JP2005085177A - Mechanism control program design support device, mechanism control program design support system, mechanism control program design support program, and storage medium - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a mechanism control program design support device, program, and storage medium capable of carrying out development of a mechanism control program without using an actual machine by using a controlled variable from an embedded software executing device as an applied voltage of an actuator circuit. <P>SOLUTION: The mechanism control program design support device having the embedded software executing device 3 executing a control program to control a mechanism device, and a simulation device 2 operating a virtual mechanism model of the mechanism device in interlock is provided with an acquisition function of acquiring a model analyzing behavior of an actuator in response to a voltage applied to a circuit of the actuator constructed in a simulation device 2 interior, an acquisition function of acquiring a model analyzing behavior of the mechanism device in response to the behavior of the actuator, and an analyzing function of analyzing the behavior of the mechanism device per each predetermined microscopic time interval in response to the voltage on the basis of the analysis model. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention relates to a simulation device, a system, a program, and a storage medium that perform a simulation calculation of a virtual mechanism model according to a control signal from an embedded software execution device, and in particular, an actuator that receives an applied voltage as an input is constructed on the virtual mechanism model. The present invention relates to a simulation apparatus, a mechanism control program design support program system, a program, and a storage medium.

A mechanism control program development support system, a mechanism control program development support device, and a mechanism control program development support program storage medium that perform simulation calculation of a virtual mechanism model according to a control signal from an embedded software execution device are conventionally known (for example, , See Patent Document 1).
Conventionally, when developing a control program for mechanism control, embedded software (hereinafter also referred to as a control program) is installed by an embedded software execution device (hereinafter also referred to as an electronic control device) incorporated in a prototype. It is being developed and evaluated with actual machines.
However, when the above-described development method is used for the construction and verification of embedded software, verification cannot be performed unless the actual machine is completed. Even if the prototype is completed, the design of the mechanism is often changed at the prototype stage.Each time, the embedded software development is interrupted, and the specification change or recoding is performed according to the prototype after the design change. Must be done.
For this reason, the development of embedded software is time consuming and costly and inefficient. In addition, embedded software for mass-produced products must be able to handle machine variations. In development using an actual machine, it is difficult to obtain a mechanism in a desired state in consideration of the variation.
For this reason, it is difficult to know how much variation the embedded software can handle. An effective way to solve such problems is to create a virtual mechanism model on a computer instead of an actual machine, and to control this model with an electronic control unit. This is a method for developing software.
If such a technology is realized, it will be possible to develop a control program in advance, and it will be possible to easily verify a new control method using new actuators and sensors without creating an actual machine. can get.
JP 2001-147703 A

Regarding the control simulation technology of the virtual mechanism model for verification of the embedded software execution device, Patent Document 1 described above includes a mechanism control program development support system, a mechanism control program development support device, and a mechanism control program development support program storage medium. It is disclosed.
There, a target speed command voltage is applied to the simulation apparatus to define the operation of the actuator, and based on this result, an operation simulation of the virtual mechanism model is performed.
However, in general, an actuator is operated by an actuator applied voltage output by a control circuit such as a motor driver that has received a target speed command voltage, and there has been a problem in that the virtual mechanism model is inaccurate.
Further, when it is desired to develop embedded software including the function of the motor driver, the control amount output from the embedded software execution device becomes the actuator applied voltage, and thus cannot be dealt with in Patent Document 1 described above.
Therefore, an object of the present invention is to solve the above-described problem, and therefore, by using the control amount from the embedded software execution device as the applied voltage of the actuator circuit, the mechanism control program can be executed without using an actual machine. An object is to provide a mechanism control program design support apparatus, a program, and a storage medium that can be developed.

In order to solve the above-described problem, in the invention according to claim 1, a simulation device that operates a virtual mechanism model of the mechanism device in conjunction with an embedded software execution device that executes a control program to control the mechanism device. In the mechanism control program design support apparatus, the actuator model acquisition means for acquiring a model for analyzing the behavior of the actuator according to the voltage applied to the circuit of the actuator built in the simulation device, and according to the behavior of the actuator A mechanism device model acquisition means for acquiring a model for analyzing the behavior of the mechanism device; and a mechanism device analysis means for analyzing the behavior of the mechanism device in accordance with the voltage at predetermined minute time intervals based on the analysis model. It is characterized by providing.
According to a second aspect of the present invention, when the applied voltage of the actuator is calculated based on a physical model of the actuator and the behavior of the mechanism device is analyzed, the instantaneous speed of the actuator is calculated during the calculation. The mechanism control program design support apparatus according to claim 1, wherein the mechanism control program design support apparatus is determined.
According to a third aspect of the present invention, there is provided an analysis model acquisition means for acquiring an analysis model for changing a characteristic value of a resistance element or the like in the actuator circuit according to a change in the actuator, and the analysis model acquisition means according to the change in the actuator. It is characterized by having behavior change analyzing means for analyzing the behavior change of the analysis model at predetermined minute time intervals.
According to a fourth aspect of the present invention, the behavior of the analysis model is analyzed based on the equivalent inertia, equivalent load, and reduction gear ratio of the parts connected in the mechanism device according to the behavior of the actuator. It features a mechanism control program design support device.
Further, in the invention according to claim 5, an analysis model in which the inertia of the component connected to the drive shaft, whether directly or indirectly, is defined in the drive shaft as an equivalent inertia from the component relationship of the drive mechanism defined in advance. Equivalent inertia model acquisition means for acquiring, and equivalent inertia model behavior change analysis means for analyzing the behavior change of the analysis model at predetermined minute time intervals.
Further, in the invention described in claim 6, from the parts relationship of the drive mechanism defined in advance, an equivalent model for obtaining an analysis model in which the load applied to the drive shaft, whether directly or indirectly, is defined as the equivalent load is obtained. It has a load model acquisition means and an analysis model behavior change analysis means for analyzing the behavior change of the analysis model at predetermined minute time intervals.
According to a seventh aspect of the present invention, a reduction ratio model acquisition means for acquiring an analysis model having a reduction ratio between parts viewed from the drive shaft from the parts relation of the drive mechanism defined in advance, and the behavior of the analysis model A reduction ratio model behavior change analyzing means for analyzing the change at every predetermined minute time interval is provided.

According to an eighth aspect of the present invention, in the mechanism control according to the first aspect, the simulation device is interlocked with the embedded software execution device in real time by analyzing the behavior of the mechanism device at a predetermined minute time interval. It features a program design support device.
According to a ninth aspect of the present invention, an acquisition system for acquiring a model for analyzing the behavior of an actuator in accordance with a voltage applied to an actuator circuit constructed in the simulation apparatus, and the mechanism in accordance with the behavior of the actuator. A mechanism control program design support system comprising an acquisition system for acquiring a model for analyzing the behavior of a device, and a calculation system for calculating the behavior of the mechanism device according to the voltage for each predetermined minute time interval based on the analysis model It is characterized by.
According to a tenth aspect of the present invention, an acquisition program for acquiring a model for analyzing the behavior of an actuator in accordance with a voltage applied to an actuator circuit constructed in the simulation apparatus, and the mechanism in accordance with the behavior of the actuator. A mechanism control program design support program comprising an acquisition program for acquiring a model for analyzing the behavior of the apparatus, and a calculation program for calculating the behavior of the mechanism apparatus in accordance with the voltage for each predetermined minute time interval based on the analysis model It is characterized by.
The invention according to claim 11 is characterized by a machine-readable storage medium storing the program according to claim 10.

According to the present invention, the behavior of the drive mechanism according to the applied voltage of the actuator is analyzed by simulation, so that the embedded software execution device including the mechanism control program can be verified regardless of the presence or absence of the actual drive mechanism.
According to the present invention, it is possible to verify the embedded software execution device including the mechanism control program by calculating the operation speed of the actuator according to the applied voltage and controlling the behavior of the actuator.
According to the present invention, the embedded software execution device including the mechanism control program can be verified by calculating the operation speed of the actuator due to the change of the actuator component and examining the influence of the actuator change from the control result of the mechanism control program. .
According to the present invention, a mechanism control program is included by defining a drive mechanism based on equivalent inertia, equivalent load, and reduction gear ratio of components connected in the mechanism device and moving the embedded software execution device in real time. The embedded software execution device can be verified.
According to the present invention, it is possible to verify the embedded software execution device including the mechanism control program by defining the equivalent inertia for the drive shaft in the mechanism device and moving the embedded software execution device in real time.
According to the present invention, the embedded software execution device including the mechanism control program can be verified by defining an equivalent load on the drive shaft in the mechanism device and moving the embedded software execution device in real time.
According to the present invention, the built-in software execution device including the mechanism control program can be verified by defining a reduction ratio for the drive shaft in the mechanism device and moving the built-in software execution device in real time.
According to the present invention, the embedded software execution device including the mechanism control program can be verified by linking the embedded software execution device and the simulation device in real time.
According to the present invention, by constructing a system having the same effect as that of the first aspect, the same effect can be realized without requiring an apparatus.
According to the present invention, by creating a program having the same effect as that of the first aspect, the same effect can be realized by installing it in a computer, for example, without requiring an apparatus.
According to the present invention, by storing the program of claim 10 in a storage medium, it can be used in a place where there is a computer that can use the program and can be carried, so that it can be easily used.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. FIG. 1 is a schematic diagram of a mechanism control program design support apparatus according to the present invention, which is constituted by a computer schematically shown.
This mechanism control program design support device A is composed of an input device 1, a simulation device 2, an embedded software execution device 3, and an output device 4. The input device 1 inputs parameter information such as actuators and drive mechanism components to the simulation device 2.
The simulation device 2 obtains a model for analyzing the behavior of each of the actuator and the drive mechanism, and based on these two analysis models, the behavior of the virtual mechanism model corresponding to the applied voltage that is a control signal from the embedded software execution device 3 Is calculated every predetermined minute time interval, and a sensor signal is sent to the embedded software execution device 3 in accordance with the sensing time interval.
In the embedded software execution device 3, the mechanism control program calculates a control amount corresponding to this signal and sends a control signal to the simulation device 2. The output device 4 outputs a control signal, a sensor signal, or a state quantity of the virtual mechanism model.
The above is the general feature. The simulation apparatus 2 includes a CPU, a ROM, a RAM, and the like, and realizes various means for analyzing the actuator model and the drive mechanism model.
FIG. 2 is a flowchart showing an example of the calculation procedure of the mechanism control program design support apparatus of the present invention. First, when verification of the mechanism control program is started, the control program calculates a control amount for the target value (S1), and outputs an applied voltage as a control signal (S2).
Next, the behavior of the actuator corresponding to the applied voltage is calculated (S3), and the behavior of the drive mechanism that operates according to the behavior of the actuator is calculated (S4). Further, the behavior of the sensing drive mechanism is converted into a sensor signal and output (S5).
The embedded software execution device that executes the control program can be verified by feeding back this output to the control program and repeating this series of procedures.

FIG. 3 is a schematic perspective view showing an example of a mechanical structure of an image reading apparatus as an object as an example of a control program design support method targeted by the present invention. As an example of a control program design support method targeted by the present invention, a method for supporting design by analyzing the first carriage speed variation according to the motor applied voltage of the image reading apparatus will be described.
This mechanical structure B and its operation will be described. The motor 5 rotates the deceleration (drive shaft) pulley 6 through a timing belt 19. The speed reduction pulley 6 is fixed together with the wire pulleys 7 and 18 by a shaft 20.
Therefore, the wire pulleys 7 and 18 rotate with the rotation of the deceleration pulley 6. Here, the wires 21 and 22 wound around the wire pulleys 7 and 18 will be described. The wire 21 is fixed at both ends by 21a and 21b, and the wire 22 is fixed at both ends by 22a and 22b.
The tension of the wires 21 and 22 is changed by the pulleys 8, 15 and 9, 16, and the first carriage 13 is pulled and moved. The pulleys 11, 12, 23, and 24 whose shafts are fixed to the second carriage 14 are rotated by the tension of the wires 21 and 22.
Pulleys 11 and 23 are adjacent to pulleys 12 and 24, respectively, and they are fixed by the same rotating shaft. Then, the second carriage 14 also moves in accordance with the movement of the pulleys 11, 12, 23, 24.

FIG. 4 is a flowchart showing the procedure of the embodiment of FIG. First, when verification of the mechanism control program is started, the control program compares the target value of the motor rotational angular velocity with the current rotational angular velocity, calculates the voltage value to be applied to the motor (S11), and outputs the applied voltage ( S12).
Next, a motor rotation angular velocity corresponding to the applied voltage is calculated (S13), and a first carriage speed is calculated based on the rotation angular velocity (S14). Further, the motor rotation angular velocity is converted into a sensor signal and output (S15), and this is fed back to the control program again.
The step (S11) in which the control program calculates the control amount for the target value will be described. When the mechanism control program receives a start signal from the external controller, the mechanism control program issues a command to rotate the motor in order to cause the image reading apparatus to perform a scanning operation. Further, the control amount is calculated by comparing the current speed with the speed in a predetermined scanning operation as a target speed.
The step (S12) of outputting the applied voltage that is a control signal will be described. Based on the calculated control amount, a control signal (applied voltage) is output from the embedded software execution device.
At this time, the output control signal may be processed as necessary. Specifically, the applied voltage is reduced in order not to break the simulation apparatus, or a low-pass filter is passed in order to reduce the calculation load.

FIG. 5 is a flowchart for obtaining the motor rotation angular velocity from the motor applied voltage. The step (S13) for obtaining the rotational angular velocity of the motor shaft from the applied voltage of the motor circuit will be described.
This step (S13) is divided into finer steps as shown in FIG. They are the step of converting the applied voltage into bit information (S131), the step of the circuit part (S132), and the step of the drive part (S133). These three steps will be described.
First, the step (S131) of converting the applied voltage into bit information will be described. In this step, the voltage measurement value input to the simulation apparatus is converted into digital information. By the way, the symbols used in the motor circuit and equation of motion used in the following are listed below.

  Here, how to obtain the motor equivalent moment of inertia will be described. FIG. 6 is a schematic view showing the image reading apparatus of FIG. 3 modeled by a drive mechanism. Here, the image reading apparatus in FIG. 3 is modeled by a driving mechanism shown in FIG. From the relationship of the total energy of the drive mechanism, the motor output (power) is equal to the sum of the power applied to all the shafts, and therefore the formula 1 is established.

数１の式は数２の式に展開できる。

Equation 1 can be expanded into Equation 2.

ベルトとワイヤが伸び縮みしたり、プーリに対して滑ったりすることがないと仮定すると、モータとプーリ（キャリッジ）の角速度（速度）比について、数３の式が成り立つ。

Assuming that the belt and the wire do not expand and contract or slide with respect to the pulley, the equation (3) holds for the angular velocity (speed) ratio between the motor and the pulley (carriage).

数２の式と数３の式から、モータ等価慣性モーメントは数４の式になる。

From the formulas 2 and 3, the motor equivalent moment of inertia becomes the formula 4.

こうして、機構の各慣性モーメントからモータの等価慣性モーメントを求める。次に、モータ印加電圧値からモータ回路内を流れる電流を求めるステップ（Ｓ１３２）について説明する。電流は、モータの回路方程式である数５の式を解くことで求める。

Thus, the equivalent moment of inertia of the motor is obtained from each moment of inertia of the mechanism. Next, the step (S132) of obtaining the current flowing through the motor circuit from the motor applied voltage value will be described. The current is obtained by solving the equation (5) that is the circuit equation of the motor.

最後に、モータ回路内を流れる電流からモータ回転角速度を求めるステップ（Ｓ１３３）について説明する。モータ回転角速度は、モータの運動方程式である数６の式を解くことで求める。

Finally, the step (S133) of obtaining the motor rotation angular velocity from the current flowing through the motor circuit will be described. The motor rotation angular velocity is obtained by solving the equation (6) that is the equation of motion of the motor.

ここで、モータ等価負荷トルクＴ_Ｌは、第１キャリッジの定常速度時に各駆動機構にかかる負荷をモータに全て換算した値としている。ところで、モータ回転角速度をフィードバックして制御する場合、この段階で組み込みソフトウェア実行装置と同期をとってセンサ信号を出力してもよい。
つまり、モータの挙動から駆動機構の挙動を求めるステップ（Ｓ４）の前に、組み込みソフトウェア実行装置にセンサ信号を出力するステップ（Ｓ５）を行う。こうすることで、制御プログラムとより早い時間間隔で信号の交換ができる。
モータの挙動から駆動機構の挙動を求めるステップ（Ｓ４）について説明する。ここでも、図６の駆動機構モデルを用いて説明する。ベルトとワイヤが伸び縮みしたり、プーリに対して滑ったりすることがないと仮定すると、数３の式よりモータの回転角速度に対する第１キャリッジ速度は数７の式で示される。

Here, the motor equivalent load torque _TL is a value obtained by converting all the loads applied to the respective drive mechanisms to the motor at the steady speed of the first carriage. By the way, when the motor rotation angular velocity is controlled by feedback, the sensor signal may be output at this stage in synchronization with the embedded software execution device.
That is, before the step (S4) of obtaining the behavior of the drive mechanism from the behavior of the motor, a step (S5) of outputting a sensor signal to the embedded software execution device is performed. By doing so, signals can be exchanged with the control program at an earlier time interval.
The step (S4) for obtaining the behavior of the drive mechanism from the behavior of the motor will be described. Here, the description will be made using the drive mechanism model of FIG. Assuming that the belt and the wire do not expand and contract or slide with respect to the pulley, the first carriage speed with respect to the rotational angular speed of the motor is expressed by the following equation (7).

このときの

を減速比と呼ぶ。
センシングする駆動機構の挙動をセンサ信号に変換・出力するステップ（Ｓ１５）について説明する。本実施の形態では、モータ回転角速度を２相のパルス信号に変換し、センサ信号として組込ソフトウェア実行装置にフィードバックしている。

At this time

Is called the reduction ratio.
The step (S15) of converting / outputting the behavior of the sensing drive mechanism into a sensor signal will be described. In the present embodiment, the motor rotation angular velocity is converted into a two-phase pulse signal and fed back to the embedded software execution device as a sensor signal.

The symbols of each part in FIG. 6 represent the following.
J ₁ : Moment of inertia of motor 5 (N · m), J ₂ : Moment of inertia of reduction pulley 6 (N · m), J ₃ : Moment of inertia of wire pulley 7 (N · m), J ₄ : Inertia of pulley 8 Moment (N · m), J ₅ : Moment of inertia of pulley 9 (N · m), J ₆ : Moment of inertia of pulley 10 (N · m), J ₇ : Moment of inertia of pulley 11 (N · m), J ₈ : moment of inertia of pulley 12 (N · m), M: mass of first carriage (kg), M ₂ : mass of second carriage (kg), R ₁ : radius of motor 5 (m), R ₂ : Releasing pulley 6 radius (m), R ₃ : wire pulley 7 radius (m), R ₄ : pulley 8 radius (m), R ₅ : pulley 9 radius (m), R ₆ : pulley 10 radius ( m), R ₇ : radius (m) of pulley 11, R ₈ : pulley 12 radius (m), x ₉ : displacement of first carriage (m), x ₁₀ : displacement of second carriage (m), θ ₁ : angle (rad) rotated by motor 5, θ ₂ : deceleration pulley 6 There rotated angle (rad), θ _3: angle wire pulley 7 is rotated (rad), θ _4: angle pulley 8 is rotated (rad), θ _5: angle pulley 9 is rotated (rad), θ _6: Angle of rotation of the pulley 10 (rad), θ ₇ : Angle of rotation of the pulley 11 (rad), θ ₈ : Angle of rotation of the pulley 12 (rad)

（ｐｕｌｓｅ／ｓ）
は、数８の式で示される。 FIG. 7 is a flowchart for obtaining a pulse signal from the motor rotational angular velocity. This step (S15) is divided into finer steps as shown in FIG. They are the step (S151) of converting the motor rotation angular velocity into the number of encoder pulses per second (S151) and the step of outputting A-phase and B-phase pulse signals (S152).
These two steps will be described. First, the step (S151) of converting the motor rotation angular velocity into the number of pulses per second will be described. Number of pulses per second

(Pulse / s)
Is expressed by the equation (8).

ただし、

はモータ１回転に対してエンコーダが出力するパルス数（ｐｕｌｓｅ／ｒ）である。また、

の逆数はパルス周期である。
次に、Ａ相、Ｂ相のパルス信号を出力するステップ（Ｓ１５２）について説明する。
ステップ（Ｓ１５２）で求めたパルス周期でＡ相パルス信号を出力する。Ｂ相パルス信号は、Ａ相パルス信号に対してモータ回転角速度の正転時には１／４周期遅らせ、逆転時には１／４周期進める。こうして生成した２相のパルス信号を出力する。
なお、組み込みソフトウェア実行装置が２相のパルス信号をモータ回転角速度に換算する場合について説明する。まず、パルス信号を一定時間間隔でカウントして毎秒のパルス数

を算出する。次に、数８の式を変形した数９の式を用いてモータ回転角速度

を算出する。

However,

Is the number of pulses (pulse / r) output by the encoder for one rotation of the motor. Also,

The reciprocal of is the pulse period.
Next, the step (S152) of outputting A-phase and B-phase pulse signals will be described.
An A-phase pulse signal is output with the pulse period obtained in step (S152). The B-phase pulse signal is delayed from the A-phase pulse signal by ¼ period when the motor rotation angular velocity is forwardly rotated, and advanced by ¼ period when the motor is rotated in reverse. The two-phase pulse signal thus generated is output.
A case where the embedded software execution device converts a two-phase pulse signal into a motor rotation angular velocity will be described. First, count the number of pulses per second by counting the pulse signal at regular time intervals.

Is calculated. Next, the motor rotation angular velocity is obtained by using the formula of the formula 9 obtained by modifying the formula of the formula 8.

Is calculated.

こうして、シミュレーション装置内にある画像読み取り装置の仮想機構モデルの挙動から第１キャリッジ速度変動を出力することで、組み込みソフトウェア実行装置における駆動機構制御プログラムの検証ができる。

Thus, by outputting the first carriage speed fluctuation from the behavior of the virtual mechanism model of the image reading apparatus in the simulation apparatus, the drive mechanism control program in the embedded software execution apparatus can be verified.

It is the schematic of the mechanism control program design assistance apparatus by this invention comprised by the computer shown schematically. It is a flowchart which shows an example of the calculation procedure of the mechanism control program design assistance apparatus of this invention. It is a schematic perspective view which shows an example of the machine structure of the image reading apparatus which is a target object as an example of the control program design assistance method which this invention makes object. It is a flowchart which shows the procedure of embodiment of FIG. It is a flowchart which calculates | requires motor rotation angular velocity from a motor applied voltage. FIG. 4 is a schematic diagram illustrating the image reading apparatus of FIG. 3 modeled by a driving mechanism. It is a flowchart which calculates | requires a pulse signal from a motor rotational angular velocity.

Explanation of symbols

1 Input Device 2 Simulation Device 3 Embedded Software Execution Device 4 Output Device A Mechanism Control Program Design Support Device B Mechanical Structure of Image Reading Device

Claims (11)

  In a mechanism control program design support device having a built-in software execution device that controls a mechanism device by executing a control program and a simulation device that operates a virtual mechanism model of the mechanism device in conjunction with the built-in software execution device. Actuator model acquisition means for acquiring a model for analyzing the behavior of the actuator according to a voltage applied to the circuit of the actuator, and mechanism device model acquisition means for acquiring a model for analyzing the behavior of the mechanism apparatus according to the behavior of the actuator And a mechanism control program design support device for analyzing the behavior of the mechanism device according to the voltage for each predetermined minute time interval based on the analysis model.   A speed of the applied voltage of the actuator is calculated based on a physical model of the actuator, and a value of an instantaneous speed of the actuator is determined during the calculation when analyzing the behavior of the mechanism device. The mechanism control program design support apparatus according to claim 1.   Analysis model acquisition means for acquiring an analysis model for changing a characteristic value of a resistance element or the like in the actuator circuit in accordance with a change in the actuator; and a behavior change in the analysis model in accordance with a change in the actuator for a predetermined minute time 3. The mechanism control program design support apparatus according to claim 2, further comprising behavior change analysis means for analyzing each interval.   The mechanism control program design support according to claim 1, wherein the behavior of the analysis model is analyzed based on equivalent inertia, equivalent load, and reduction ratio of components connected in the mechanism device according to the behavior of the actuator. apparatus.   Equivalent inertia model acquisition means for acquiring an analysis model defined in the drive shaft as the equivalent inertia of the component connected to the drive shaft, whether directly or indirectly, from the parts relationship of the drive mechanism defined in advance, 5. The mechanism control program design support apparatus according to claim 4, further comprising an equivalent inertia model behavior change analysis means for analyzing a behavior change of the analysis model at predetermined minute time intervals.   Equivalent load model acquisition means for acquiring an analysis model in which the load applied to the drive shaft, whether directly or indirectly, is defined as an equivalent load from the parts relation of the drive mechanism defined in advance, and the analysis model 5. The mechanism control program design support device according to claim 4, further comprising an analysis model behavior change analysis means for analyzing the behavior change at every predetermined minute time interval.   Reduction ratio model acquisition means for acquiring an analysis model having a reduction ratio between parts as viewed from the drive shaft from parts relations of the drive mechanism defined in advance, and analysis of behavior changes of the analysis model at predetermined minute time intervals 5. The mechanism control program design support apparatus according to claim 4, further comprising a reduction ratio model behavior change analyzing means.   2. The mechanism control program design support device according to claim 1, wherein the simulation device interlocks with the embedded software execution device in real time by analyzing the behavior of the mechanism device at predetermined minute time intervals.   An acquisition system for acquiring a model for analyzing the behavior of an actuator in accordance with a voltage applied to an actuator circuit constructed in the simulation apparatus, and a model for analyzing the behavior of the mechanism device in accordance with the behavior of the actuator A mechanism control program design support system comprising: an acquisition system; and a calculation system that calculates the behavior of the mechanism device according to the voltage based on the analysis model at predetermined minute time intervals.   An acquisition program for acquiring a model for analyzing the behavior of an actuator in accordance with a voltage applied to an actuator circuit built in the simulation device, and a model for analyzing the behavior of the mechanism device in accordance with the behavior of the actuator A mechanism control program design support program comprising: an acquisition program; and a calculation program for calculating the behavior of the mechanism device according to the voltage based on the analysis model at predetermined minute time intervals.   A machine-readable storage medium in which the program according to claim 10 is stored.

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