an inverse transfer function of the transfer function A first control waveform calculating step for obtaining a primary control waveform for the driving device to output a target waveform based on the inverse transfer function; and inputting the primary control waveform to a virtual model of the driving device. A primary output waveform generating step of obtaining a primary output waveform, and updating the primary control waveform such that an error between the primary output waveform and the target waveform is reduced. Drive virtual A control waveform updating step of re-inputting to the Dell to obtain an updated output waveform and sequentially updating the control waveform so as to reduce the error between the updated output waveform and the target waveform, and to reduce the error between the updated output waveform and the target waveform An actual test step may be provided in which the updated control waveform is input to the driving device to apply a load to the specimen.

[0007]

Next, an embodiment of a load test method according to the present invention will be described. FIG. 1 is a schematic diagram of an intrusion tester used in the load test method of the present invention. FIG. 2 is an enlarged view of a main part of FIG. FIG. 3 is a plan view of FIG. FIG. 4 is a block diagram of control of the intrusion tester. FIG. 5 is a schematic diagram of a virtual model of the intrusion tester. FIG. 6 is a graph showing a target waveform and an actual response waveform. In this specification, the left side in FIG. 1 is the front side of the intrusion tester.

The firing drive device 1 pushes the sled 2 backward. The firing drive device 1 includes an accumulator 3 (accumulator) for storing oil from a hydraulic pump (not shown),
The hydraulic cylinder 6 includes a servo valve 4 for controlling the amount of oil from the accumulator 3, a hydraulic cylinder 6, and a piston 7 provided on the hydraulic cylinder 6. Oil from the accumulator 3 is supplied to the hydraulic cylinder 6 via the servo valve 4. Supplied,
The piston 7 can be quickly pushed to the rear. In addition, the hydraulic cylinder 6 and the piston 7
Is configured. Then, when the sled 2 is pushed out by the firing drive device 1, it slides rearward. A seat 11, a front panel 12, a handle 13 and the like are fixed on the sled 2, and a human dummy 14 can be seated on the seat 11.

The feet 16 of the dummy 14 as a specimen
Is driven by the toe board driving device 21 in the front-rear direction, and the front side can tilt up and down. The toe board driving device 21 has one end (front end)
Upper and lower hydraulic cylinders 2 fixed to the thread 2
2, 23, pistons 26, 27 provided on the hydraulic cylinders 22, 23, and a toe board support 3 attached to a lower piston 27 via a link 31.
2. A guide member 33 fixed to the sled 2 while guiding the toeboard support base 32 back and forth, a link 36 attached to the upper piston 26, and a fixed guide 36 to guide the upper piston 26 back and forth. Guide member 37, an accumulator 41 (pressure accumulator) for storing oil from a pump (not shown), and servo valves 42 and 4 for controlling the amount of oil from the accumulator 41.
The toeboard 17 has a rear portion rotatably attached to the toeboard support base 32 and a front portion attached to a link 36 of the upper piston 26. The accumulator 41 is not mounted on the sled 2, while the servo valves 42 and 43 are mounted on the sled 2. Then, the accumulator 41 and the servo valve 4
2 and 43 are connected by a flexible hydraulic hose 44.
Oil from the accumulator 41 is supplied to upper and lower hydraulic cylinders 22 and 23 via servo valves 42 and 43, and upper and lower pistons 26 and 27 are driven. Upper and lower piston 2
6 and 27, the toeboard 17 moves back and forth while maintaining the inclination angle, while when the upper piston 26 moves more rearward than the lower piston 27, the toeboard 17 The tip tilts upward. Also, when the lower piston 27 moves farther rearward than the upper piston 26, the tip of the toe board 17 tilts downward. The actuators 24 and 25 are composed of the upper and lower pistons 26 and 27 and the hydraulic cylinders 22 and 23. The actuators 24 and 25 and the servo valves 42 and 43 constitute a servo system.

The launching drive 1 and the toeboard drive 2 of the intrusion tester thus constructed
1 is controlled by a computer 51 shown in FIG. A block diagram of this control will be described with reference to FIG.
The launch control signal generator 52 converts the digital control signal having the launch control waveform into an amplifier 53, a limiter 54,
The signal is amplified, limited, and converted into an analog signal via the / A converter 56 and output to the servo valve 4. The servo valve 4 controls the oil from the accumulator 3 and supplies the oil to the actuator 8 based on the control signal from the firing control signal generator 52. Then, the piston 7 extends rearward and pushes the sled 2, and the sled 2 slides rearward at a speed of, for example, 40G. The firing control signal generator 52 is provided with the piston 7
At the start time (so-called 0 hour), the zero signal is output to the upper control signal generator 61 for toeboard and the lower control signal generator 62 for toeboard. The zero signal is output from the firing control signal generator 52 a short time after the firing control signal generator 52 outputs the control signal toward the servo valve 4.

The upper control signal generator 61 for the toe board includes:
When the zero signal from the firing control signal generator 52 is input, a digital control signal having a toeboard upper side control waveform is output to the amplifier 63, and this control signal is amplified by the amplifier 63 and input to the adder 64. Have been. The output from the adding section 64 is output to a PID section (proportional / differential / integrating section) 6
6. Via the limiter 67 and the D / A converter 68, proportional / derivative / integral, limiting and analog conversion are performed and input to the servo valve 42. The servo valve 42 controls the oil from the accumulator 41 and supplies it to the actuator 24 based on a control signal from the toeboard upper control signal generator 61 via the adder 64 and the like. Then, the piston 26 of the actuator 24 extends rearward and displaces the upper portion of the toeboard 17 via the link 36 rearward. The upper and lower pistons 26 and 27 are provided with displacement sensors 71 and 72 for detecting the amount of expansion and contraction, respectively. When the piston 26 of the actuator 24 extends, the amount of extension is detected by the displacement sensor 71, and the amplifier 76 and the A / A
The signal is amplified and converted into a digital signal via the D converter 77, and is input to the adder 64. The adding section 64 outputs a difference signal between the signal from the toeboard upper control signal generating section 61 and the signal from the displacement sensor 71 to the PID section 66. In this manner, the servo valve 42 and the actuator 24 are moved so that the displacement amount of the upper part of the toe board 17 follows the control signal from the toe board upper control signal generator 61.
Is feedback-controlled, and the control waveform of the control signal is input to the toeboard drive device 21 via a feedback circuit (that is, a feedback system).

Similarly, when the toeboard lower control signal generator 62 receives the zero signal from the emission control signal generator 52, the toeboard lower control signal generator 62 sends a digital control signal having a toeboard lower control waveform to the amplifier 83. This control signal is amplified by the amplifier 83 and input to the adder 84. The output from the adder 84 is subjected to proportional / differential / integral, limiting and analog conversion via a PID unit 86, a limiter 87 and a D / A converter 88, and is input to the servo valve 43. The servo valve 43 controls the oil from the accumulator 41 and supplies it to the actuator 25 based on a control signal from the toeboard lower control signal generator 62 via an adder 84 and the like. Then, the piston 27 of the actuator 25 extends rearward and displaces the lower portion of the toeboard 17 rearward via the link 31 and the toeboard support 32. Then, the piston 27 of the actuator 25
Is extended, the amount of extension is detected by the displacement sensor 72,
The signal is amplified and digital-converted through an amplifier 89 and an A / D converter 90 and input to an adder 84.
The adder 84 calculates the difference signal between the signal from the toe board lower control signal generator 62 and the signal from the displacement sensor 72 as PI
The signal is output to the D unit 86. In this way, toe board 1
7 is the lower control signal generator 6 for the toeboard.
The servo valve 43 and the actuator 25 are feedback-controlled so as to follow the control signal from the control valve 2.

By the way, when performing a test with an intrusion tester, an actual vehicle is first struck against a wall or the like, and the displacement and speed of the toeboard of the vehicle, acceleration G at the time of collision, and the like are measured by sensors. . Then, the displacement and speed of the toe board and the acceleration G at the time of collision are reproduced by an intrusion tester, and a cushion between the seat, a seat belt and the toe board and the foot is provided for protection of the passenger's foot and the like. Obtain material data. The acceleration G is reproduced by the launch drive 1 of the intrusion tester, while
The displacement of the toe board is reproduced by the toe board drive 21 of the intrusion tester. If the displacement of the toeboard is accurately reproduced, the speed of displacement of the toeboard can be reproduced.

For this reason, in the intrusion test, the waveform of the displacement of the toe board 17 which is the output section of the toe board driving device 21 shows the waveform of the displacement of the toe board of the vehicle when the actual vehicle collides against a wall or the like (that is, the waveform of the displacement). , The target waveform of the displacement of the toe board) as much as possible. Also, the toe board 17 and the upper and lower pistons 26, 27
Are linked by a link, the target waveform of the displacement of the upper and lower pistons 26 and 27 can be known from the target waveform of the displacement of the toe board 17. Therefore, the upper and lower pistons 2
The toeboard upper control signal generator 61 and the toeboard lower control signal generator 62 need to output a control signal waveform, that is, a control waveform, so that the displacements of 6, 27 change in the target waveform. This control waveform is obtained as follows.

(1) First, as shown in FIG.
A virtual model showing the input / output transmission relationship of the intrusion tester is constructed on the computer 51 (virtual model construction step). This virtual model replaces the input / output relationship of each part of the driving device such as the real toeboard driving device 21 with a mathematical expression such as a differential equation, and converts them into a computer 5.
One is built. The construction of this virtual model is a conventionally known technique, and a detailed description thereof will be omitted. In FIG. 5, a portion related to the lower actuator 25 of the toe board driving device 21 is substantially the same as a portion related to the upper actuator 24, and is described as a servo system of the lower actuator. Omitted. The acceleration G from the thread 2 is
It joins a model 91 of a toeboard mechanism including links 31, 36, toeboard support 32, and toeboard 17. Toe board control signal generators 61 and 62, amplifiers 63 and 83, adders 64 and 84, PID units 66 and 86,
The limiters 67 and 87 are actually used in the toe board driving device 21.
And the virtual model are substantially the same. Since all the models in FIG. 5 are constructed on the computer 51, D
The / A converters 68 and 88 and the A / D converters 77 and 90 are unnecessary. The virtual model of the servo valves 42 and 43 includes a linear part 92 and a non-linear part 93. This virtual model is constructed in the computer 51 by replacing the actual input / output relationship of the servo valves 42 and 43 with a mathematical expression such as a differential equation. The non-linear section 93 indicates the relationship between the discharge pressure P from the servo valves 42 and 43 and the discharge flow rate Q, and is constructed by replacing this relationship with an equation or the like. The acceleration G of the sled 2 is applied to the oil in the servo valves 42 and 43, and the relationship between the discharge pressure P and the discharge flow rate Q of the servo valves 42 and 43 indicates the acceleration G of the sled 2.
Therefore, the signal of the acceleration G from the thread 2 is input to the non-linear section 93, and the relationship between the discharge pressure P and the discharge flow rate Q is indicated by different lines for each acceleration G. The positive and negative of the discharge pressure P and the discharge flow rate Q are
The side on which the pistons 26 and 27 extend is defined as positive. The virtual models of the actuators 24 and 25 are servo valves 42 and 4
3, the real actuators 24,
The computer 51 is constructed by replacing the input / output relationship of 25 with mathematical expressions such as differential equations. The acceleration, velocity, and amount of displacement of the pistons 26, 27 of the actuators 24, 25 are determined by the model 91 of the toeboard mechanism.
Is input to The model 91 of the toeboard mechanism is also constructed by replacing the actual input / output relationship of the toeboard mechanism with a mathematical expression such as a differential equation. Then, in the model 91 of the toe board mechanism, the pistons 26, 2
7 are calculated, and the reaction forces fU, fL are input to the virtual models of the actuators 24, 25. In this way, a virtual model of the intrusion tester is constructed on the computer 51.

(2) Next, in a state in which the firing driving device 1 is not driven (that is, the acceleration G is not applied to the sled 2), a control signal is output from the toeboard control signal generators 61 and 62, and the actual The toeboard drive 21 and the virtual model toeboard drive 21, that is, the actuators 24 and 25 are driven. When the output of the toeboard drive device 21 differs between the actual output and the virtual model, the parameters of the virtual model are adjusted to match. In particular, virtual model amplifiers 63 and 83
And the parameters of the PID units 66 and 86 are adjusted. (Parameter adjustment process of virtual model)

(3) Next, in a state where acceleration G during the intrusion test is applied to the virtual model or not, a relationship between the input and output of the virtual model is calculated by a linear transfer function. In this embodiment, the virtual model includes the non-linear section 93 and is non-linear. Therefore, the approximated transfer function (that is, the relationship between the input and output of the non-linear section 93 of the virtual model is a linear transfer function). Is obtained.) (Transfer Function Generation Step) When the relationship between the input and the output of the virtual model is expressed using a transfer function, the following (Equation 1) is obtained. X (f): input Y (f): output H (f): transfer function Y (f) = H (f) × X (f) (Equation 1)

(4) Next, an inverse transfer function of the obtained linear transfer function is obtained. (Inverse transfer function generation step) H ⁻¹ (f): inverse transfer function

(5) Next, the primary control waveform X ₀ (f) in which the outputs of the actuators 24 and 25 of the virtual model become the target waveform Y ₀ (f) is calculated using the inverse transfer function H ⁻¹ (f). Ask.
(Primary control waveform calculation step) X ₀ (f) = H ⁻¹ (f) × Y ₀ (f) (Equation 2) (6) Next, the acceleration G at the time of the intrusion test is added to the virtual model. In the state where the sled 2 is outputting the signal of the acceleration G, the virtual model toeboard control signal generators 61 and 62 output the primary control waveform X ₀ (f), Of the primary output waveforms Y ₁ (f) of the actuators 24 and 25 of FIG. (First
Next output waveform generation step) Y ₁ (f) = H (f) × X ₀ (f) (Equation 3) Then, the primary output waveform Y ₁ (f) and the target waveform Y
An error or a calculation error occurs when the transmission relationship of the non-linear section 93 is linearly approximated with the _{value 0} (f).
(7) Next, the target waveform Y ₀ (f) and the previous n−1 th primary output waveform Y _n−1 of the actuators 24 and 25 of the virtual model
An error from (f) is obtained, and the control waveform is sequentially updated (so-called iteration) so as to reduce this error, thereby obtaining an updated control waveform X _n (f). (Control Waveform Update Step) That is, the target waveform Y ₀ (f) and the previous n−1-th primary output waveform Y _n−1 (f) of the actuators 24 and 25 of the virtual model.
^Is multiplied by the inverse transfer function H ^-1 (f) and the proportionality constant α, and the previous control waveform X _n-1 (f) is added to the update control waveform X _n (f). Ask for. X _n (f) = X _n-1 (f) + α × H ^-1 (f) × [Y ₀ (f) −Y _n-1 (f)] (Equation 4) α: proportionality constant In the above description, Although the toeboard upper control signal generator 61 and the toeboard lower control signal generator 62 are performed separately, they are actually performed simultaneously.
Also, the control waveform, target waveform, transfer function, inverse transfer function, and the like for the upper actuator 24 usually have different values from the control waveform, target waveform, transfer function, and inverse transfer function for the lower actuator 25. ing. (8) Next, the actual control is performed using the updated control waveform X _n (f) in which the error between the target waveform Y ₀ (f) and the updated output waveform Y _n (f) of the virtual model actuators 24 and 25 is reduced. Perform an intrusion test. (Actual Test Step) That is, a firing control signal is output from the firing control signal generator 52 of the actual intrusion tester shown in FIG. 4, the sled 2 is pushed backward, and the acceleration G is applied to the sled 2. . The toeboard upper control signal generator 61 and the toeboard lower control signal generator 62 are
When the zero signal is input from the firing control signal generator 52, the control signal having the updated control waveform obtained in the control waveform updating step (7) is output, and the toe board driving device 21 is driven. . Then, as shown in FIG. 6, the toe board 17 can respond with displacement and velocity substantially the same as those of the target waveform. In particular, the displacements are substantially the same.

When the intrusion test is performed again under another condition, for example, a different target waveform or a different acceleration G of the sled 2, the steps (1) and (2) need not be performed. Is performed.

As described above, in this embodiment, the control waveform for applying a load to the specimen with the target waveform is obtained by iteration in a virtual model on the computer 51. A control signal having a control waveform determined by the iteration is input to the driving device, and based on the control signal, an output unit (for example, a piston or the like) of the driving device represents a motion such as acceleration, speed, displacement, or load. The amount is changing in the target waveform (that is, the amount representing the movement is output in the target waveform). Therefore, it is not necessary to perform the iteration on a real machine, and acceleration,
Speed, displacement, load, etc. can be more accurately applied to the specimen with the target waveform.

The driving device for applying a load to the specimen is composed of a servo valve and a hydraulic actuator, but may be another driving device, for example, an electric driving device driven by a motor or the like. The load test can be a test other than the intrusion test, for example, a test using a crash tester or the like. In addition, the specimen may be other than the dummy 14. Further, in this embodiment, the portion where the input / output relationship is nonlinear is the servo valve 4
2, 43, but can also be other parts.

[0023]

According to the present invention, a virtual model showing the transmission relationship between the input and output of the drive device is constructed on a computer, and the transfer function between the input and output of the virtual model of this drive device is obtained. An inverse transfer function of the transfer function is determined, a primary control waveform for the drive device to output a target waveform is determined based on the inverse transfer function, and the primary control waveform is input to a virtual model of the drive device. To obtain a primary output waveform,
Next, the primary control waveform is updated so that the error between the primary output waveform and the target waveform is reduced, and the updated control waveform is input again to the virtual model of the driving device to obtain an updated output waveform. The control waveform is sequentially updated so that the error between the updated output waveform and the target waveform is reduced. Then, an update control waveform in which the error between the update output waveform and the target waveform is reduced is input to the driving device to apply a load to the specimen.
As described above, since the iteration is performed by the virtual model, it is not necessary to perform the iteration by the actual machine, and the acceleration, the speed, the displacement, the load, and the like can be more accurately applied to the specimen with the target waveform. As a result, even in a test in which it is difficult to repeatedly excite the specimen, a load can be applied to the specimen with the target waveform. Also,
Since the linear transfer function between the input and output of the virtual model of the drive device is approximately determined while the transfer relationship between the input and output of the nonlinear portion of the virtual model of the drive device is linearly approximated, the virtual Even when the transfer relationship between the input and output of the model is nonlinear, the inverse transfer function can be obtained by linear approximation. This approximation can be complemented by iteration in the virtual model, and acceleration, velocity, displacement, load, and the like can be more accurately applied to the specimen with the target waveform.

[Brief description of the drawings]

FIG. 1 is a schematic diagram of an intrusion tester used in a load test method of the present invention.

FIG. 2 is an enlarged view of a main part of FIG.

FIG. 3 is a plan view of FIG. 2;

FIG. 4 is a block diagram of control of the intrusion tester.

FIG. 5 is a schematic diagram of a virtual model of the intrusion tester.

FIG. 6 is a graph showing a target waveform and an actual response waveform.

[Explanation of symbols]

 14 Dummy (specimen) 21 Toe board drive 51 Computer

Claims (2)

[Claims] 1. A load test method for inputting a control waveform to a driving device and applying a load to a specimen with a target waveform, wherein a virtual model showing a transmission relationship between input and output of the driving device is constructed on a computer. A virtual model constructing step, a transfer function generating step for obtaining a transfer function between the input and output of the virtual model of the driving device, an inverse transfer function generating step for obtaining an inverse transfer function of the transfer function, A primary control waveform calculating step for obtaining a primary control waveform for the drive device to output a target waveform; and inputting the primary control waveform to a virtual model of the drive device to generate a primary output waveform. A primary output waveform generating step to be determined, and an error between the primary output waveform and the target waveform is reduced.
The primary control waveform is updated, the updated control waveform is input again to the virtual model of the driving device to obtain an updated output waveform, and the control waveforms are sequentially reduced so that the error between the updated output waveform and the target waveform is reduced. A control waveform updating step of updating; and an actual test step of inputting an updated control waveform in which an error between an updated output waveform and a target waveform is reduced to the drive device and applying a load to the specimen. Test method. 2. A load test method for inputting a control waveform to a driving device and applying a load to a specimen with a target waveform, wherein a non-linear virtual model indicating a transmission relationship between input and output of the driving device is stored on a computer. And a linear transfer function between the input and output of the virtual model of the drive device in a state where the transfer relationship between the input and output of the non-linear part of the virtual model of the drive device is linearly approximated. Transfer function generating step for determining the transfer function, and an inverse transfer function generating step for obtaining an inverse transfer function of the transfer function. Based on the inverse transfer function, a primary control waveform for the drive device to output a target waveform is determined. A primary control waveform calculating step, a primary output waveform generating step of inputting the primary control waveform to a virtual model of the driving device to obtain a primary output waveform, and a primary output waveform and a target waveform. of To reduce the error,
The primary control waveform is updated, the updated control waveform is input again to the virtual model of the driving device to obtain an updated output waveform, and the control waveforms are sequentially reduced so that the error between the updated output waveform and the target waveform is reduced. A control waveform updating step of updating; and an actual test step of inputting an updated control waveform in which an error between an updated output waveform and a target waveform is reduced to the drive device and applying a load to the specimen. Test method.