JP4564255B2 - Simulation device - Google Patents

Description

  The present invention relates to a method and program for simulating the behavior of a machine or the like using a computer. In particular, the present invention uses a hybrid model.

  Currently, a technique called hybrid modeling is used when simulating the behavior of a machine or plant using a computer. The simulation using the hybrid model is called “hybrid simulation”. A system having such a simulation behavior is sometimes called a “hybrid system”.

  The hybrid model created for the purpose of simulation is conceptually a continuous system model that is expressed by simultaneous equations that are a combination of ordinary differential equations and algebraic equations, and a state transition model for expressing state transitions associated with event occurrences. It is a model that combines. According to the hybrid model, it is possible to express a system in which the state expressed by the continuous system model is instantaneously switched by an event from the outside.

  As a language for describing a hybrid model, there is a language called HCC (Hybrid Concurrent Constraint Programming) created by Palo Alto Research Institute of Xerox Corporation (trademark) (see Non-Patent Document 1 below). HCC is in the process of development and is still being studied at the Ames Research Center in NASA. HCC is a kind of technology called constraint processing programming (constraint programming), and treats ordinary differential equations and algebraic equations representing continuous system models as constraints, and these equations can be described in any order as they are. A hybrid model of the HCC language is completed by adding a description for controlling the state transition to such a constraint description. According to HCC, equations can be listed (programmed) as constraints as they are, and complex models can be described.

  By using the hybrid model technique in this way, it is possible to simulate the behavior of the system according to the time transition from the initial state by expressing the system characteristics as an ordinary differential equation.

As an application example of a hybrid model technology that can accurately model objects and phenomena that can be expressed by differential equations, there is a mechanism simulation of mechatronics equipment in which the mechanism is controlled by software. According to such a mechanism simulation, prototyping, testing, or debugging of control software for controlling the mechanism can be performed even in a situation where no actual machine is present.
Internet <URL: http://www2.parc.com/spl/projects/mbc/publications.html#cclanguages>

  However, a known programming language that can handle a hybrid model is not necessarily developed for the purpose of applying to a mechanism simulation of a mechatronic device, and therefore has the following problems.

  For example, HCC of Xerox Corporation (trademark) is an interpreted programming language. For example, when it is configured to receive an operation command to the actuator transmitted from the control software to the mechanism as a control signal from the outside of the simulator, It is necessary to define external functions individually, and it requires considerable ingenuity in programming.

  Specifically, for example, the model creator needs to perform the following operations for external function programming.

(1) An external function program is described in another language such as C language using an external function description API unique to the HCC language.

(2) The described external function program is compiled by a C language compiler to create a dynamic link library that can be linked at the time of execution, for example.

(3) Place a library created on a directory where the path can be specified by the HCC interpreter so that the HCC interpreter can call it.

  Therefore, the model creator needs to learn the API for describing the external function unique to the HCC language, and it takes time and effort to separately compile the external function when executing the simulation.

  In addition, regarding the method of calling an external function in the model description, in the HCC that does not manage the execution of the external function in association with the event, both the case of calling at the moment when the state transition occurs and the case of calling at the time of numerical integration are possible. Therefore, it is difficult for the model creator to grasp the timing at which the external function is executed, and a high level of skill is required for model creation.

  The present invention has been made in view of such circumstances, and can simulate a complicated mechanism system simply and accurately using a hybrid model, and is also suitable for a cooperative simulation with control software for controlling the mechanism system. An object is to provide a method and a program.

  Another object of the present invention is to expand the scope of simulation by enabling a program describing processing related to external linkage to be directly included in a part of the hybrid model description.

  A simulation method according to an aspect of the present invention is a simulation method for simulating the behavior of a target mechanism along a time axis based on description data using a hybrid model, and includes a continuous system included in the description data. An analysis step for analyzing the description data in order to extract a description of an equation, a description related to switching of the continuous system equation associated with state transition, and a description related to processing other than the processing expressed by the continuous system equation; and the analysis step Based on the description of the continuous system equation extracted in step 1, the first program generation step of generating a first program, and the description of switching of the continuous system equation accompanying the state transition extracted in the analysis step The second program generation step for generating the second program And a third program generation step for generating a third program based on a description related to processing other than the processing expressed by the continuous system equation extracted in the analysis step, and the first program is executed. A conversion step of converting the continuous system equation into a data structure that can be executed by simulation, and a switching step of switching the validity / invalidity of the continuous system equation according to the occurrence of an event by executing the second program And using the data structure corresponding to the continuous system equation validated in the switching step, solving the continuous system equation by numerical integration along the time axis and outputting data representing the behavior of the mechanism Simulation execution step for executing simulation, and the third program By executing comprises a processing execution step of executing a processing other than the processing represented by the continuous system equation.

  According to the present invention, a complicated mechanism system can be modeled easily and accurately using a hybrid model, and a simulation method and a program suitable for cooperative simulation with control software for controlling the mechanism system can be provided.

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

(First embodiment)
FIG. 1 is a block diagram showing a schematic configuration of a mechanism simulator according to the first embodiment of the present invention.

  The present embodiment includes a hybrid model preprocessing unit 201 and a hybrid model simulation execution unit 102. The hybrid model description 104 is a source program described in a hybrid model description language or the like, and is an input to the hybrid model preprocessing unit 201 according to the present embodiment. The output from the hybrid model simulation execution unit 102 is a variable value calculation result obtained as a result of the continuous system simulation by the continuous system simulation unit 103 and its time history. This output is stored in the variable value time history storage unit 105.

  As shown in FIG. 1, the hybrid model preprocessing unit 201 includes a control information analysis unit 110. The hybrid model simulation execution unit 102 includes an event processing unit 111, an equation syntax analysis unit 112, an equation data storage unit 114, a continuous system equation switching unit 115, an additional process execution unit 205, and a continuous system simulation unit 103. The present embodiment can be configured by using a general computer, and the basic hardware configuration is not shown, but a central processing unit (CPU), a memory, an external recording device, and a communication interface (I / F). ), And input devices such as a display device, a keyboard, and a mouse. In addition, an operating system (OS) for controlling these hardware is provided. The mechanism simulator according to the embodiment of the present invention can be implemented as application software that operates on such an operating system.

  Before describing the configuration of the mechanism simulator according to this embodiment and the processing procedure thereof, first, how the hybrid model description 104 is described will be described with a specific example.

  2 and 3 are diagrams showing a mechanism that is a description target of a hybrid model according to a specific example. This mechanism is a cylinder device having a simple structure including a valve 301, a spring 303, and a piston 302.

  The valve 301 opens and closes in response to a command (event) from the outside. Thus, the event of changing the air flow in the cylinder device to the right as shown in FIG. 2 is hereinafter referred to as “Left”, and the event of changing the air flow to the left as shown in FIG. 3 is called “Right”. FIG. 2 shows a state in which the Left event is given to the valve 301, and a rightward force is applied to the piston 302. The equation of motion indicating this state is “−F = mx ″” as shown at the bottom of the cylinder device. On the other hand, FIG. 3 shows a state in which a right event is given to the valve 301, the direction of the air flow changes, and the equation of motion changes to “F = mx” ”as shown in FIG. Yes.

  FIG. 4 represents the behavior of such a mechanism as a state transition diagram composed of state transitions and equations of motion corresponding to the respective states. The hybrid model indicates a state transition as shown in FIG. 4 and a description of each state expressed by a differential equation, an algebraic equation, or a simultaneous equation (continuous system equation) thereof. According to FIG. 4, it can be seen that there are two states and there is a state transition between the two states.

  In the present invention, specific hybrid model contents are described in the HCC (Hybrid Concurrent Constraint Programming) language based on the state transition diagram of FIG. 4, and processing other than processing expressed by continuous system equations, for example, external The hybrid model description 104 is generated by describing a process related to the cooperation with the program (hereinafter referred to as “addition process”) in a predetermined program language.

  FIG. 5 is a diagram showing an example of a program corresponding to the hybrid model description according to the present invention. In FIG. 5, the logical line numbers of the (source) program are assumed to be L1 to L23. L3, L4, and L8 correspond to the description of the operating conditions such as the initial state of the mechanical device and the valve operation timing described above, and L5 and L6 correspond to the expression description of the state transition shown in FIG. Further, L9 to L23 are descriptions relating to the additional processing, and here, processing of the content “write current state to file” is described. Note that “C” is specified in the module statement, and the corresponding L9 to L17 are program descriptions in the C language.

  In the HCC language, as can be seen from L5 and L6 in FIG. 5, the equation of motion can be described as it is in the program. The state is different between L5 and L6. In each state, a condition for transitioning to the state is called a precondition, and is described after “always if”. Also, a condition for canceling the state, in other words, a condition for transitioning from the state is referred to as a transition condition, which is described after “watching”.

  In the HCC, the program description is not executed in accordance with the program description order (for example, the order of logical line numbers L1 to L8 in FIG. 5). In the HCC, an individual program description that is established along a time axis for executing a simulation is searched for and executed. That is, the order of the logical line numbers L1 → L8 has nothing to do with the execution order. For example, when the simulation is started, only L3 and L8 are valid. Here, since the event Right (ev1) is generated by L3, Right, which is a precondition for L6, is valid, and the motion equation eq2 described in L6 is valid. That is, the simulation is executed from the state on the left side of FIG.

  Furthermore, when the time reaches 50, L4 becomes valid, the event Left (ev2) occurs, the transition condition of L6 (below “watching”, ie, Left) becomes valid, and the motion equation eq2 of L6 becomes invalid. Instead, the precondition of L5 becomes effective and the equation of motion eq1 becomes effective.

  In the above example of the program, the case where the state is changed by an external event (L5, L6) is described. Of course, the state may be changed depending on the internal situation. For example, when the valve 301 is not switched in FIG. 2, the moving piston 302 comes into contact with the spring 303 and receives a reaction force from the spring 303. That is, regarding the position of the piston 302, there may be a state transition even when there is no external event. In such a case, the necessity of state transition can be determined based on the evaluation result of the internal variable evaluation expression (inequality expression) such as whether x is positive.

  In general, a hybrid model is a model that combines a continuous system model expressed by simultaneous equations in which ordinary differential equations and algebraic equations are combined, and a state transition model for expressing state transitions accompanying event occurrence. . According to the hybrid model, it is possible to express a system in which the state expressed by the continuous system model is instantaneously switched by an event from the outside.

  Further, when the time reaches 100, L19 becomes valid, an event E (ev5) occurs, and a function called cPrint is called with the value of the argument x (L18 to L23). This description indicates that an additional process for saving the state at that time in a file is executed, and specific contents of the process are described in, for example, C language in L9 to L17.

  Lines L18 to L23 are the contents of the hybrid model description 104 that controls the additional processing (L11 to L16). The description of process (E) cPrint (x) is an instruction syntax for executing additional processing, that is, cPrint (x) when the event E occurs. Here, the event related to the execution control of the additional processing can be described using the same event as the Left event and the Right event related to switching of the continuous system equation.

  According to the present embodiment as described above, (1) the contents of the additional processing can be described on the same program source as the description corresponding to the hybrid model having switching of continuous system equations. Also, (2) control such as calling additional processing can be described in a hybrid manner. Therefore, an easy-to-understand and simple simulation model can be described.

  Next, processing in the hybrid model preprocessing unit 201 will be described. The hybrid model description 104 is first processed in the control information analysis unit 110 of the hybrid model preprocessing unit 201, and a model equation registration program 202, an event control program 203, and a simulation execution additional processing program 204 are generated.

  As software modules constituting the hybrid model simulation execution unit 102, a function for registering model equations and a function for switching continuous system equations are provided as API (Application Program Interface) functions. The model equation registration program 202 and the event control program 203 are programs in which descriptions for calling the corresponding API functions are appropriately combined along with the input hybrid model description 104. From this point of view, the hybrid model preprocessing unit 201 is considered as a kind of compiler in which the input is the hybrid model description 104 and the output is a C program (source) including, for example, a C API function call description. You can also The model equation registration program 202 and the event control program 203 are further compiled by a compiler such as C language, and for example, a library that can be dynamically linked at the time of execution is generated. In the hybrid model simulation execution unit 102, the generated dynamic link library is linked in executing the simulation, and a simulation program that faithfully reproduces the input hybrid model is completed and can be executed. Note that these generated libraries are not necessarily dynamic link libraries, and may be static libraries.

Various specifications of the specific software module constituting the application interface of the hybrid model simulation execution unit 102 can be considered. Here, for convenience of explanation, it is assumed that the following three API functions are defined at the minimum. The programming language is C language.

  The first API function XXX_AddEqnData designates a character string pointer representing one continuous system equation as an argument. XXX_AddEqnData parses this continuous system equation, converts the description of the continuous system equation into a data structure (internal data representation) that can be simulated, and registers the internal data representation in the equation data storage unit 114. A unique ID number is assigned to the continuous system equation.

  For example, assuming that an expression “ab / cos (a− (c + b)) − 3c” is given, a tree structure as shown in FIG. In this tree structure, for example, reference numeral 61 is a parent node (clause) of a linear polynomial, 62 is a multiplication node, 63 is a division node, 64 is a node of an external function (meaning other than four arithmetic operations), and 65 is a linear polynomial. Represents a node for each component. In this example, all the leaves corresponding to the leaves of the tree structure are variables (a, b, c), and a real number coefficient is added to these to form a linear form. The line format can be an argument of an external function such as cos, or it can be subject to multiplication or division. The variable is separately provided with a flag indicating whether or not the value is fixed, and the current value of the variable is held based on such tree-structured data. If the values of all the leaves of the tree structure (ie the values of the variables) are fixed, the value of the expression can be calculated. In the equation data storage unit 114, the internal data structure is connected in advance so that the calculation of the value of the equation can be performed at high speed. If any error occurs in the above process, an error code is set in err. When the process is normally completed, the ID number of the registered equation is used as a return value.

  The second API function XXX_ActivateEqn activates the equation corresponding to the ID number of the equation specified as the argument. If an already valid equation is specified, nothing is done. The return value is an error code.

  In contrast to XXX_ActivateEqn, the third API function XXX_DeActivateEqn invalidates the equation corresponding to the ID number of the equation specified as the argument. Does nothing if an invalid equation is specified.

  The control information analysis unit 110 first generates a function (InitEqnData) that sequentially calls XXX_AddEqnData for necessary equations. This corresponds to the model equation registration program 202 (first program).

  Further, the control information analysis unit 110 also generates a function (ChangeEqn) that performs condition check and equation change (replacement) every time the time advances by Δt during simulation execution. This corresponds to the event control program 203 (second program).

  Here, the ChangeEqn function detects the occurrence of the Left event, the Right event, and the E event by the GetEvent function. The ChangeEqn function is called from the event processing unit 111 at each time step during simulation execution.

  In the hybrid model simulation execution unit 102, as can be seen from FIG. 1, the event processing unit 111 and the continuous system simulation unit 103 are separated. Therefore, the event control program 203 does not include a time-dependent module such as time integration, and the event processing unit 111 corresponding thereto only switches the valid / invalid flag of the continuous system equation.

  By adopting such a simulator configuration, the event related to the interface with the external device and the event related to the hybrid description can be managed by the same processing (if (GetEvent (event) processing)).

  Moreover, since the hybrid model preprocessing unit 201 once outputs the hybrid simulation model as the same language as the additional processing, it is possible to easily generate a hybrid simulation execution program.

  As described above, cooperation between the hybrid simulation and the external device becomes easy.

  Further, the control information analysis unit 110 extracts the content description of the additional process from the hybrid model description 104. Such a description corresponds to the simulation execution unit additional processing program 204 (third program). The simulation execution part addition processing program 204 corresponds to the source of a program originally described in the C language or the like in the hybrid model description 104. For example, in the hybrid model description 104 shown in FIG. 5, a module statement is referred to, and a portion described in C language is extracted. The extracted simulation execution unit additional processing program 204 is compiled by a C language compiler to generate a dynamically linkable library. The additional processing execution unit 205 plays a role of an interface for calling this dynamically linkable library. The generated library is not necessarily a dynamic link library, and may be a static library. Further, the language for describing the contents of the additional processing is not limited to the C language.

By the processing in the hybrid model preprocessing unit 201 as described above, for example, the following C language source program is automatically generated for the hybrid model description shown in FIG.

  Note that GetEvent is a function that checks whether an event with the name (eventname) specified in the argument has occurred.

  The above programs are compiled by a C language compiler as described above, further arranged in the form of a dynamic link library, and linked at the time of execution.

  In this embodiment, an example in which the C language is used as the programming language has been described. However, the present invention is not limited to this, and other programming languages such as a C ++ language and a SpecC language may be used. .

  Next, simulation execution will be described. At the time of simulation execution, the hybrid model simulation execution unit 102 is activated and the simulation execution is performed by calculating the value of the continuous system equation. At this time, the continuous system equation switching unit 115 is called inside the event processing unit 111 and executes switching of the continuous system equation using the valid / invalid flag. The event processing unit 111 corresponds to the event control program 203 (second program; ChangeEqn) generated in the preprocessing. In the state of FIG. 2, the equation of motion eq1 of FIG. 5 is invalid, and the equation of motion eq2 is valid. Here, in the situation of FIG. 3 in which the Left event has occurred, the flag is operated so that the motion equation eq1 of FIG. 5 is validated and the motion equation eq2 is invalidated. These valid / invalid flags are managed as attribute data of each equation stored in the equation data storage unit 114.

  The continuous system simulation unit 103 refers to the equation data storage unit 114 and executes numerical integration for each time step using the internal data representation of the continuous system equation stored in the storage unit 114 in the form of a tree structure as an operation target. . The simulation is an initial value problem for a non-linear simultaneous equation consisting of a set of ordinary differential equations and algebraic polynomials. For this reason, for example, the initial state shown in FIG. 2 is given. Specifically, for example, a solution value is calculated using a commonly used Runge-Kutta algorithm.

  Necessary data is output from the mechanism simulator, and the process returns to the process of the continuous system equation switching unit 115, and the above process is repeated to execute the simulation for the necessary time. The simulation result is stored in the variable value time history storage unit 105 and used for analysis after the simulation is completed.

  FIG. 7 is a flowchart showing a series of processing procedures in the mechanism simulation according to the first embodiment of the present invention described above. This processing procedure can be roughly divided into a hybrid model preprocessing stage and a simulation execution stage.

  First, the hybrid model description 104 is input to the control information analysis unit 110, and the hybrid model is analyzed (step S1). As shown in FIG. 1, the control information analysis unit 110 generates a model equation registration program 202, an event control program 203, and a simulation execution additional processing program 204, respectively. When the pre-processing for the simulation execution is completed, the process proceeds to the simulation execution stage.

  First, the equation syntax analysis unit 112 is called from the hybrid model simulation execution unit 102. The equation syntax analysis unit 112 corresponds to the model equation registration program 202 (first program; InitEqnData), and calls an API function XXX_AddEqnData therein. As a result, the description data of the continuous system equation is converted into a data structure that can be simulated. The converted data is registered in the equation data storage unit 114 (step S2).

  After the initial state based on the hybrid model description 104 is determined in step S3, it is detected in step S4 whether an event has occurred. Therefore, the hybrid model simulation execution unit 102 calls the event processing unit 111. The event processing unit 111 corresponds to the event control program 203 (second program; ChangeEqn) and calls GetEvent therein. If an event has occurred, control proceeds to step S5. If no event has occurred, the process proceeds to step S6, where the continuous system simulation unit 103 executes numerical integration.

  In step S5, it is determined whether or not the generated event is related to the additional process. If the event is not related to the additional process, it is determined in step S9 whether or not switching of the continuous system equation accompanying the state transition is necessary. If it is necessary to switch equations, in step S10, the active continuous equation is switched by manipulating the valid / invalid flag. For this reason, the API function XXX_ActivateEqn or XXX_DeActivateEqn is called. After execution of step S9 or step S10, the continuous system simulation unit 103 executes numerical integration in step S6.

  If the generated event is related to the additional process, the corresponding additional process is executed in step S11. As a specific example of the additional process, a process such as displaying the progress of the process on the screen or outputting data related to the simulation to a file can be considered. After the additional processing is executed in step S11, the process proceeds to step S6, and the continuous system simulation unit 103 executes numerical integration.

  Next, the end condition is determined in step S7. Here, it is determined whether or not the time has reached a predetermined simulation end time. When the simulation end time is reached, the simulation execution is terminated. Until then, the time is advanced by one step in step S8, the process returns to step S4, and the same processing procedure is repeated.

  FIG. 8 shows a time-series flow when the above processing is executed for the hybrid model description shown in FIG. t = 0 indicates an initial state, an event Left is generated at t = 0, the continuous system equation is switched, an event E is generated at t = 100, and additional processing is executed. A continuous simulation is performed between such events.

  In order for the hybrid model simulation execution unit 102 to cooperate with the mechanism control software simulator and execute the simulation efficiently as a whole, the execution order of the steps constituting the simulation must be appropriately and efficiently controlled. .

  As described above, conventionally, programming is performed to appropriately and efficiently control the execution order due to the characteristics of the hybrid model description language (eg, HCC language) (which line is not executed first). Is a very difficult task that requires extremely advanced techniques. In addition, instead of simply handling the value of a variable, the hybrid model may be processed after substituting information obtained from the outside into the variable. In this case, special external functions related to the interface with the outside must be prepared and the model creator had to describe them.

  On the other hand, the embodiment of the present invention is configured to construct the hybrid model simulation execution unit 102 according to the series of processing shown in FIG. That is, a software part corresponding to communication with the outside (process) such as a mechanism control software simulator can be described as an additional process in a program language such as C language in the hybrid model, and the function automatically executes the simulation. Incorporated into.

  According to the embodiments of the present invention, it is possible to flexibly model and program a complicated simulation procedure. Specifically, the present embodiment makes it possible to include a description of additional processing related to cooperation with the outside as part of the hybrid model description. Therefore, it is possible to easily construct a variety of advanced simulation models, so that the application range of simulation can be expanded.

(Second Embodiment)
The second embodiment of the present invention relates to cooperation with mechanism control software or a simulator of mechanism control software. FIG. 9 is a block diagram showing a schematic configuration of a mechanism simulator according to the second embodiment of the present invention. Similar to the first embodiment, the mechanism simulator of the present embodiment includes a hybrid model preprocessing unit 201 and a hybrid model simulation execution unit 102. The control signal 106 shown in the figure is input / output between the mechanism control software or the simulator of the mechanism control software and the additional process execution unit 205 of the hybrid model simulation execution unit 102 via a port.

  In this embodiment, the input / output of the control signal 106 can be an additional process, and the description can be included in the hybrid model description 2104.

  FIG. 10 is a diagram showing an example of the contents of the hybrid model description 2104 in the second embodiment. The outport function is an API function for writing data to one of the port IDs for an external control system. The inport function is an API function that reads data from a port ID. Here, the external control system corresponds to mechanism control software or a simulator of mechanism control software.

  The 11th to 18th lines are described in C language. setDataToCtrl is a function that sets the arguments num and data to the outport function. The GetDataFromCtrl function is a function that sets the ID of the argument num-th in the import function and returns the acquired data as a return value.

  In the 23rd and 26th lines, the setDataToCtrl function and the getDataFromCtrl function are associated with the events E1 and E2, respectively. The setDataToCtrl function is executed when the event E1 occurs, and the getDataFromCtrl function is executed when the event E2 occurs.

  On the 24th line, data x is converted into an integer type for control ID number 1 and set. On the 27th line, the data acquired from the control signal 106 is forcibly set in the data x.

  As described above, in this hybrid simulation, it is possible to simply describe a description for linking with an external control target on the same source during the simulation. Naturally, the simulation result differs depending on the state of the controlled object.

  FIG. 11 is a flowchart showing the operation of the mechanism simulator according to the second embodiment of the present invention. When an event occurs, it is the same as in the first embodiment in that the type is specified and the processing is distributed according to the type of event. This embodiment is different from the first embodiment in that not only the state transition in the hybrid model but also the processing related to the interface with the external control target is controlled uniformly through the event. There is an advantage that the configuration related to the cooperative simulation with the control software is simplified.

  First, as shown in FIG. 11, the hybrid model description 2104 is input to the control information analysis unit 110, and the syntactic analysis of the hybrid model is performed (step S1). The control information analysis unit 110 generates a model equation registration program 202, an event control program 203, and a simulation execution additional processing program 204, respectively. The equation syntax analysis unit 112 based on the model equation registration program 202 converts the description data of the continuous system equations into a data structure that can be simulated and registered in the equation data storage unit 114 (step S2).

  Thus, the pre-processing for the simulation execution is completed, and the simulation execution stage is started from here.

  In step S4, it is detected whether an event has occurred. If an event has occurred, control proceeds to step S5. If no event has occurred, the process proceeds to step S6.

  In step S5, the type of event that has occurred is determined. If the event type is an event related to the continuous system equation, it is determined in step S9 whether or not switching of the continuous system equation accompanying the state transition is necessary. If it is necessary to switch equations, in step S10, the active continuous equation is switched by manipulating the valid / invalid flag. If switching of equations is not necessary, control proceeds to step S6.

  If the type of event that has occurred is an event related to data transmission, data is transmitted to the external control target in step S11. The transmission data is assumed to be status information of a sensor attached to the target mechanism. If the type of event that occurred is an event related to data reception, data is received from the external control target in step S12.

  In step S6, the continuous system simulation unit 103 performs numerical integration.

  Next, the end condition is determined in step S7. Here, it is determined whether or not the time has reached a predetermined simulation end time. When the simulation end time is reached, the simulation execution is terminated. Until then, the time is advanced by one step in step S8, the process returns to step S4, and the same processing procedure is repeated.

  Note that the present invention is not limited to the above-described embodiment as it is, and can be embodied by modifying the constituent elements without departing from the scope of the invention in the implementation stage. In addition, various inventions can be formed by appropriately combining a plurality of constituent elements disclosed in the embodiment. For example, some components may be deleted from all the components shown in the embodiment. Furthermore, constituent elements over different embodiments may be appropriately combined.

The block diagram which shows schematic structure of the mechanism simulator which concerns on 1st Embodiment of this invention. The figure which shows the state with the cylinder apparatus which concerns on the specific example for demonstrating a hybrid model description. The figure which shows another state of the cylinder apparatus which concerns on the specific example for demonstrating a hybrid model description. The figure which shows the state transition of the cylinder apparatus which concerns on the specific example for demonstrating a hybrid model description. The figure which shows the content of a hybrid model description. Explanatory drawing of internal data expression obtained as a result of parsing one continuous system equation. The flowchart which shows the process sequence of the mechanism simulation which concerns on 1st Embodiment of this invention. Explanatory drawing of the time-sequential flow of mechanism simulation. The block diagram which shows schematic structure of the mechanism simulator which concerns on 2nd Embodiment of this invention. The figure which shows the content of the hybrid model description which concerns on 2nd Embodiment of this invention. The flowchart which shows the process sequence of a mechanism simulation.

Explanation of symbols

DESCRIPTION OF SYMBOLS 104 ... Hybrid model description 201 ... Hybrid model pre-processing part 110 ... Control information analysis part 102 ... Hybrid model simulation execution part 103 ... Continuous system simulation part 111 ... Event processing part 112 ... Equation syntax analysis part 115 ... continuous system equation switching unit, 205 ... addition processing execution unit, 105 ... variable value time history storage unit

Claims (2)

A hybrid model source program that includes the occurrence of first and second events, a continuous system equation that is enabled or disabled as a result of the occurrence of the first event, and additional processing that accompanies the occurrence of the second event. Is a simulation device for simulating the behavior of the target mechanism along the time axis,
A first generating means for generating a model equation registration program for calling a function for registering an internal data representation of a continuous system equation in an equation data storage unit based on a source program description of the continuous system equation in the hybrid model source program; ,
It is determined whether or not the first event or the second event has occurred, and the validity / invalidity of a specific continuous system equation registered in the equation data storage unit with the occurrence of the first event is determined. call the switch function, the second event the additional processing calls the event control program with the occurrence of the produce on the basis of the first and source program descriptions of the second event in the source program of the hybrid model Two generation means;
A third generation means for generating an additional processing program that can be called from the event control program based on a source program description of the additional processing in the source program of the hybrid model ;
An equation syntax analysis unit that reads and executes the model equation registration program generated by the first generation unit at the start of simulation;
An event control unit that reads the event control program generated by the second generation unit and executes the event control program for each simulation step;
A continuous equation switching unit that is called from the event control program and switches between valid / invalid of the specific continuous equation with the occurrence of the first event ;
Using the internal data representation of the continuous system equation switched to an effective one by the continuous system equation switching unit , solve the continuous system equation by numerical integration along the time axis and output data representing the behavior of the mechanism A simulation execution unit for executing a simulation;
The third read additional processing program generated by the generating means, the additional processing hybrid simulation apparatus comprising the additional processing execution unit for executing the Save if the additional program is invoked in the event control program. The simulation according to claim 1, wherein the additional processing program includes processing for inputting / outputting a control signal to / from an outside including mechanism control software for controlling the mechanism via an input / output port. apparatus.

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