JP2579039B2 - Fluid-related circuit development support system - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to a fluid-related circuit development support system used for designing a fluid-related circuit such as a hydraulic circuit and verifying its behavior.

[Conventional technology]

Conventionally, the design of this type of fluid circuit and the verification of its behavior have been performed by the following method. That is,
It has been done in the order of creating a circuit diagram of a fluid circuit using CAD, manufacturing a real fluid circuit based on this circuit diagram, and verifying the behavior using this real fluid circuit. . In such a design and development stage, this operation is repeated to obtain a fluid circuit according to the purpose, or based on a circuit diagram designed before manufacturing such a real fluid circuit. Designers created simulation programs to check their behavior.

[Problems to be solved by the invention]

However, in the method of actually manufacturing a fluid circuit,
In order to design by CAD, create a fluid circuit, conduct experiments, and verify this, it takes a long time to obtain, assemble, and test each fluid element, and the cost of the circuit to be manufactured each time is not insignificant. Furthermore, in such cases, if the fluid element itself is large or expensive, experimentation may be virtually impossible. Furthermore, if the original design does not work as intended, it is almost impossible to experiment with the parameters of all the fluidic elements freely varied.

On the other hand, when a simulation program is created to verify a hydraulic circuit, the generation of a general model formula corresponding to the entire fluid circuit is performed by using a uniform name for the model formula and each variable for each fluid element throughout this circuit. This requires a great deal of man-hours, and as a result, has been applied only to those corresponding to extremely simple fluid circuits.

On the other hand, in the design of such a fluid circuit, a mechanical system such as an engine connected to a pump, a link mechanism connected to a hydraulic cylinder, or a control means connected to a control valve and an operation system of the fluid circuit, Electrical elements (equipment) are installed along with the fluid circuit, but there has been no support system that can study the overall behavior of the fluid-related circuit including such elements.

Therefore, an object of the present application is to obtain a fluid-related circuit development support system that can consistently perform from generation of a fluid-related circuit diagram to output of its behavior.

[Means for solving the problem]

In order to achieve this object, a fluid-related circuit development support system according to the present invention includes a symbol diagram corresponding to various elements as a fluid-related device, an input to the element, and an output of the element as an output from the element. A library unit in which a model expression indicating a relationship between state quantities is registered; a preprocessing unit that creates a fluid-related circuit diagram by combining the symbol diagrams to obtain a desired fluid-related operation; Based on the diagram, call each model formula corresponding to the described element from the library section,
An analysis unit that automatically generates a general model formula corresponding to the entire fluid-related circuit and solves the general model formula according to input conditions, and a post-processing unit that outputs a solution of the general model formula obtained by the analysis unit. And wherein each of the model formulas is a state variable as a state quantity that the corresponding element has in each calculation step, and an external variable that is a state variable passed from a separate element connected to the element. When the entire fluid-related circuit is handled, the state variables having ordered degrees of freedom as parameters are automatically generated as the generalized model formulas as independent variables in the generalized model formulas. It is characterized in that it is provided with an integrated model formula automatic generation means.

[Action]

When using the fluid-related circuit development system configured as described above, the designer calls up the symbol diagram of the element registered in the library unit in the preprocessing unit, and combines them to obtain a desired operation. Create a fluid-related circuit diagram of. In the support system, a model formula corresponding to the element is registered in the library unit in correspondence with the symbol diagram. This model formula defines a relationship between an input applied to the element and a state quantity of the element as an output from the element, and individually defines an input / output relationship for each element. The link information group that connects the model expressions representing the characteristics of the element corresponding to each symbol diagram is classified into a state variable group as output information from the element and an external variable group to be transferred to the element. After the completion of the creation of the fluid-related circuit diagram, in the support system of the present application, the general model formula corresponding to the entire fluid-related circuit is analyzed by the analysis unit in accordance with the aforementioned circuit diagram. It is automatically generated while taking correspondence. That is, the integrated model formula automatic generation means creates the integrated model formula for obtaining a desired fluid operation using the state variables having the ordered degrees of freedom as parameters as independent variables.

Further, the general model formula is solved by the analysis unit based on conditions input by the designer. After this operation,
The behavior of the general model equation solved according to the input condition is
It is output by the post-processing unit.

〔The invention's effect〕

In the fluid-related circuit development system of the present application, the above-described configuration enables the process from generation of the fluid-related circuit diagram to output of its behavior to be performed quickly and easily consistently. Here, the work of the designer is limited to the specification of the circuit diagram, the connection relation of each element, and the setting of conditions for the circuit. Therefore, as in the past, when an actual fluid circuit is manufactured and an experiment is performed, as a result of examination using this support system, an actual circuit is manufactured with the configuration of the fluid-related circuit considered to be the best. An experiment may be performed.

By further changing the conditions, you can select the function of each element, change the circuit diagram, add new elements,
It is also possible to freely examine parameters at the design stage such as deletion. Also, instead of targeting the entire fluid circuit from the beginning, a model formula is first registered based on each element, and this is combined automatically in accordance with the input hydraulic-related circuit diagram to finally automatically generate the overall system model formula. Since the work to be performed is performed as a process in the support system, time and cost work efficiency is remarkably improved as compared with the conventional method.

Further, in the above-described configuration, if the pre-processing unit has a unit for creating a symbol diagram and a unit for creating and changing a model formula, the symbol diagram corresponding to the actual element intended by the designer is used. It becomes possible to register a model formula, and for example, by improving this model formula based on experimental data when each element is used, the simulation of the support system of the present application is closer to the actual one. It becomes possible.

Further, in the above-described configuration, each element is not limited to a fluid element,
Assuming that a symbol diagram and a model formula corresponding to a mechanical system and an electric system element are provided in the library unit, the system that can be handled by this support system is almost completely the same as the actual system to be studied. This has made it possible to significantly expand the scope of such support systems.

〔Example〕

 Hereinafter, embodiments of the present invention will be described with reference to the drawings.

First, the outline of the hydraulic related circuit development support system of the present application,
This will be described with reference to FIG. As shown in the figure, this system has four main parts (a pre-processing unit (1), an analysis unit (2), a post-processing unit (3), and a library unit (4)).
It is composed of

The function of each unit will be described. First, the pre-processing unit (1)
Is a part mainly used for preparing a hydraulic circuit diagram (5) intended by a user of the system, that is, a CAD means, and is used for such a hydraulic circuit diagram (5). This section also creates a symbol part (6) of each element, and also creates and changes a model equation (e1) of a model associated therewith. Here, the symbol diagram (6)
High-speed response valve (1
5) The functions of hydraulic devices and other elements (elements) such as the relief valve (18) are represented in a schematic diagram in order to show them on the circuit diagram. The model formula (e1) corresponds to the above-mentioned elements. It is a mathematical expression of how these circuit elements work.

 Next, the operation of the analysis unit (2) will be described.

The analysis unit (2) is a unit that automatically generates the integrated model equation (E1) of the created hydraulic-related circuit based on the hydraulic-related circuit diagram (5) created by the above-described preprocessing unit (1). is there. In the operation at the part (2), it is necessary to select a model corresponding to each element, input part data in the model, input calculation conditions, and the like. Then, the model formula (e1) registered in the library unit (4) for each model corresponding to each element is combined based on the created hydraulic circuit diagram (5).
Further, in this part (2), the general model equation (E1) corresponding to the hydraulic circuit is solved according to the input condition.
The above is the role of the analysis unit (2).

Further, in the post-processing unit (3), the solution of the hydraulic pressure-related circuit obtained in the analysis unit (2) is output as a dynamic characteristic chart (8). Further, this support system is configured to output a parts list (not shown) of parts used in this circuit based on a model selected for each element. The processing flow in each of the above-described units (1), (2), (3), and (4) is the second.
It is shown in the figure.

Although the schematic configuration of the system of the present application is as described above, the configuration of the hydraulic-related circuit development support system of the present application, in accordance with an example in which this is used for the hydraulic-related circuit for raising and lowering the three-point link mechanism, The operation will be described sequentially. FIG. 3 is a mechanical schematic diagram of the system, and FIG. 4 is a hydraulic circuit diagram of the system.

First, FIG. 3 will be described. The work vehicle (10) is equipped with the above-described three-point link mechanism (11) at the rear thereof, and the working device (11a) such as a rotary as a load weight is moved up and down by the three-point link mechanism (11) as the link mechanism. It is operated. Here, the three-point link mechanism (11) is driven by a hydraulic cylinder (12). The supply of pressure oil to the hydraulic cylinder (12) is performed by a pump (14) mechanically connected to the engine (13). Further, in the circuit from the pump (14) to the hydraulic cylinder (12), a high-speed response valve (15) as a switching valve for raising and lowering and a falling speed control valve (16) as a flow control valve are provided. . The high-speed response valve (15) is for controlling the opening and closing of the high-speed response valve (15) in response to a control command from a PID control unit (17) as a control means in the example of the present application. The falling speed adjusting valve (16) is for preventing a sharp drop in the lowering operation of the working device. This PID control unit (17) is connected to the three-point link mechanism (1).
The position of 1) is obtained as control information. The circuit is further provided with a relief valve (18).

The user of the support system according to the present invention draws the hydraulic system circuit diagram (5) for the hardware system in the pre-processing unit (1) while drawing the hardware system as described above or referring to the reference drawings. Create. This approach is
It is the same as that used in the CAD system. 4th
The figure shows a hydraulic circuit diagram (5) created in this way. In this figure, corresponding elements are indicated by the same numbers.

This hydraulic-related circuit diagram (5) is to be created by the CAD system. In the example of the present application, the engine (13) and the three-point link mechanism (11) are used together with the hydraulic system elements as the respective elements. The hydraulic circuit diagram (5) is configured to include a mechanical element such as the above and an electric element such as the PID control section (17). That is, in this support system, the relief valve (18), the high-speed response valve (15), the fall speed adjustment valve (1
6) In addition to the hydraulic system elements such as the hydraulic cylinder (12) and each pipeline (p), mechanical systems such as the engine (13), the three-point link mechanism (11), and the PID control unit (17),
Even the electric elements are adopted as the object of the study, and the behavior of the hydraulic circuit is examined.

Now, from the hydraulic circuit diagram (5) obtained as described above, the general model formula (E1) corresponding to this circuit diagram is obtained.
The method for creating the is described below. As described above, this system includes the library section (4), and the model formula (e1) corresponding to each model described above is registered in this section (4). In this model equation (e1), the input (external variable) system for each model,
An output (state variable) system is defined, and further, a condition (eigen constant, calculation constant) system for determining the properties of the model itself is provided. For example, in the above-described high-speed response valve (15), the input system includes a valve inlet (15I), first, second, and third outlets (15O1) (15O1) shown in FIG.
2) The flow rate of (15O3), the first current signal (I1) to the first solenoid valve (V1), and the second current signal (I2) to the second solenoid valve (V2). (15I), the fluid pressure at the first, second and third valve outlets (15O1) (15O2) (15O3).
Examples of the condition system include a set pressure of relief.

In each pipe (p), the input system is the flow rate at the pipe inlet and outlet, the output system is the pressure at the pipe inlet and outlet, and the condition system is the pipe diameter of each pipe (p) itself, It becomes the length of the road. When the physical quantities of the mechanical elements and the electrical elements are targeted as in the present application, the physical quantities of the mechanical elements are acting force,
The load torque, position, speed, acceleration, angular velocity, and angular acceleration are considered. Here, the mechanical system elements are classified into a rotary motion system and a linear motion system. Further, as the physical quantity of the electric element, a current value, a voltage value and the like are taken into consideration.

Now, for elements having different functions, their symbol diagrams, correspondingly selectable models and their model formulas (e1), and the inputs, outputs, and conditions in this model formula (e1) The system is determined and stored in the library unit (4). That is, in this system, each symbol diagram is associated with a model expression (e1) determined as a result of model selection corresponding to the symbol diagram. Here, in this application, the program is FORTRA
Since the model expression (e1) is created using N languages, the model expression (e1) is described in a subroutine format, and the input / output system is described as an argument group in the subroutine. This model formula (e
In 1), the argument group is specified together with the processing method.

Further, as described above, a representative model is prepared for each element, and if necessary, the model formula (e1) of this model can be modified.

Hereinafter, examples of the configuration of the mechanical element and the model equation (e1) of the electric element in the present application will be introduced. For an engine (13) classified as a rotational motion system as a mechanical element, the model formula is configured to output the engine speed, and based on model data on the engine speed given in advance, By linearly interpolating this in the time domain, the number of rotations at a desired time is output. The pump outputs its suction pressure and discharge pressure based on the number of rotations delivered from the engine and other conditions (fluid system conditions). The load torque is transferred from the pump to the engine.

In addition, the hydraulic cylinder (12) is the partner of the three-point link mechanism (11) and the load weight (11a), which is classified as a linear motion system. The system consisting of (11) transfers the position, the moving speed and the moving acceleration of the connecting point, and the hydraulic cylinder (12) transfers the load force.

On the other hand, PID control unit (17)
Will be described as an example. The PID control unit (17) detects the lift arm angle from the three-point link mechanism, calculates the current off time to the high-speed response valve (15), and calculates the output current value if the current time is the on time. . The calculation formula of the current off time is configured as follows.

dToff (n) = Kp * dEV (n) + Ki * EV (n) + Kd * d2EV
(N) where dToff (n) is the current off time, Kp, Ki, and Kd are proportional, integral, and differential gains, V (n) is the actual lift arm speed, RV (n) is the target speed, and EV (N), dEV
(N) and d2EV (n) are described as follows. (N indicates a time step.) EV (n) = V (n) −RV (n) dEV (n) = EV (n) −EV (n−1) d2EV (n) = dEV (n) −dEV (N-1) In the high-speed response valve (15), the PID control unit (17)
, To calculate the solenoid force and to calculate the valve speed.

Next, in the analysis unit (2), a general model expression (E1) of the entire circuit itself is obtained based on the hydraulic pressure-related circuit diagram (5).
A method for automatically generating a file will be described. In the present application, a unique method is adopted for this automatic generation method. That is, the integrated model formula automatic generation means (20) in the present application is such.

FIG. 5 shows the flow of the process of the integrated model formula automatic generation means (20), which will be described with reference to FIG. This is the element ordering means (21), the node ordering means (2
2), and a degree-of-freedom ordering means (23), all of which are composed of each element, each node, and the general model formula (E1) with respect to the whole of the created specific fluid-related circuit diagram (5). Can be referred to as processing means for enabling the independent variables in the to be identified by serial numbers. Here, the node is a connection point of each element.

The function of each of the means (21), (22) and (23) will be described below. First, the ordering of each element is performed by the element ordering means (21). This ordering is performed as shown below from the main element to each pipeline in the order of input by CAD (almost along the order of the flow paths of the hydraulic circuit). An example of this is shown below.

(Here, the engine is treated as a motor in the system.) Next, the node ordering means (22) orders the nodes as the connection points of the respective elements. A node correspondence table (T1) shown in the figure is created. The node correspondence table (T1) includes a main symbol (t1) as a main element connected to each node, a sub-symbol (t2) as an element connected to the main element, and a correspondence between these elements. This is a table in which port names (t3, t4) correspond to node numbers (t5). At this stage, the display of the port names (t3) and (t4) of each element is dependent on each element. That is, for example, the entry of an element is described as 1 or the like in any element, and the exit is similarly designated as 2 or the like.

Further, in the present application, after the creation of the node correspondence table (T1), the degree of freedom correspondence table (T2) is generated by the degree of freedom ordering means (23), and then the general model expression (E1) is automatically generated. . This method will be described below. In the present application, the argument group of the model formula (e1) corresponding to each element is classified into a state variable, an external variable, a unique constant, a calculation constant, and the like. Here, the state variable is a variable as a physical quantity that the element has in each calculation step (state), and the external variable is a state variable passed from the element connected to this element. Here, at the stage where the model equation (e1) is called and the state where the processing of the model equation (e1) is completed, the state variables are different by the amount of the calculation processing. Further, the above-described intrinsic constants and calculation constants are constants used in the processing in each model equation (e1). In the present application, the argument group of the model formula (e1) is described and arranged with a unique configuration. That is, each argument indicates 1
Characters and port names (within 4 characters) of each model connected via one underscore, and the arguments in each model formula (e1) are, according to the above classification,
It is classified into a state variable and an external variable, and these are arranged in order as a subroutine argument group as a state variable group and an external variable group. This example is shown below.

Here, examples of a motor (engine), a pump, a T-shaped joint, a high-speed response valve, a relief valve, a tank, and a pipe are shown. For example, taking a motor (engine) as an example,
(W_MC) indicates that the type of variable is W; angular velocity, and indicates that it is a variable of the MC port. After such a preparatory step, the degree of freedom ordering means (23) uses the unified variable (Y) with the degrees of freedom as parameters according to the circuit diagram (5) described above to obtain the independent model equation (E1). An overall model expression (E1) is created while defining the variables. In this process, the degree of freedom described above is determined by the general model formula (E1)
, And in the argument part in the model expression (e1) corresponding to this element,
Only the state variables (external variables are not initially considered)
Are determined in the order described. An example in this case described in a program format is shown below. Here, the program executes the model expression (e1) in the order of the aforementioned ordered elements.
Is created in the form of calling CALL, so they are described in this order in the CALL statement.

Here, first, the argument of (W_MC) which is the number of states of the motor (engine) is a unified variable (Y
(1)). In the case of this motor (engine), since there are no external variables, no further operation is performed. Next, regarding the pump, the state variables (P_1, P_2) are replaced with unified variables (Y (2), Y (3)). Where the external variables (Q_1, Q_2, Q_3)
Is not related to the processing yet and cannot be replaced by the unified variable. Since the external variable (W_MC) of the pump is a state variable of the motor (engine) connected in the node 1 and having the same description format, this replacement is performed (Y_MC).
(1)). For example, (Y (2)) that appears for the first time in a pump is replaced by an external variable (P_1) of a pipe (PIPE) that appears at the rear of the program in element order due to node relations.
Such an operation is performed over the entire circuit.

Although the above-described operation has been described on a FORTRAN basis for the sake of simplicity, a table (T2) called the degree of freedom correspondence table by the inventor is created in the present application before such a replacement operation. The degree-of-freedom correspondence table (T2) includes a variable type (t11), an element number (t12) identified as a state variable, and a port name (t13) described in the order of degrees of freedom (t10) of the unified variable (Y). , Corresponding node number (t14), element number (t15) and port name (t16) identified as external variables
Is a control table. As can be easily understood from this table (T2), the general model equation (E1) is described here as unified variables with the degrees of freedom as parameters based on the specific circuit system under study, and unified processing It is possible.

Here, the initial value of the circuit is input in a predetermined step as one mode of the condition system described above. In this system, the general model equation (E1) formed as described above is solved by the Runge, Kutta, Gil method, or the like, following the time step.

Hereinafter, a description will be given of a simulation result of a hydraulic circuit related to the lifting / lowering operation of the working device by the three-point link (11). That is, the calculation result obtained by the analysis unit (2) is output to a printer and illustrated in a post-processing unit (3). Here, the printer output is a general output format, and thus the description thereof will be omitted. FIGS. 8A and 8B show the results of the illustrated output. Here, in each drawing, the horizontal axis represents time, and the vertical axis represents pressure (left scale kgf / cm ² ) and position (height) in FIG.
(Right scale cm), and FIG. 8 (b) shows the flow rate (left scale 1 / min) and the number of revolutions (right scale rpm). Graphs of this output example in each drawing will be sequentially described. In FIG. 8 (a), the pump discharge pressure is a solid line. And the cylinder internal pressure is And the lower link height is a long broken line And the discharge pressure of the high-speed response valve is a single broken line Indicated by On the other hand, in FIG. And the cylinder displacement is a long broken line And the first control current (I1) is a dotted line And the second control current (I2) Indicated by In raising and lowering the working device in this embodiment, there is a problem how to control the device in a short time, without overshooting and without causing hunting or the like. In FIG. 8, 0.0 to 2.0
(Sec) indicates the upward stroke (UP), and 2.0 to 3.0 (sec) indicates the downward stroke (Down). Furthermore, this ascent stroke (UP) is such that the working equipment is well separated from the target position and the first control current (I1)
The first climbing process (UP1) where is always in,
It can be seen that the first control current (I1) is approximately established from the second ascending stroke (UP2) in which the on / off operation is performed intermittently. In addition, the downstroke (Down) also has this configuration (Do
wnl) (Down2). In the first ascending or descending stroke (UP1) (Down1), the control current (I1)
(I2) is maintained at a constant value, and the pressure, the flow rate, and the like pulsate in a long cycle. On the other hand, the second ascent or descent (UP
2) In (Down2), the high-speed response valve (15) is intermittently controlled by the PID control unit (17), and the pressure, flow rate, etc. change greatly, and the cylinder displacement and lower link height are smoothly changed to the target value (SP1). ) Asymptotic to (SP2) (LR1) (LR2). This is an operation diagram when each element and PID control conditions are set to an ideal state.
This is because the figures (a) and (b) show. In order to deal with this example, an example in which the control conditions (proportional and integral gains) are changed in PID control is shown in FIGS. In this case, in the above-mentioned second ascent stroke (UP2), the pump and the cylinder internal pressure are violently vibrated, and the hunting part (P) is added to the cylinder displacement itself.
Has occurred.

(Another embodiment)

In the above embodiment, as the mechanical system element,
Although the engine and the three-point link mechanism have been described, any type may be used as long as it responds to an input system of a predetermined physical quantity in a typical manner. The same can be said of the electric element.

Furthermore, in the above example, the control means is based on the PID control method, but this may use other control methods such as fuzzy control.

In the above embodiment, the PI
Although the response change of the system when the condition of D control was changed was explained, in the design of such hydraulic related circuits,
Its hardware surface (each hydraulic element, mechanical element,
Of course, changing the dynamic characteristics (and changing the equipment used) of the electrical elements) and adding or removing new hydraulic elements and the like to the circuit and changing this circuit configuration, It is possible to examine the dynamic characteristics of the hydraulic pressure-related circuit that has been used.

In the analysis section, the degree of freedom correspondence table of the present application (T2)
Model model (E
When solving 1), it is possible to adopt methods other than the Runge-Kutta-Gill method.

In the claims, reference numerals are provided for convenience of comparison with the drawings, but the present invention is not limited to the structure of the accompanying drawings by the entry.

[Brief description of the drawings]

Drawings show an embodiment of a fluid-related circuit development support system according to the present invention, FIG. 1 is a diagram showing a main configuration of a fluid-related circuit development support system, FIG. 2 is a diagram showing a flow of processing in each main part, FIG. 3 is a diagram of a hardware system of the system to be studied in the present application support system, FIG. 4 is a hydraulic circuit diagram of the system of the system to be studied shown in FIG. 3, and FIG. Diagram showing the flow, FIG. 6 is a diagram of the node correspondence table, FIG.
FIG. 8 is a diagram of a degree of freedom correspondence table, FIG. 8 is a diagram of an output of one study target system shown in FIG. 3 in an optimal operating state, and FIG. 9 is an inappropriate condition setting of one study target system shown in FIG. FIG. 7 is a diagram of output in such a case. (1) ... pre-processing unit, (2) ... analysis unit, (3) ... post-processing unit, (4) ... library unit, (5) ... fluid-related circuit diagram, (T1) ... Node correspondence table, (T2) …… Degree of freedom correspondence table.

 ──────────────────────────────────────────────────続 き Continuation of the front page (56) References JP-A-60-164870 (JP, A) JP-A-1-171066 (JP, A) 25 106-111 Hiroo Nakajima et al. “Hydraulic Circuit Design Support Expert System OHCS”

Claims (5)

(57) [Claims] 1. A symbol diagram corresponding to various elements as a fluid-related device, and a model equation (e1) showing a relationship between an input to the element and a state quantity of the element as an output from the element are registered. A library unit (4), a preprocessing unit (1) for creating a fluid-related circuit diagram (5) by combining the symbol diagrams to obtain a desired fluid-related operation, and a fluid-related circuit diagram. Based on (5), each model formula (e1) corresponding to the described element is called from the library unit (4), and a general model formula (E1) corresponding to the entire fluid-related circuit is automatically generated. An analysis unit (2) that solves the model equation (E1) according to input conditions, and a post-processing unit (3) that outputs a solution of the general model equation (E1) obtained by the analysis unit (2). Fluid A circuit development support system, wherein each of the model formulas (e1) is obtained from a state variable as the state quantity that the corresponding element has in each calculation step and a separate element connected to the element. In the case where the entire fluid-related circuit is handled, the state variables having the degrees of freedom as parameters are expressed in the general model equation (E1). General model expression automatic generation means (20) for automatically generating the general model expression (E1) as an independent variable to be executed
Fluid-related circuit development support system with 2. The library unit (4) includes, as the respective elements, a symbol diagram and a model formula (e1) corresponding to not only a fluid system element but also a mechanical system and an electric system element. The fluid-related circuit development support system described in the above. 3. The fluid-related circuit development support system according to claim 2, wherein said mechanical system elements are classified into a rotary motion system and a linear motion system. 4. An engine (13) connected to a pump (14) as the mechanical system element as the rotary motion system, and information passed from the engine (13) to the pump (14) is an engine speed. The fluid-related circuit development support system according to claim 3, wherein the information passed from the pump (14) to the engine (13) is a load torque. 5. The hydraulic cylinder (12), wherein the mechanical element as the linear motion system is a link mechanism (11) connected to a hydraulic cylinder (12) as a fluid element and a load weight (11a). 4. The fluid-related circuit according to claim 3, wherein the information transferred from the link mechanism is a position, a moving speed, and a movement acceleration of the connecting point, and the information transferred from the link mechanism (11) and the load weight (11 a) is a load force. Development support system.