JP2006236035A - Drive control system design support device, drive control system design support program, drive mechanism design support device, drive mechanism design support program and recording medium - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a drive control system design support device, a drive control system design support program, a drive mechanism design support device, a drive mechanism design support program and a recording medium, supporting development of a drive control system drive-controlling an actuator operating a drive mechanism, and the drive mechanism. <P>SOLUTION: In this drive control system design support device 1, an off-line simulation part 10 models a control system MCU 80 as an off-line drive control system model on the basis of design information of the control system MCU 80, simulates it off-line by use of the off-line drive control system model, and a real-time simulation part 20 mounts the off-line drive control system model to a real-time machine, and simulates a reading drive mechanism system 90 of a control target in real time. An optimization calculation part 40 optimizes each parameter of the off-line drive control system model simulated by the real-time simulation part 20 in real time. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a drive control system design support apparatus, a drive control system design support program, a drive mechanism design support apparatus, a drive mechanism design support program, and a recording medium. The present invention relates to a drive control system that controls a mechanism that performs the above, a drive control system design support device that supports development of the drive mechanism, a drive control system design support program, a drive mechanism design support device, a drive mechanism design support program, and a recording medium.

  In general, in the design and development of mechanisms that have actuators (motors), sensors, etc., from a mechanism that performs three-dimensional operations, assemble parts, prototype the actual machine, operate the prototyped actual machine, Perform the evaluation. Then, according to the result of the operation evaluation of the actual machine, make a design change, prototype the actual machine after the design change, repeat the process of evaluating the operation of the actual machine again, and if the evaluation result is good Complete the design.

  In order to operate such a mechanism, a control program for controlling the operation of the mechanism is developed, and the control program is executed by a microcomputer incorporated in the mechanism to be controlled. In developing this control program, a prototype of the mechanism to be controlled needs to be completed. That is, the mechanism can be specifically moved only after the prototype is completed, and the development of the control program (embedded software) can be started using the mechanism. Development of this embedded software proceeds after the prototype is completed, while the prototype is actually operated.

  In this way, when developing a drive mechanism system, a prototype of the mechanism to be controlled is required. Therefore, embedded software cannot be developed until the prototype is completed. It took time and cost to develop and was inefficient.

  When developing a control program for controlling a drive mechanism having an actuator (motor) or sensor, the drive to be controlled is generally designed and verified on the desktop (offline). Using a prototype of the mechanism, a so-called RCP (Rapid Controller Prototype) simulation is performed in which the control program is verified in real time by linking with the control program (see Patent Document 1, Patent Document 2, etc.).

  However, verification on the desk (offline) is limited in accurately evaluating the design depending on the accuracy of each model. Therefore, the behavior of the prototype is measured, and the control program is used to measure the measured value. It was necessary to adjust each parameter used little by little, and there was a problem that development was time-consuming and costly and inefficient.

  Also, until the prototype is completed, a HIL (Hardware in the Loop) simulation system that builds a virtual mechanism on the computer that moves exactly like the actual mechanism to be developed and drives the virtual mechanism instead of the actual mechanism. Is constructed, and each parameter in the simulation system is tuned little by little and used for system development (see Patent Documents 3 and 4).

JP 05-324403 A JP 09-034504 A JP 2001-222572 A JP 2003-03025 A

  However, in the development of the drive control system and the drive mechanism using the above-described conventional simulation technology, there is a problem that the tuning work of the control program and the virtual mechanism takes time and cost and is inefficient. .

  Therefore, the present invention automatically optimizes the control system design parameters in real time when simulating the control program and the mechanism to be controlled in real time, thereby improving the efficiency of the development of the drive control system. It is an object of the present invention to provide a drive control system design support apparatus, a drive control system design support program, and a recording medium for recording the drive control system design support program, which can realize shortening and man-hour reduction.

  In addition, the present invention automatically optimizes drive mechanism design parameters in real time when simulating the drive mechanism and controller in real time, thereby improving the efficiency of system development, shortening the development period, and man-hours. It is an object to provide a drive mechanism design support apparatus, a drive mechanism design support program, and a recording medium for recording the drive mechanism design support program.

  The drive control system design support apparatus according to the first aspect of the invention performs design support for a drive control system that controls a drive source such as a motor of an actuator that operates a drive mechanism based on a control program according to a detection result of a sensor. A drive control system design support device, wherein the drive control system is modeled as an offline drive control system model based on the design information of the drive control system, and offline simulation is performed using the offline drive control system model A real-time simulation means for simulating the drive mechanism to be controlled in real time, and the offline drive control system model simulated by the real-time simulation means. Real parameters And optimization calculation means for optimizing Im by having, have achieved the above objects.

  In this case, for example, as described in claim 2, the offline simulation unit models a control algorithm of the drive control system based on the design information of the drive control system, and performs the operation of the drive control system offline. You may simulate.

  In addition, for example, as described in claim 3, the real-time simulation unit implements the offline drive control system model in the real-time machine, performs data transfer via an interface unit, and controls the control target. You may simulate in real time with the drive mechanism.

  Further, for example, as described in claim 4, the interface means may exchange data between the real-time simulation means and the drive mechanism to be controlled in real time.

  For example, as described in claim 5, the interface means may pass an actuator command signal for the actuator of the drive mechanism from the real-time simulation means to the drive mechanism to be controlled.

  Further, for example, as described in claim 6, the interface means sends the actuator command from the real-time simulation means to the drive mechanism based on a simulation result corresponding to a sensor signal from the sensor of the drive mechanism. The signal may be determined and passed.

  For example, as described in claim 7, the optimization calculation unit collects the behavior of the drive mechanism by the sensor, compares the signal of the sensor with a preset objective function in real time, Each parameter of the offline drive control system model may be optimized in real time.

  Further, for example, as described in claim 8, the optimization calculation means may search for an optimum value of each parameter in the drive control system model in real time based on the evaluation result of the objective function.

  The drive control system design support program according to claim 9 provides design support for a drive control system that controls a drive source such as a motor of an actuator that operates the drive mechanism based on the control program according to the detection result of the sensor. A drive control system design support program, which models the drive control system as an offline drive control system model based on the design information of the drive control system, and performs offline simulation using the offline drive control system model A real-time simulation step for mounting the offline drive control system model in a real-time machine to simulate the drive mechanism to be controlled in real time; and the offline drive control system model for simulating in the real-time simulation step. The parameters of the optimization calculation step of optimizing in real time, by having, have achieved the above objects.

  According to a tenth aspect of the present invention, there is provided a drive control system design for supporting design of a drive control system for controlling a drive source such as an actuator motor for operating a drive mechanism based on a control program in accordance with a detection result of a sensor. A recording medium for recording a support program, wherein the drive control system design support program models the drive control system as an offline drive control system model based on the design information of the drive control system, and uses the offline simulation model An offline simulation step for simulating offline, a real-time simulation step for simulating the drive mechanism to be controlled in real time by mounting the offline drive control system model on a real-time machine, and a real-time simulation step. And optimization calculation step of optimizing in real time the parameters of the off-line control system model Yureto by having, have achieved the above objects.

  A drive mechanism design support apparatus according to an eleventh aspect of the present invention is a drive mechanism design support apparatus that performs design support for a drive mechanism that operates a drive source such as a motor of an actuator based on a control program in accordance with a detection result of a sensor. Then, based on the design information of the drive mechanism, the drive mechanism is modeled as an offline drive system model, and offline simulation means for simulating offline using the offline drive system model; and the offline drive system model in a real-time machine Real-time simulation means that implements and simulates in real time, control means that implements a control algorithm that controls the drive mechanism, and exchanges data in real time between the real-time simulation means and the control means Interface to perform By having a scan unit, and a optimization calculation means for optimizing parameters in real time of the off-line drive system model to simulate the real-time simulation means have achieved the above objects.

  In this case, for example, as described in claim 12, the offline simulation unit includes a first mechanism design unit that models the selected actuator when the drive mechanism is designed, and a driving force of the actuator. A second mechanism design unit that models the drive mechanism that operates according to the above, a third mechanism design unit that models the selected sensor when designing the drive mechanism, and each mechanism design unit. And a mechanism design interface means for exchanging data, and the operation of the drive mechanism may be simulated off-line by the respective models.

  Further, for example, the real-time simulation unit may simulate the operation of the drive mechanism in real time by mounting an offline drive system model of the drive mechanism on a real-time machine.

  Further, for example, as described in claim 14, the control means includes embedded software that causes the drive mechanism to perform a predetermined operation based on the control algorithm, and an actual controller in which the embedded software is mounted. And may have.

  Further, for example, as described in claim 15, the interface means may exchange data between the real-time simulation means and the controller in real time.

  For example, as described in claim 16, the interface unit may pass an actuator command signal for the actuator in the offline drive system model from the controller to the real-time simulation unit.

  Further, for example, as described in claim 17, the interface means is obtained as a simulation result according to the actuator command signal from the real-time simulation means to the control means and from the sensor in the offline drive system model. The sensor signal may be delivered.

  For example, as described in claim 18, the optimization calculation unit compares the value of the analysis result with a preset objective function in real time based on the real-time analysis result of the offline drive system model. May be.

  Furthermore, for example, as described in claim 19, the optimization calculation unit may search for an optimum value of each parameter in the offline drive system model in real time based on the evaluation result of the objective function.

  A drive mechanism design support program according to a twentieth aspect of the invention is a drive mechanism design support program for supporting design of a drive mechanism for operating a drive source such as an actuator motor based on a control program in accordance with a detection result of a sensor. An offline simulation step of modeling the drive mechanism as an offline drive system model based on the design information of the drive mechanism, and performing offline simulation using the offline drive system model, and an offline drive system model of the offline simulation step Between a control unit on which a control algorithm for controlling the drive mechanism is implemented and the real-time simulation unit. An interface step for transferring data in real time, and an optimization calculation step for optimizing each parameter of the offline drive system model simulated in the real-time simulation step in real time. Yes.

  The recording medium of the invention according to claim 21 is a recording medium for recording a drive mechanism design support program for supporting design of a drive mechanism for operating a drive source such as an actuator motor based on a control program in accordance with a detection result of the sensor. The drive mechanism design support program models the drive mechanism as an offline drive system model based on the design information of the drive mechanism, and performs offline simulation using the offline drive system model; and A real-time simulation step in which an offline drive system model of the offline simulation step is mounted on a real-time machine to simulate in real time; a control means in which a control algorithm for controlling the drive mechanism is implemented; An interface step for exchanging data in real time with the system simulation step, and an optimization calculation step for optimizing each parameter of the offline drive system model simulated in the real time simulation step in real time. Has achieved the above objectives.

  According to the present invention, when performing design support for a drive control system that controls a drive source such as an actuator motor that operates a drive mechanism based on a control program according to a detection result of a sensor, Based on the system design information, the drive control system is modeled as an offline drive control system model, and the offline drive control system model is used for offline simulation. The real-time simulation means converts the offline drive control system model to a real-time machine. In this case, the drive mechanism to be controlled is simulated in real time, and the optimization calculation means optimizes each parameter of the offline drive control system model simulated by the real time simulation means in real time. The real Automatically optimized Im, can improve the efficiency of the drive control system development, it is possible to achieve shortening of the development period, the reduction of man-hours.

  In addition, according to the present invention, the off-line simulation means is provided to support the design of the drive mechanism that operates the drive source such as the motor of the actuator based on the control program according to the detection result of the sensor. Based on the design information, the drive mechanism is modeled as an offline drive system model, and the offline drive system model is used for offline simulation. And the interface means transfers data in real time between the control means on which the control algorithm for controlling the drive mechanism is controlled and the real-time simulation means, and the optimization calculation means is the real-time simulation means. Stain Since each parameter of the off-line drive system model to be optimized is optimized in real time, the drive mechanism design parameters can be automatically optimized in real time to improve the efficiency of system development, shortening the development period and man-hours. Can be realized.

  Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. In addition, since the Example described below is a suitable Example of this invention, various technically preferable restrictions are attached | subjected, However, The scope of the present invention limits this invention especially in the following description. As long as there is no description of the effect, it is not restricted to these aspects.

  1 to 4 are diagrams showing a first embodiment of a drive control system design support apparatus, a drive control system design support program, a drive mechanism design support apparatus, a drive mechanism design support program, and a recording medium according to the present invention. 1 shows a drive control system design support apparatus 1 to which a first embodiment of a drive control system design support apparatus, a drive control system design support program, a drive mechanism design support apparatus, a drive mechanism design support program, and a recording medium according to the present invention is applied. It is a block block diagram.

  1, the drive control system design support apparatus 1 includes an offline simulation unit 10, a real-time simulation unit 20, an interface unit 30, an optimization calculation unit 40, and the like. For example, an image reading device 70 as illustrated in FIG. Supports control system design.

  The drive control system design support apparatus 1 causes a computer or the like to read a drive control system design support program and necessary data stored in a recording medium such as a CD-ROM (Compact Disc Read Only Memory), for example, Built. This drive control system design support program models the drive control system as an offline drive control system model based on the drive control system design information, and simulates it offline using the offline simulation model (offline drive control system model) The offline simulation step to be performed, the offline drive control system model is mounted on the real-time machine, the real-time simulation step for simulating the drive mechanism to be controlled in real time, and the parameters of the offline drive control system model to be simulated in the real-time simulation step And an optimization calculation step for optimizing in real time.

  The image reading apparatus 70 shown in FIG. 2 includes a control system MCU (Motor Control Unit) 80 and a reading drive mechanism system 90. The control system MCU 80 includes a digital control unit 81 and a drive amplifier 82, and the reading drive mechanism system 90 includes a motor 91, a transmission mechanism 92, a drive unit 93, a sensor unit 94, and the like.

  A torque command value of the motor 91 of the reading drive mechanism system 90 is output from the digital controller 81 of the control system MCU 80 through the drive amplifier 82, and an applied voltage is applied to the motor 91 such as a brushed DC motor of the reading drive mechanism system 90, A driving unit 93 such as a pulley of the image reading unit is driven through a transmission mechanism 92 such as a timing belt or a wire to perform a reading operation. On the other hand, a sensor unit 94 such as an optical encoder attached to the motor shaft measures the rotational speed and rotational position of the motor, and feeds back information on the motor position and motor speed to the digital control unit 81 of the control system MCU 80. Perform digital control.

  Referring again to FIG. 1, first, the offline simulation unit 10 of the control system design support apparatus 1 will be described. The offline simulation unit 10 creates a control system model (offline drive control system model) based on the input design information based on the control algorithm in the digital control unit 81 shown in FIG. This model is, for example, as shown in FIG. 3 and includes a speed profile setting block 11, a control system gain setting block 12, and a feedforward amount setting broke 13. The motor speed is determined by the speed profile setting block 11 in accordance with the position information read from the encoder, converted into a current value at that time by the control system gain setting block 12 and the feedforward amount setting block 13, and converted into a drive system model. Output. The validity of the control system design is evaluated offline based on the analysis results of the drive system model.

  Next, the real-time simulation unit 20 of the drive control system design support apparatus 1 will be described. A control system model (offline drive control system model) verified by offline simulation is mounted on a real-time machine, and simulation is performed in real time. The real-time machine uses, for example, a DSP (Digital Signal Processor) board or a personal computer that operates on a real-time OS (Operating System), which is often used for digital processing in recent years.

  Next, the interface unit 30 of the control system design support apparatus 1 will be described. As shown in FIG. 4, the interface unit 30 sends a feedback signal from the control system model to the control target mechanism unit 50, for example, the control unit (for example, the control system MCU 80 in FIG. 2) in the reading drive mechanism system 90 in FIG. And a command signal given to the actuator 51 calculated from the control system model by real-time simulation according to the feedback signal. The command signal, for example, performs D / A (digital / analog) conversion on the motor current signal output from the control unit, and inputs the value to the motor drive amplifier to drive the motor. The sensor signal detected by the sensor 52 is, for example, an A-phase and B-phase pulse signal input to the counter board and converted into position control and speed control when an encoder is used.

  Then, when the behavior of the control target mechanism unit 50 is measured by the sensor 52, the optimization calculation unit 40 of the control system design support apparatus 1 compares this measured value with a preset objective function, and the difference is found. Each parameter in the control system model of the real-time simulation unit 20 is tuned by optimization processing and output to the real-time simulation unit 20 so as to be minimized. The optimization calculation unit 40 calculates the gradient of the total value (y) of the difference between the measured value of the drive mechanism behavior and the objective function by the following equation (1), and determines an appropriate search direction based on this gradient.

  When the optimization calculation unit 40 calculates the gradient and determines the optimum search direction, the optimization calculation unit 40 sets a new design variable along the determined search direction, and the difference between the calculated measured value of the drive mechanism behavior and the objective function is calculated. Repeat the above calculation until it is minimized.

  Next, the operation of this embodiment will be described. In the drive control system design support apparatus 1 of the present embodiment, first, the offline simulation unit 10 calculates the control algorithm in the digital control unit 81 of the control system MCU 80 shown in FIG. The motor speed is determined by the speed profile setting block 11 according to the position information modeled as shown in FIG. 3 and read from the sensor unit 94 such as an encoder, and the control system gain setting block 12 and the feedforward amount setting block 13 are determined. Is converted to the current value at that time and output to the drive system model. The validity of the control system design is evaluated offline based on the analysis results of the drive system model.

  Next, the control system model verified by the offline simulation in the offline simulation unit 10 is mounted on a real-time machine, and the real-time simulation unit 20 performs simulation in real time. At this time, the interface unit 30 exchanges a command signal and a sensor signal between the real-time simulation unit 20 and the control target mechanism unit 50.

  Then, the optimization calculation unit 40 compares the measured value of the behavior of the control target mechanism unit 50 measured by the sensor 52 with a preset objective function, and minimizes the difference between the real-time control system models. Are tuned by optimization processing and output to the real-time simulation unit 20. The optimization calculation unit 40 calculates the gradient of the total value (y) of the difference between the measured value of the drive mechanism behavior and the objective function by the above equation (1), and determines an appropriate search direction based on this gradient.

  When the optimization calculation unit 40 calculates the gradient and determines the optimum search direction, the optimization calculation unit 40 sets a new design variable along the determined search direction, and the difference between the calculated measured value of the drive mechanism behavior and the objective function is calculated. Repeat the above calculation until it is minimized.

  Thus, the drive control system design support apparatus 1 of the present embodiment controls the drive source such as the motor 91 of the actuator that operates the reading drive mechanism system 90 based on the control program according to the detection result of the sensor unit 94. When providing design support for the control system MCU 80, which is a drive control system, the offline simulation unit 10 models the control system MCU 80 as an offline drive control system model based on the design information of the control system MCU 80, and the offline drive control system model The off-line drive control system model is mounted on a real-time machine by the real-time simulation unit 20 to simulate the read drive mechanism system 90 to be controlled in real time. In the drive control system design support apparatus 1, the optimization calculation unit 40 optimizes each parameter of the offline drive control system model simulated by the real-time simulation unit 20 in real time.

  Therefore, it is possible to increase the efficiency of design and development of the control system MCU 80, and it is possible to reduce the development period and man-hours.

  Further, in the drive control system design support apparatus 1 of this embodiment, the offline simulation unit 10 models the control algorithm of the control system MCU 80 based on the design information of the control system MCU 80, and simulates the operation of the control system MCU 80 offline. is doing.

  Therefore, the design of the control system MCU 80 can be simulated offline.

  Furthermore, in the drive control system design support apparatus 1 of the present embodiment, the real-time simulation unit 20 mounts an offline drive control system model on a real-time machine, exchanges data via the interface unit 30, and controls Simulate in real time with the read drive mechanism 90.

  Therefore, a simulation model verified offline can be simulated in real time.

  In the drive control system design support apparatus 1 of the present embodiment, the interface unit 30 exchanges data between the real-time simulation unit 20 and the read drive mechanism system 90 to be controlled in real time.

  Therefore, data can be transmitted and received in real time between the real-time control system model and the reading drive mechanism system 90 to be controlled.

  Furthermore, in the drive control system design support apparatus 1 of the present embodiment, the interface unit 30 passes the actuator command signal for the actuator of the read drive mechanism system 90 from the real-time simulation unit 20 to the read drive mechanism system 90 to be controlled.

  Therefore, the command signal can be passed from the real-time control system model to the reading drive mechanism system 90 in real time, and the control system design can be evaluated in real time.

  Further, in the drive control system design support apparatus 1 of the present embodiment, the interface unit 30 causes the real-time simulation unit 20 to transfer to the reading drive mechanism system 90, and the simulation result according to the sensor signal from the sensor unit 94 of the reading drive mechanism system 90. Based on the above, the actuator command signal is determined and delivered.

  Therefore, the actuator command signal can be determined and transferred according to the sensor signal from the sensor unit 94 in the reading drive mechanism system 90.

  Further, in the drive control system design support apparatus 1 of the present embodiment, the optimization calculation unit 40 collects the behavior of the reading drive mechanism system 90 by the sensor unit 94, and outputs the signal of the sensor unit 90 and a preset objective function. Compared to real time, each parameter of the offline drive control system model is optimized in real time.

  Therefore, the control system model can be optimized by measuring the behavior of the reading drive mechanism system 90 and comparing it with the objective function.

  Further, in the drive control system design support apparatus 1 of the present embodiment, the optimization calculation unit 40 searches for the optimum value of each parameter in the drive control system model in real time based on the evaluation result of the objective function.

  Therefore, each parameter in the control system model can be optimized.

  5 to 11 are diagrams showing a second embodiment of the drive control system design support apparatus, the drive control system design support program, the drive mechanism design support apparatus, the drive mechanism design support program, and the recording medium according to the present invention. 5 is a block diagram of the drive mechanism design support apparatus 100 to which the second embodiment of the drive control system design support apparatus, drive control system design support program, drive mechanism design support apparatus, drive mechanism design support program, and recording medium of the present invention is applied. It is a block diagram.

  In FIG. 5, the drive mechanism design support apparatus 100 includes an input unit 110, an offline simulation unit 120, a real-time simulation unit 130, an interface unit 140, a control unit 150, an optimization calculation unit 160, a display unit 170, and the like. The control system design support of the image reading apparatus 200 as shown in FIG.

  As shown in FIG. 6, the image reading apparatus 200 generally includes a first carriage 203 and a second carriage on a pair of rails 201 and 202 that extend in the sub-scanning direction and are arranged in parallel. 204 is movably mounted along the rails 201 and 202, and the first carriage 203 is mounted with a light source 205 and a mirror 206. The second carriage 204 has a plurality of mirrors 207 mounted thereon, and pulleys 208 and 209 are provided at both ends thereof.

  A rotation shaft 210 is disposed in a state orthogonal to the rail 201 and the rail 202, and a gear 211 is provided on the rail 201 side of the rotation shaft 210. The gear 211 is connected by a timing belt 214 stretched between a gear 213 connected to the drive shaft of the motor 212, and the driving force of the motor 212 is transmitted by the timing belt 214 via the gear 213 and the gear 211. It is transmitted to the rotating shaft 210. As the motor 212, a stepping motor is generally used, and the stepping motor rotates in accordance with a speed table in which rotational operation conditions are set in advance.

  At both ends of the rails 201 and 202, idler pulleys 215, 216, 217, and 118 are provided, respectively, and wires 219 whose one ends are fixed to the walls of the casing (not shown) along the rails 201 and 202, respectively. 220 are stretched over.

  The wire 219 is wound around the wire pulley 221 fixed to the rotary shaft 210 several times around the pulley 208 and the idler pulley 215 of the second carriage 204 in this order from the wall side of the fixed housing. The pulley 216 and the pulley 208 of the second carriage 204 are sequentially wound around, and the other end is fixed to the housing via a spring (not shown). The wire 219 is fixed to one end of the first carriage 203 on the rail 201 side at a portion between the idler pulley 215 and the pulley 208 of the second carriage 204.

  Similarly, the wire 220 is wound around the wire pulley 222 fixed to the rotating shaft 210 by being wound around the pulley 209 of the second carriage 204 and the idler pulley 217 in this order from the wall side of the fixed housing. In addition, the pulley is sequentially wound around the idler pulley 218 and the pulley 209 of the second carriage 204, and the other end is fixed to the housing via a spring (not shown). Further, the wire 220 is fixed to one end of the first carriage 203 on the rail 202 side at a portion between the idler pulley 217 and the pulley 209 of the second carriage 204.

  A driving mechanism for the first carriage 203 and the second carriage 204 is disposed below a contact glass (not shown) on which a document is placed, and the wire pulleys 221 and 222 are rotated by the driving force of the motor 212, whereby the wire 219. , 220, the first carriage 203 and the second carriage 204 move in the sub-scanning direction. The image reading apparatus 200 irradiates the original with reading light from the light source 205 mounted on the first carriage 203, and the reflected light of the original image reflected by the original is reflected by the mirror 206 of the first carriage 203 on the second carriage. The image is reflected in the direction of the mirror 207 of the 204, and is incident on a reading sensor such as a CCD (Charge Coupled Device) (not shown) by the mirror 207 of the second carriage 204, and the image of the original is read. In other words, the image reading apparatus 200 controls the rotation of the motor 212 to read the image of the document by performing main scanning while moving the first carriage 203 and the second carriage 204 in the sub-scanning direction.

  In the reading operation as described above, the image reading apparatus 200 needs to accurately drive the carriages 103 and 104 and read the image of the document in order to faithfully reproduce the image information of the document.

  In order to operate this reading mechanism, a control algorithm for controlling the mechanism is developed, and the control algorithm is executed by a microcomputer or the like incorporated in the mechanism to be controlled.

  That is, with such a structure, the wire pulleys 221 and 222 are rotated by the driving force of the motor 212 and pulled by the wires 219 and 220, and the first carriage 203 and the second carriage 204 are scanned and moved, and the encoder 230 is moved. The rotation amount of the rotation shaft of the motor 212 is acquired and fed back to the control system.

  Then, the design support of the control system of the image reading apparatus 200 is performed by the drive mechanism design support apparatus 100 of FIG.

  The drive mechanism design support apparatus 100 is constructed, for example, by causing a computer or the like to read a drive mechanism design support program and necessary data stored in a recording medium such as a CD-ROM. This drive mechanism design support program models the drive mechanism based on the design information of the drive mechanism (for example, the drive mechanism of the image reading apparatus 200) as shown in FIG. 6, and performs offline simulation using an offline simulation model. Off-line simulation step, driving mechanism model of off-line simulation step mounted on real-time machine, real-time simulation step for real-time simulation, control unit 150 on which control algorithm for controlling driving mechanism is implemented and real-time simulation The interface step for exchanging data with the unit 130 in real time and the parameters of the drive mechanism model simulated in the real time simulation step are It has a optimization calculation step of optimizing Im, a.

  In FIG. 5, the offline simulation unit 120 includes a first mechanism design unit 121, a second mechanism design unit 122, a third mechanism design unit 123, a mechanism design interface unit 124, a simulation unit 125, and the like. Software 151a and embedded hardware 151b of an actual image reading apparatus 200 that executes the embedded software 151a are provided.

  The image reading apparatus 200 shown in FIG. 6 can show its control system as shown in FIG. 7, and includes a control system MCU 250, a reading drive mechanism system 260, and the like. The control system MCU 250 includes a digital control unit 251 that performs position control, speed control, and the like, a drive amplifier 252 that performs constant current control, and the like. The reading drive mechanism system 260 includes a motor 261 such as a brushed DC motor, timing, and the like. A transmission mechanism 262 such as a belt and a wire, a driving unit 263 such as a pulley and a reading unit, a sensor unit 264 such as an optical encoder, and the like are provided.

  In FIG. 7, in the image reading apparatus 200, the control system MCU 250 applies a torque command value of the motor 261 from the digital control unit 251 to the motor 261 of the reading drive mechanism system 260 through the drive amplifier 252, and a timing belt, a wire, The image reading unit performs a reading operation via the transmission mechanism 262. On the other hand, information on the position and speed detected by the sensor unit 264 such as an encoder mounted on the motor shaft is provided to the control system MCU 250, and the digital control unit 251 of the control system MCU 250 performs digital control of the position and speed. .

  Then, the offline simulation unit 120 in FIG. 5 uses the model shown in FIG. 8, for example, for the reading drive mechanism system 260 of the image reading apparatus 200 shown in FIG. 7 based on the design information input from the input unit 110. Thus, a model (reading drive mechanism model) 260M of the reading drive mechanism system 260 is created.

  That is, first, the first mechanism design unit 121 models the actuator selected at the time of design. For example, as shown in FIG. 8, when a DC motor is used as the motor 261, a mathematical model of the motor 261 is obtained using the inductance La, the resistance R, and the counter electromotive coefficient Eb as input from the motor terminal application voltage Ea. Set as shown in the following equation (2).

  Next, the second mechanism design unit 122 configures a reading drive mechanism model 260M of the transmission mechanism 262, the driving unit 263, and the reading unit of the image reading apparatus 200. That is, the second mechanism design unit 122 first models the belt 262a of the transmission mechanism 262 with a spring and a damper as shown in FIG. 8, and sets the equation of motion as shown in the following equation (3). The rigidity of the belt is set to change linearly, and the viscosity is set to change in proportion to each rigidity.

  The belt tensions F10 and F20 in Expression (3) are obtained by the following Expression (4).

  Further, the belt characteristic value is obtained by the following equation (5).

  The second mechanism design unit 122 models the drive transmission system wire 262b of the transmission mechanism 262 with a spring and a damper, and sets the equation of motion as shown in the following equation (6). The wire rigidity is set so as to change linearly with the wire length between the pulleys, and the wire viscosity is set so as to change in proportion to each rigidity.

  Here, each wire tension F108, F208, F208, F308, F408, F708, F808, F908, and F1008 in Expression 5 is obtained by the following Expression (7).

  Further, the wire spring coefficients k200, k300, k400, k700, k800, k900, and k1000 in Expression 5 are obtained by the following Expression (8).

  Next, the third mechanism design unit 123 converts the rotation speed of the motor shaft of the motor 261 into a sensor signal of the encoder that is the sensor unit 264. For example, when the sensor unit 264 is an optical incremental encoder, the third mechanism design unit 123 outputs the A phase signal as a pulse signal at a speed shown in the following equation (9), and the B signal The signal is output with a phase difference of 90 degrees.

pps = ω × Enc (9)
Where ω is the motor rotation speed (r / sec), and Enc is the encoder resolution (pulse / r).

  The mechanism design interface unit 124 is for continuously analyzing the first mechanism design unit 121, the second mechanism design unit 122, and the third mechanism design unit 123. For example, the first mechanism design unit The motor shaft rotation speed calculated from 121 is input to the second mechanism design unit 122 and the third mechanism design unit 123 to calculate the first carriage speed and the encoder signal, respectively.

  And the offline simulation 125 performs an offline simulation using the model created in each mechanism design part 121-124.

  Next, the real-time simulation unit 130 will be described. The real-time simulation unit 130 mounts the model prepared in the offline simulation on a real-time machine, and executes the simulation in real time. As this real-time machine, for example, a DSP board used for digital processing in recent years, a personal computer operating with a real-time OS, or the like can be used.

  Next, the control unit 150 is the control system MCU 250 of FIG. 7 configured by embedded software (control program) 151a and hardware 151b, and controls the actual image reading apparatus 200. The embedded software 151a corresponds to an algorithm for controlling the actual machine of the image reading apparatus 200, and the embedded hardware 151b is implemented with the embedded software 151a.

  Next, the interface unit 140 performs a real-time simulation in the reading drive mechanism model 260M from a command signal given from the control unit 150 to the actuator of the real-time simulation unit 130 in the reading drive mechanism model 260M and a simulation in real time according to the command signal. Interface processing of a signal fed back from the sensor of the unit 130 to the control unit 150 is performed. The interface unit 140 performs A / D conversion on a command signal, for example, a motor terminal voltage signal output from the control unit 150, and inputs the value to the real simulation unit 130 of the reading drive mechanism model 260M. The motor terminal voltage signal after the A / D conversion is, for example, a signal as shown in FIG. Further, the interface unit 140 inputs sensor signals, for example, A-phase and B-phase pulse signals when an encoder is used as the sensor unit 264, to the counter of the control unit 150 to provide position and speed control. Note that the A and B phase pulse signals from the start of the image reading apparatus 200 to 0.02 sec are signals as shown in FIGS.

  Then, the optimization calculation unit 160 calculates the behavior of the drive mechanism, for example, the first carriage reading speed in real time, compares this value with a preset target function, and compares the difference between the calculated value and the target function. Each parameter in the real-time drive mechanism model 260M is automatically tuned by an optimization process so that is minimized. In this optimization calculation, the gradient of the total value (y) of the difference between the measured value of the drive mechanism behavior and the target function is calculated using the equation (1) of the first embodiment, and an appropriate search direction is determined.

  When the optimization calculation unit 160 determines the search direction, the optimization calculation unit 160 sets a new design variable along the determined search direction, and calculates the calculation until the difference between the calculated drive mechanism behavior value and the objective function is minimized. Repeat.

  The display unit 170 displays the actuator command signal for the actuator, the time change of the sensor signal from the real-time simulation unit 130 of the reading mechanism model, and the analysis result obtained by the real-time simulation unit 130 analysis, for example, the command shown in FIG. The signal, the sensor signal shown in FIG. 10 and the analysis result of the reading speed of the first carriage shown in FIG. 11 are displayed in real time, and the designer determines the control state of the control system from these display results to design Use for support.

  Next, the operation of the present embodiment will be described. The drive mechanism design support apparatus 100 according to the present embodiment automatically optimizes the reading mechanism design parameters of the image reading apparatus 200 in real time to improve the efficiency of system development, shorten the development period, and reduce man-hours. Reduce.

  This drive mechanism design support apparatus 100 is constructed by causing a computer or the like to read and introduce a drive mechanism design support program and necessary data stored in a recording medium such as a CD-ROM.

  When the drive mechanism design support apparatus 100 receives design information from the input unit 110 in a state where the drive mechanism design support program is installed in a computer or the like, the drive mechanism design support apparatus 100 executes the offline simulation unit 120 based on the design information. For example, the first mechanism design unit 121 models the actuator of the reading drive mechanism 260 of the image reading apparatus 200 shown in FIG. 7 as shown in FIG. Set up the mathematical model.

  Next, the second mechanism design unit 122 creates a reading drive mechanism model 260M of the transmission mechanism 262, the drive unit 263, and the reading drive mechanism system 260 of the image reading apparatus 200. That is, the second mechanism design unit 122 first models the belt 262a of the transmission mechanism 262 with a spring and a damper as shown in FIG. 8, and sets the equation of motion as shown in Equation (3). Then, the wire 262b of the drive transmission system of the transmission mechanism 262 is modeled by a spring and a damper, and the equation of motion is set as shown in the equation (6).

  Next, the third mechanism design unit 123 converts the rotation speed of the motor shaft of the motor 261 into a sensor signal of the encoder that is the sensor unit 264. For example, when the sensor unit 264 is an optical incremental encoder, the third mechanism design unit 123 outputs the A phase signal as a pulse signal at the speed shown in Equation (9), and the B signal The signal is output with a phase difference of 90 degrees.

  The off-line simulation unit 120 is processed by the mechanism design interface unit 124 so as to continuously analyze the first mechanism design unit 121, the second mechanism design unit 122, and the third mechanism design unit 123. The motor shaft rotational speed calculated from the first mechanism design unit 121 is input to the second mechanism design unit 122 and the third mechanism design unit 123 to calculate the first carriage speed and the encoder signal, respectively.

  Then, the drive mechanism design support apparatus 100 performs a simulation using the read drive mechanism model 260M constructed by the offline simulation unit 120 in the real-time simulation unit 130. That is, the real-time simulation unit 130 mounts the model prepared in the offline simulation on a real-time machine and executes the simulation in real time.

  Then, the drive mechanism design support apparatus 100 performs real-time in the read drive mechanism model 260M via the interface unit 140 based on the embedded software 151a for controlling the actual image reading apparatus 200 mounted on the control unit 150. A command signal is given to the actuator of the simulation unit 130, and a signal fed back from the sensor in the reading drive mechanism model 260M is returned to the control unit 150 from a real-time simulation executed by the real-time simulation unit 130 in response to the command signal. A control simulation of the software 151a is performed.

  For example, the drive mechanism design support apparatus 100 inputs the motor terminal voltage signal output from the control unit 150 to the real-time simulation unit 130 as an instruction signal via the interface unit 140 by the embedded software 151a from the control unit 150, for example. Then, the sensor signal as a simulation result in the real-time simulation unit 130, for example, the A-phase and B-phase pulse signals when the encoder is used as the sensor unit 264, is returned to the control unit 150, and the embedded software 151a is verified. .

  Then, the drive mechanism design support apparatus 100 calculates the behavior of the drive mechanism, such as the first carriage reading speed, in real time by the optimization calculation unit 160, compares this value with a preset target function, Each parameter in the real-time drive mechanism model 260M is automatically tuned by optimization processing so that the difference between the calculated value and the target function is minimized. In this optimization calculation, the gradient of the total value (y) of the difference between the measured value of the drive mechanism behavior and the target function is calculated using the equation (1) of the first embodiment, and an appropriate search direction is determined. When the optimization calculation unit 160 determines the search direction, the optimization calculation unit 160 sets a new design variable along the determined search direction, and calculates the calculation until the difference between the calculated drive mechanism behavior value and the objective function is minimized. Repeat.

  The drive mechanism design support apparatus 100 can analyze the actuator command signal for the actuator, the time change of the sensor signal from the real-time simulation unit 130 of the reading mechanism model, and the analysis results obtained by the real-time simulation unit 130 in real time, for example The command signal shown in FIG. 10, the sensor signal shown in FIG. 10, the analysis result of the reading speed of the first carriage shown in FIG.

  And a designer judges the control state of a control system from these display results, and utilizes it for design support.

  As described above, when the drive mechanism design support apparatus 100 according to the present embodiment performs design support for a drive source such as the motor 261 of the transmission mechanism 262 that is an actuator, the offline simulation unit 120 uses the drive mechanism design information based on the drive mechanism design information. Then, the reading drive mechanism system 260 is modeled as a reading drive mechanism model 260M and is simulated offline using the reading drive mechanism model 260M. The real time simulation unit 130 implements the read drive mechanism model 260M on a real time machine. The interface unit 140 exchanges data between the control unit 150 storing the embedded software 151a as a control program for simulating in real time and controlling the reading drive mechanism 260 and the real time simulation unit 130. Of the calculation unit 160 optimizes the parameters of the reading drive mechanism model 260M is simulated in real-time simulation unit 130 in real time.

  Therefore, each parameter of the reading drive mechanism model 260M is automatically optimized in real time, so that the system development can be efficiently performed, and the development period can be shortened and the man-hours can be reduced.

  In addition, the drive mechanism design support apparatus 100 according to the present embodiment includes a first mechanism design unit 121 that models the selected actuator when the offline simulation unit 120 designs the reading drive mechanism system 260, and an actuator. A second mechanism design unit 122 that models the reading drive mechanism system 260 that operates with the driving force of the second, and a third mechanism design unit 123 that models the selected sensor when the reading drive mechanism system 260 is designed. And a mechanism design interface unit 124 for exchanging data between the mechanism design units 121 to 123, and the operation of the reading drive mechanism system 260 is simulated off-line by each model.

  Therefore, based on the design information of the reading drive mechanism system 260, a model of the reading drive mechanism system 260 can be created and simulated offline.

  Furthermore, the drive mechanism design support apparatus 100 of the present embodiment simulates the operation of the read drive mechanism 260 in real time by mounting the read drive mechanism model 260M on a real time machine.

  Therefore, the simulation can be performed in real time, the development efficiency of the system can be further improved, the development period can be further shortened, and the man-hours can be reduced.

  In addition, the drive mechanism design support apparatus 100 according to the present embodiment includes the embedded software 151a that causes the reading unit mechanism 260 to execute a predetermined operation based on the control algorithm, and the embedded software 151a. And an actual control unit 150.

  Therefore, it is possible to verify a system using the embedded software 151a and the mounted control unit 150, to further improve the efficiency of system development, to further shorten the development period, and to reduce man-hours. can do.

  Furthermore, in the drive mechanism design support apparatus 100 of the present embodiment, the interface unit 140 performs data exchange between the real-time simulation unit 130 and the control unit 150 in real time.

  Therefore, the system can be developed more quickly, and the development period of the control system can be further shortened.

  In the drive mechanism design support apparatus 100 according to the present embodiment, the interface unit 140 transfers the actuator command signal for the actuator in the read drive mechanism model 260M from the control unit 150 to the real-time simulation unit 130.

  Therefore, it is possible to perform a simulation in real time by inputting a control command from the control unit 150 to the reading drive mechanism model 260M, thereby further shortening the system development period.

  Furthermore, in the drive mechanism design support apparatus 100 of the present embodiment, the interface unit 140 controls the sensor signal from the sensor in the read drive mechanism model 260M obtained as a simulation result in the real-time simulation unit 130 according to the actuator command signal. It passes to part 150.

  Therefore, the calculation result from the reading drive mechanism model 260M can be input to the control unit 150 to perform simulation in real time, and the system development period can be further shortened.

  Further, in the drive mechanism design support apparatus 100 according to the present embodiment, the optimization calculation unit 160 determines the value of the analysis result and a preset objective function in real time based on the real-time analysis result of the reading drive mechanism model 260M. Comparing.

  Therefore, the reading drive mechanism model 260M can be optimized.

  Furthermore, in the drive mechanism design support apparatus 100 of the present embodiment, the optimization calculation unit 160 searches for the optimum value of each parameter in the read drive mechanism model 260M in real time based on the evaluation result of the objective function.

  Therefore, each parameter in the reading drive mechanism model 260M can be optimized.

  The present invention can be applied to support for developing a driving mechanism for an image reading apparatus such as a scanner or a copying apparatus.

1 is a block configuration diagram of a drive control system design support apparatus to which a first embodiment of a drive control system design support apparatus, a drive control system design support program, a drive mechanism design support apparatus, a drive mechanism design support program, and a recording medium of the present invention is applied. FIG. 2 is a schematic configuration diagram of an image reading apparatus to which the drive control system design support apparatus of FIG. 1 is applied. FIG. 3 is a schematic diagram of a read drive control system model that models the read drive mechanism system of FIG. 2. The figure which mounted the reading drive control system model in the real-time simulation part. FIG. 4 is a block configuration diagram of a drive mechanism design support apparatus to which a second embodiment of the drive control system design support apparatus, drive control system design support program, drive mechanism design support apparatus, drive mechanism design support program, and recording medium of the present invention is applied. FIG. 6 is a perspective view of a reading drive mechanism to which the drive mechanism design support apparatus of FIG. 5 is applied. FIG. 6 is a schematic configuration diagram of an image reading apparatus to which the drive mechanism design support apparatus of FIG. 5 is applied. FIG. 7 is a schematic diagram of a reading drive system model that models the reading drive mechanism of FIG. 6. The figure which shows an example of the motor terminal voltage signal input into the real-time simulation part from the control part of FIG. The figure which shows an example of the A phase voltage signal (a) and B phase voltage signal (b) of an encoder as a sensor signal input into the control part from the real-time simulation part of FIG. FIG. 9 is a diagram illustrating an example of an analysis result of the reading speed of the first carriage in FIG. 8 displayed on the display unit in FIG. 5.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Drive control system design support apparatus 10 Offline simulation part 11 Speed profile setting block 12 Control system gain setting block 13 Feedforward amount setting block 20 Real time simulation part 30 Interface part 40 Optimization calculation part 50 Control object mechanism part 51 Actuator 52 Sensor 70 Image reading device 80 Control system MCU
81 Digital Control Unit 82 Drive Amplifier 90 Reading Drive Mechanism System 91 Motor 92 Transmission Mechanism 93 Drive Unit 94 Sensor Unit 100 Drive Mechanism Design Support Device 110 Input Unit 120 Offline Simulation Unit 121 First Mechanism Design Unit 122 Second Mechanism Design Unit 123 Second 3 mechanism design unit 124 mechanism design interface unit 125 simulation unit 130 real time simulation unit 140 interface unit 150 control unit 151a embedded software 151b embedded hardware 160 optimization calculation unit 170 display unit 200 image reading device 201, 202 rail 203 first carriage 204 Second carriage 205 Light source 206 Mirror 207 Mirror 208, 209 Pulley 210 Rotating shaft 211 Gear 212 Motor 213 Gear 214 Lee timing belt 215,216,217,118 idler pulleys 219, 220 wire 230 encoder 250 control system MCU 251 digital controller 252 driving amplifier 260 reading drive mechanism system 261 motor 262 transmission mechanism 262a belt 262b wire 263 driver 264 sensor unit

Claims (21)

  A drive control system design support apparatus for supporting design of a drive control system that controls a drive source such as a motor of an actuator that operates a drive mechanism based on a control program according to a detection result of the sensor, Based on the design information, the drive control system is modeled as an offline drive control system model, and offline simulation means for simulating offline using the offline drive control system model and the offline drive control system model are mounted on a real-time machine. Real-time simulation means for simulating the drive mechanism to be controlled in real time, and optimization calculation means for optimizing each parameter of the offline drive control system model simulated by the real-time simulation means in real time. This Drive control system design support apparatus according to claim.   2. The drive according to claim 1, wherein the offline simulation means models a control algorithm of the drive control system based on design information of the drive control system, and simulates the operation of the drive control system offline. Control system design support device.   The real-time simulation means implements the off-line drive control system model in the real-time machine, performs data transfer via an interface means, and performs simulation in real time with the drive mechanism to be controlled. The drive control system design support apparatus according to claim 1.   4. The drive control system design support apparatus according to claim 3, wherein the interface means exchanges data between the real-time simulation means and the drive mechanism to be controlled in real time.   4. The drive control system design support apparatus according to claim 3, wherein the interface means passes an actuator command signal for the actuator of the drive mechanism from the real-time simulation means to the drive mechanism to be controlled.   The interface means determines and delivers the actuator command signal to the drive mechanism from the real-time simulation means based on a simulation result corresponding to a sensor signal from the sensor of the drive mechanism. The drive control system design support apparatus according to claim 3.   The optimization calculation means collects the behavior of the drive mechanism by the sensor, compares the signal of the sensor with a preset objective function in real time, and optimizes each parameter of the offline drive control system model in real time. The drive control system design support apparatus according to claim 1, wherein:   The drive control system design support apparatus according to claim 1, wherein the optimization calculation unit searches for an optimum value of each parameter in the drive control system model in real time based on the evaluation result of the objective function.   A drive control system design support program for supporting design of a drive control system for controlling a drive source such as a motor of an actuator that operates a drive mechanism based on a control program according to a detection result of the sensor, the drive control system Based on the design information, the drive control system is modeled as an offline drive control system model, and the offline drive control system model is implemented on a real-time machine by performing offline simulation using the offline drive control system model. A real-time simulation step for simulating the drive mechanism to be controlled in real time, and an optimization calculation for optimizing each parameter of the offline drive control system model simulated in the real-time simulation step in real time Drive control system design support program characterized by comprising: a step, the.   A recording medium for recording a drive control system design support program for supporting design of a drive control system that controls a drive source such as a motor of an actuator that operates a drive mechanism based on a control program according to a detection result of a sensor, The drive control system design support program models the drive control system as an offline drive control system model based on the design information of the drive control system, and performs offline simulation using the offline simulation model; and A real-time simulation step for simulating the drive mechanism to be controlled in real time by mounting the offline drive control system model in a real-time machine, and the offline control system for simulating in the real-time simulation step Recording medium, comprising: the optimization calculation step of optimizing each parameter in real time Dell, the.   A drive mechanism design support device for supporting design of a drive mechanism for operating a drive source such as an actuator motor based on a control program according to a detection result of the sensor, the drive mechanism based on the design information of the drive mechanism Is modeled as an offline drive system model, offline simulation means for simulating offline using the offline drive system model, real-time simulation means for simulating in real time by mounting the offline drive system model on a real-time machine, Control means in which a control algorithm for controlling the drive mechanism is implemented; interface means for transferring data in real time between the real-time simulation means and the control means; and the real-time simulation method In the drive mechanism design support apparatus comprising: the optimization calculation means for optimizing in real time the parameters of the off-line drive system model that simulates the.   The off-line simulation means includes: a first mechanism design means for modeling the selected actuator when designing the drive mechanism; and a second mechanism for modeling the drive mechanism that operates by the driving force of the actuator. A design unit, a third mechanism design unit that models the selected sensor when designing the drive mechanism, and a mechanism design interface unit that exchanges data between the mechanism design units. 12. The drive mechanism design support apparatus according to claim 11, wherein the operation of the drive mechanism is simulated off-line by each model.   12. The drive mechanism design support apparatus according to claim 11, wherein the real-time simulation means implements an offline drive system model of the drive mechanism in a real-time machine and simulates the operation of the drive mechanism in real time.   12. The control means includes embedded software that causes the drive mechanism to perform a predetermined operation based on the control algorithm, and an actual controller in which the embedded software is mounted. Drive mechanism design support device.   12. The drive mechanism design support apparatus according to claim 11, wherein the interface means exchanges data between the real-time simulation means and the controller in real time.   16. The drive mechanism design support apparatus according to claim 15, wherein the interface means transfers an actuator command signal for the actuator in the offline drive system model from the controller to the real-time simulation means.   16. The interface unit delivers a sensor signal from the sensor in the offline drive system model obtained as a simulation result according to the actuator command signal from the real-time simulation unit to the control unit. The drive mechanism design support apparatus described.   12. The drive mechanism design according to claim 11, wherein the optimization calculation means compares the value of the analysis result with a preset objective function in real time based on the real-time analysis result of the offline drive system model. Support device.   12. The drive mechanism design support apparatus according to claim 11, wherein the optimization calculation unit searches for an optimum value of each parameter in the offline drive system model in real time based on an evaluation result of the objective function.   A drive mechanism design support program for supporting design of a drive mechanism for operating a drive source such as an actuator motor based on a control program according to a detection result of the sensor, the drive mechanism based on the design information of the drive mechanism Is modeled as an offline drive system model, an offline simulation step is performed offline using the offline drive system model, and the offline drive system model of the offline simulation step is mounted on a real-time machine and real-time simulation is performed. A simulation step, and an interface step for exchanging data in real time between the control means on which a control algorithm for controlling the drive mechanism is implemented and the real-time simulation means The real-time simulation drive mechanism design support program characterized by having, and optimization calculation step of optimizing each parameter in real time of the off-line drive system model for simulating in step. A recording medium for recording a drive mechanism design support program for supporting design of a drive mechanism for operating a drive source such as an actuator motor based on a control program according to a detection result of the sensor, wherein the drive mechanism design support program is An offline simulation step of modeling the drive mechanism as an offline drive system model based on the design information of the drive mechanism, and performing offline simulation using the offline drive system model, and an offline drive system model of the offline simulation step Between a real-time simulation step that is mounted on a real-time machine and performs simulation in real time, and between the control means on which a control algorithm for controlling the drive mechanism is mounted and the real-time simulation step Recording medium, comprising: the interface steps for exchanging data in real time, and a optimization calculation step of optimizing in real time the parameters of the off-line drive system model to simulate the real-time simulation step.

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