JP4463628B2 - Simulator device, simulation method, and program - Google Patents

Description

  The present invention relates to a simulator device, a simulation method, and a program, and particularly to a simulator device, a simulation method, and a program that significantly reduce processing load and does not fail.

  2. Description of the Related Art Conventionally, a simulator device that performs simulation using a model having an electrical characteristic part and a mechanical characteristic part is known. When simulating a model of a plurality of motors, such a simulator device has a large processing load and the simulator device breaks down. Therefore, it is difficult to simulate using a plurality of motor models. . Although it is conceivable to use a processor capable of high-speed processing, it is not practical because it leads to a significant cost increase. For example, Patent Document 1 discloses a conventional technique for simulating an integrated circuit and its peripheral circuits using an FPGA (Field Programmable Gate Array).

JP-A-10-63704

  In the prior art of Patent Document 1, it is possible to simulate an integrated circuit and its peripheral circuits using an FPGA. However, when simulating a model of a plurality of motors, the processing load greatly increases and the simulation fails. The problem was not solved.

  The present invention has been made to solve the above-described problems caused by the prior art, and an object of the present invention is to provide a simulator device that greatly reduces the processing load and does not fail.

In order to solve the above-described problems and achieve the object, the present invention provides a simulator device that performs simulation using a model having an electrical characteristic part and a mechanical characteristic part, and includes a plurality of electrical characteristic parts of the model. Integrated electrical simulation means for integrating and simulating the integrated electrical characteristic part; and mechanical simulation means for simulating the mechanical characteristic parts of the plurality of models corresponding to the electrical characteristic part simulated by the integrated electrical simulation means; , Provided.

According to the present invention , integrating electrical characteristics of a plurality of models, simulating the integrated electrical characteristics, and simulating mechanical characteristics of a plurality of models corresponding to the simulated electrical characteristics As a result, the processing load can be greatly reduced so that it does not fail.

Further, the present invention is characterized in that the integrated electrical simulation means integrates a plurality of electrical characteristic portions of the model, and the integrated electrical characteristic portion is configured by a semiconductor integrated circuit with a built-in program for simulation.

According to the present invention , the electrical characteristics of a plurality of models are integrated, and the integrated electrical characteristics are configured and simulated by a semiconductor integrated circuit with a built-in program. You can avoid it.

Further, the present invention is characterized in that the integrated electrical simulation means integrates a plurality of electrical characteristic portions of the model, and configures the integrated electrical characteristic portion by software to perform simulation.

According to the present invention , since the electrical characteristics of a plurality of models are integrated, and the integrated electrical characteristics are configured by software and simulated, the processing load can be significantly reduced and the failure can occur. I can not.

Further, according to the present invention , the integrated electrical simulation means integrates a plurality of electrical characteristic portions of the model, and the integrated electrical characteristic portions are configured in parallel by the program-embedded semiconductor integrated circuit and / or the software. It is characterized by simulating.

According to the present invention , the electrical characteristics of a plurality of models are integrated, and the integrated electrical characteristics are configured and simulated in parallel by a program-embedded semiconductor integrated circuit and / or software. Can be greatly reduced so that it will not fail.

The present invention further includes parallel processing means for processing operations of the electrical characteristic section in parallel, and the integrated electrical simulation means integrates the electrical characteristics sections of the plurality of models, and integrates the electrical characteristics. And the parallel processing means performs parallel processing on the operation of the electrical characteristic section and simulates the parallel processing means.

According to the present invention , electrical characteristics of a plurality of models are integrated, and the integrated electrical characteristics are configured in parallel by a program-embedded semiconductor integrated circuit and / or software, and operations of the electrical characteristics are parallel. Therefore, it is possible to greatly reduce the processing load and prevent failure.

Further, the present invention is a simulation method for simulating using a model having an electric characteristic part and a mechanical characteristic part, and integrating the electric characteristic parts of a plurality of the models and simulating the integrated electric characteristic part An integrated electrical simulation step, and a mechanical simulation step of simulating the mechanical property portions of the plurality of models corresponding to the electrical property portions simulated by the integrated electrical simulation step.

According to the present invention , integrating electrical characteristics of a plurality of models, simulating the integrated electrical characteristics, and simulating mechanical characteristics of a plurality of models corresponding to the simulated electrical characteristics As a result, the processing load can be greatly reduced so that it does not fail.

Further, the present invention is a simulation program for simulating using a plurality of models having an electric characteristic part and a mechanical characteristic part, and integrating the electric characteristic parts of the plurality of models and integrating the electric characteristic parts And an integrated electrical simulation procedure for simulating the computer and a mechanical simulation procedure for simulating the mechanical property portions of the plurality of models corresponding to the electrical property portions simulated by the integrated electrical simulation procedure. And

According to the present invention , integrating electrical characteristics of a plurality of models, simulating the integrated electrical characteristics, and simulating mechanical characteristics of a plurality of models corresponding to the simulated electrical characteristics As a result, the processing load can be greatly reduced so that it does not fail.

According to the present invention , the electrical characteristics of a plurality of models are integrated, the integrated electrical characteristics are simulated, and the mechanical characteristics of the models corresponding to the simulated electrical characteristics are simulated. Since it is configured, the processing load is greatly reduced, and there is an effect that it can be prevented from failing.

In addition, according to the present invention , the electrical characteristics of a plurality of models are integrated, and the integrated electrical characteristics are configured by a semiconductor integrated circuit with a built-in program, and the simulation is performed. This has the effect of preventing the bankruptcy.

In addition, according to the present invention , the electrical characteristics of a plurality of models are integrated, and the integrated electrical characteristics are configured by software and simulated, so that the processing load is greatly reduced and failure occurs. There is an effect that it can be prevented.

Also, according to the present invention , the electrical characteristics of a plurality of models are integrated, and the integrated electrical characteristics are configured in parallel by a program-embedded semiconductor integrated circuit and / or software, and are configured to simulate. There is an effect that the processing load can be greatly reduced so that it does not fail.

Further, according to the present invention , the electrical characteristics of a plurality of models are integrated, and the integrated electrical characteristics are configured in parallel by a program-embedded semiconductor integrated circuit and / or software, and the calculation of the electrical characteristics is performed. Are processed in parallel and simulated, so that the processing load can be greatly reduced and the system can be prevented from failing.

Further, according to the present invention , the electrical characteristics of a plurality of models are integrated, the integrated electrical characteristics are simulated, and the mechanical characteristics of the models corresponding to the simulated electrical characteristics are simulated. As a result, the processing load can be greatly reduced and the system can be prevented from failing.

Further, according to the present invention , the electrical characteristics of a plurality of models are integrated, the integrated electrical characteristics are simulated, and the mechanical characteristics of the models corresponding to the simulated electrical characteristics are simulated. As a result, the processing load can be greatly reduced and the system can be prevented from failing.

  Exemplary embodiments of a simulator device according to the present invention will be explained below in detail with reference to the accompanying drawings. In this embodiment, a case where a simulator system using a simulator device is applied to simulation of a front wheel motor and a rear wheel motor of a hybrid vehicle will be described. Here, (1) Outline and main features of simulator device, (2) Configuration of simulator system, (3) Front wheel motor and rear wheel motor of hybrid vehicle, (4) Electrical characteristics and mechanical characteristics of motor , (5) Simulation procedure, (6) Integrated electrical simulation procedure.

(1) Overview and Main Features of Simulator Device First, an overview and main features of the simulator device 20 according to the present embodiment will be described with reference to FIG. FIG. 1 is a functional block diagram illustrating a configuration of a simulator system 10 according to the embodiment. The simulator device 20 according to the present embodiment is a device that performs a simulation using a model having an electrical property portion and a mechanical property portion, and is characterized by greatly reducing the processing load and without failing.

  The integrated electrical simulation unit 205 integrates the electrical characteristic units of a plurality of models, and simulates the integrated electrical characteristic unit. The mechanical simulation unit 2061 performs the electrical characteristic unit simulated by the integrated electrical simulation unit 205. Since the mechanical characteristic portions of a plurality of models corresponding to the above are simulated, the processing load is greatly reduced, and there is no failure. Here, with reference to FIG. 2, an example of the reduction of the processing load of the simulator system 10 shown in FIG. 1 will be described. FIG. 2 is a diagram illustrating an example of a reduction in processing load of the simulator system 10 illustrated in FIG.

  As shown in the figure, in the conventional technology, when the three motors of the front wheel motor, the generator, and the rear wheel motor of the hybrid vehicle are simulated, the simulation execution cycle is greatly exceeded, and the real-time simulation has failed. . On the other hand, in the simulator device 20 of the present invention, simulations of electrical characteristic portions of the front wheel motor, the generator, and the rear wheel motor are integrated and processed in parallel using an FPGA, and operations of the motor electrical characteristic portion are processed in parallel. As a result, the simulation time of the electrical characteristic portion can be greatly reduced. In addition, even after the simulation of the mechanical characteristic portion of the motor, the simulation execution period is shorter, and it can be seen that the simulation is effective as a real-time simulation.

(2) Configuration of Simulator System As shown in FIG. 1, the simulator system 10 according to the embodiment includes an input / output device 12, a vehicle control device 14, and a simulator device 20. The input / output device 12 is an image display device that inputs an operation amount of the driving device of the hybrid vehicle to the simulator device 20 and displays a simulation result of the simulator device 20. A GUI (Graphical User Interface) handles a handle and an accelerator from a display screen. Then, an operation amount such as a brake is input to the simulator device 20, and the simulation result is displayed as an image.

  The vehicle control device 14 is a control device that drives and controls the front wheel motor and the rear wheel motor with a control signal corresponding to the operation amount of a driving device such as a steering wheel, an accelerator, and a brake. Specifically, the vehicle control device 14 is a PWM (Power Width Modulation). The front wheel motor and the rear wheel motor are driven and controlled by the signal.

  The simulator device 20 includes IF units 201 to 203, a storage unit 204, an integrated electric simulation unit 205, and a control unit 206. The IF unit 201 is an input / output interface unit between the input / output device 12 and the control unit 206. The IF unit 201 inputs an operation amount of the driving device of the hybrid vehicle from the input / output device 12 and outputs a simulation result from the control unit 206. The IF unit 202 is an input / output interface unit between the control unit 206 and the vehicle control device 14 and inputs / outputs the operation amount of the driving device and the control amount of the motor. The IF unit 203 is an input / output interface unit between the integrated electrical simulation unit 205 and the control unit 206. Specifically, the IF unit 203 is a PCI bus interface that inputs and outputs control amounts and simulation results.

  The storage unit 204 is a storage device such as a RAM (Random Access Memory) and a ROM (Read Only Memory), and includes a motor characteristic data storage unit 2041 and a machine simulation software storage unit 2042. The motor characteristic data storage unit 2041 is a storage unit that stores electrical characteristics of the motor such as electrical resistance, inductance, and induced voltage constant, and mechanical characteristics such as friction torque, friction coefficient, inertia, and torque constant. The machine simulation software storage unit 2042 is a storage unit that stores software for simulating the mechanical characteristic unit of the motor.

  The integrated electrical simulation unit 205 is a simulation unit that integrates the electrical characteristic units of a plurality of models and simulates the integrated electrical characteristic unit, and includes a parallel processing unit 2051. The parallel processing unit 2051 is a processing unit that processes the operation of the electric characteristic unit in parallel, and specifically, a three-phase rotor winding display type and a two-phase stator winding display related to the electric characteristic unit of the motor. Compute expressions in parallel. The three-phase rotor winding display type and the two-phase stator winding display type relating to the electrical characteristics of the motor will be described in detail separately.

  The integrated electrical simulation unit 205 integrates the electrical characteristics of a plurality of models, and configures the integrated electrical characteristics by a semiconductor integrated circuit with built-in program, for example, FPGA, ASIC (Application Specific Integrated Circuit).

  The integrated electrical simulation unit 205 integrates the electrical characteristic units of a plurality of models, configures the integrated electrical characteristic units in parallel by a program-embedded semiconductor integrated circuit and / or software, and performs computation of the electrical characteristic units. Process and simulate in parallel.

  The control unit 206 is a control unit that controls the entire simulator apparatus 20, and includes a machine simulation unit 2061. The machine simulation unit 2061 is a simulation unit that simulates the mechanical property units of a plurality of models corresponding to the electrical property unit simulated by the integrated electrical simulation unit 205, and is stored in the machine simulation software storage unit 2042. Simulation is performed using machine simulation software.

(3) Front Wheel Motor and Rear Wheel Motor of Hybrid Vehicle Next, a front wheel motor and a rear wheel motor of a hybrid vehicle to which the simulator device 20 shown in FIG. 1 is applied will be described with reference to FIG. FIG. 3 is a diagram showing a front wheel motor and a rear wheel motor of a hybrid vehicle to which the simulator device 20 shown in FIG. 1 is applied.

  As shown in the figure, a hybrid vehicle is a system that uses a gasoline engine and an electric motor as a power source. The front wheel is equipped with a gasoline engine, motor, and generator, and the rear wheel is equipped with a battery and motor. ing. Specifically, when starting / running at low and medium speeds, the tire is driven by a motor using a battery. During normal driving, the gasoline engine power is divided in half to drive the tires and generator. During deceleration / braking, the wheels drive the motor to convert the kinetic energy of the hybrid vehicle into electric power and charge the battery. It is possible to efficiently control the engine and the motor according to the traveling state of the hybrid vehicle, and to effectively use the energy that has been wasted.

  Here, a simulation is performed in which a hybrid vehicle uses a battery to drive a tire with a motor during start / low / medium speed travel. That is, a simulation is performed for a case where a plurality of front wheel motors and rear wheel motors drive tires. In the present embodiment, a simulation in which a plurality of front wheel motors and rear wheel motors drive tires will be described. However, the present invention is not limited to this, and the front wheel motor and the rear wheel motor are not limited thereto. The present invention can be applied to a simulation in which a plurality of motors drive tires and a generator generates electricity.

(4) Electric characteristic part and mechanical characteristic part of motor Next, with reference to FIG. 4, the motor model of the integrated electric simulation part 205 shown in FIG. 1 is demonstrated. FIG. 4 is a block diagram showing a motor model of the integrated electric simulation unit 205 shown in FIG.

The electrical characteristic part and the mechanical characteristic part of the motor can be expressed by the following voltage equation (Equation 1) and torque equation (Equation 2).
E = RI + LdI / dt + K _E ω (Formula 1)
T = T _F + Jdω / dt + Dω (Formula 2)
Here, E (V), I (A), ω (rad / s), and T (Nm) are the armature voltage, the armature current, the rotational angular velocity of the rotor, and the motor generated torque. The armature resistance R (Ω), armature inductance L (H), induced voltage constant K _E (Vs / rad), rotor inertia J (kgm ² ), torque constant K _T (Nm / A) are: The motor characteristic data is stored in the motor characteristic data storage unit 2041 as motor characteristic data. The friction coefficient D (Nms / rad) and the friction torque T _F (Nm) are the friction coefficient and the friction torque at the support portion of the rotor. FIG. 4 is a diagram in which (Expression 1) and (Expression 2) are subjected to Laplace transform and displayed as a block diagram with the armature voltage E as an input and the rotational angular velocity ω as an output.

  As shown in the figure, the block diagram of the motor model can be separated into an electrical characteristic part represented by (Expression 1) and a mechanical characteristic part represented by (Expression 2). In the simulation of the electric characteristic portion of the motor model, the armature voltage E (V) is given to obtain the armature current I (A). Further, in the simulation of the mechanical characteristic portion of the motor model, the torque T (Nm) obtained from the armature current I (A) is given to obtain the rotational angular velocity ω (rad / s) of the rotor. At this time, since the counter electromotive voltage Ea (V) is generated by the rotation of the motor, it is negatively fed back to the armature voltage E.

  The electrical characteristics of the motor are as follows: three-phase rotor winding voltage (hereinafter referred to as “three-phase voltage”) (Vu, Vv, Vw) of the rotating coordinate system, three-phase rotor winding Current (hereinafter referred to as “three-phase current”) (Iu, Iv, Iw) and two-phase stator winding voltage in a fixed coordinate system (hereinafter referred to as “two-phase voltage”) (Vd , Vq), a two-phase stator winding current (hereinafter referred to as “two-phase current”) (Id, Iq). The fixed coordinate system is a two-phase (dq) coordinate system fixed to the stator of the motor, and the rotary coordinate system is a three-phase (uvw) coordinate system fixed to the rotor of the motor.

Vd = sqrt (2/3) × (Vu × cos θ + Vv × cos (θ−2π / 3) + Vw × cos (θ + 2π / 3))
(Formula 3)
Vq = −sqrt (2/3) × (Vu × sin θ + Vv × sin (θ−2π / 3) + V
w × sin (θ + 2π / 3))
(Formula 4)
dId / dt = (Vd−R × Id + ω × Lq × Iq) / Ld (Formula 5)
dIq / dt = (Vq−R × Iq + ω × Ld × Id−ωφ) / Ld (Formula 6)
Iu = sqrt (2/3) × (Id × cos θ−Iq × sin θ) (Expression 7)
Iv = sqrt (2/3) × (Id × cos (θ−2π / 3) −Iq × sin (θ−2π / 3)) (Formula 8)
Iw = sqrt (2/3) × (Id × cos (θ + 2π / 3) −Iq × sin (θ + 2π / 3)) (Formula 9)
The rotation angle θ (rad) is a rotation angle of a three-phase (uvw) coordinate system with respect to a two-phase (dq) coordinate system, and a counterclockwise rotation is positive. Ld and Lq are an inductance in the d-axis direction and an inductance in the q-axis direction that is orthogonal thereto. Φ is the armature winding flux linkage (Web).

  The armature voltage E (V) when simulating the electric characteristic part of the motor is given a three-phase voltage (Vu, Vv, Vw), and the two-phase voltage (Formula 3) and Formula (4) are used. Vd, Vq) is obtained. Then, the two-phase current (Id, Iq) is obtained from the two-phase voltage (Vd, Vq) using (Expression 5) and (Expression 6). Furthermore, the three-phase current (Iu, Iv, Iw) is obtained from the two-phase current (Id, Iq) using (Expression 7) to (Expression 9). Then, a three-phase current (Iu, Iv, Iw) is applied as the armature current I (A) to simulate the mechanical characteristic portion of the motor.

(5) Simulation Procedure Next, a simulation procedure of the simulator system 10 shown in FIG. 1 will be described with reference to FIG. FIG. 5 is a flowchart showing a simulation procedure of the simulator system 10 shown in FIG. In this procedure, the physical quantities relating to the front wheel motor and the rear wheel motor are distinguished from each other by adding a suffix f and a suffix r, respectively.

  As shown in the figure, the input / output device 12 is first activated (step S401), and the simulator device 20 and the vehicle control device 14 are activated (step S402). Then, the input / output device 12 turns on the ignition key switch of the vehicle with a keyboard or mouse from the GUI screen, and operates a driving device such as an accelerator to request the start of simulation (step S403). Then, the control unit 206 of the simulator device 20 sets t = 0 as an initial setting (step S404).

  Further, the control unit 206 advances the time t by Δt (step S405), and the integrated electric simulation unit 205 performs an integrated electric simulation at time t + Δt (step S406). As a result, the integrated electric simulation unit 205 outputs the three-phase currents (Iuf, Ivf, Iwf) of the front wheel motor and the three-phase currents (Iur, Ivr, Iwr) of the rear wheel motor to the machine simulation unit 2061 (step S407). .

  Further, the machine simulation unit 2061 receives the three-phase currents (Iuf, Ivf, Iwf) of the front wheel motor as input, and performs a machine simulation of the front wheel motor (step S408). As a result, the machine simulation unit 2061 calculates the rotational angular velocity ωf of the rotor of the front wheel motor (step S409).

  Further, the machine simulation unit 2061 receives the three-phase currents (Iur, Ivr, Iwr) of the rear wheel motor as input, and performs a machine simulation of the rear wheel motor (step S410). As a result, the machine simulation unit 2061 calculates the rotational angular velocity ωr of the rotor of the rear wheel motor (step S411).

  Furthermore, the simulator device 20 outputs simulation results such as a three-phase voltage, a three-phase current, and a rotational angular velocity to the input / output device 12 in time series (step S412). The input / output device 12 waits for the simulation to end (step S413), and requests the simulator device 20 to end the simulation (step S414).

  In response to this, the simulator device 20 checks whether or not a simulation end request has been received from the input / output device 12 (step S415). As a result, when there is a simulation end request (Yes at step S415), the simulator device 20 ends this procedure. On the other hand, when there is no simulation end request (No at Step S415), the simulator device 20 repeats and executes the procedure from Step S405 to Step S412.

  In this way, in the simulator device 20, the integrated electrical simulation unit 205 integrates the electrical characteristics of the motor and simulates the integrated electrical characteristics, so that the processing load is greatly reduced and does not fail.

(6) Integrated Electric Simulation Procedure Next, the integrated electric simulation procedure shown in FIG. 5 and step S406 will be described with reference to FIG. FIG. 6 is a flowchart showing in more detail the integrated electric simulation procedure shown in FIG. 5, step S406. Since steps S502 to S505 of this procedure are the same as steps S506 to S509, description of steps S506 to S509 is omitted.

  As shown in the figure, first, the machine simulation unit 2061 sends the rotational angular velocities ωf and ωr of the rotor relating to the front wheel motor and the rear wheel motor calculated by the machine simulation software at time (t−Δt) to the parallel processing unit 2051. Output (step S501). Then, the parallel processing unit 2051 calculates a three-phase voltage (Vuf, Vvf, Vwf) as an input voltage of the electrical characteristic unit from the rotational angular velocity ωf of the rotor calculated by the mechanical simulation unit 2061 for the front wheel motor (step). S502).

  Then, the parallel processing unit 2051 receives the three-phase voltage (Vuf, Vvf, Vwf) as input and calculates the two-phase voltage (Vdf, Vqf) using (Equation 3) and (Equation 4) (step S503). Furthermore, the parallel processing unit 2051 calculates a two-phase current (Idf, Iqf) from the two-phase voltage (Vdf, Vqf) using (Expression 5) and (Expression 6) (Step S504). Then, the parallel processing unit 2051 calculates a three-phase current (Iuf, Ivf, Iwf) from the two-phase current (Idf, Iqf) using (Expression 7) to (Expression 9) (Step S505). As described above, the parallel processing unit 2051 can process the steps of the rear wheel motor and steps S506 to S509 in parallel just like the procedure of the front wheel motor and steps S502 to S505.

  As described above, the integrated electrical simulation unit 205 configures the integrated electrical characteristic unit in parallel by a program-embedded semiconductor integrated circuit and / or software, and the parallel processing unit 2051 uses the three-phase voltages (Vuf, Vvf) of the front wheel motor. , Vwf) as inputs, the computation of two-phase voltages (Vdf, Vqf), two-phase currents (Idf, Iqf) and three-phase currents (Iuf, Ivf, Iwf) can be processed in parallel, greatly reducing the processing load And there is no bankruptcy.

  As described above, in the present embodiment, the integrated electrical simulation unit 205 integrates the electrical property units of a plurality of models, simulates the integrated electrical property unit, and the mechanical simulation unit 2061 performs the simulated electrical property unit. Since the mechanical characteristic portions of a plurality of models corresponding to the dynamic characteristic portion are simulated, the processing load can be greatly reduced and the failure can be prevented.

  In addition, the integrated electrical simulation unit 205 integrates the electrical characteristics of a plurality of models, and the integrated electrical characteristics are configured by a semiconductor integrated circuit with a built-in program, so that the processing load is greatly reduced. And you can prevent it from going bankrupt.

  In addition, the integrated electrical simulation unit 205 integrates the electrical characteristics of a plurality of models, and the integrated electrical characteristics are configured in parallel by a program-embedded semiconductor integrated circuit, so that the processing load is greatly increased. Can be reduced so that it will not fail.

  The integrated electrical simulation unit 205 integrates the electrical characteristic units of a plurality of models, and configures the integrated electrical characteristic unit in parallel by a program-embedded semiconductor integrated circuit and / or software. Since the computations are processed in parallel and simulated, the processing load can be greatly reduced and no failure occurs.

  Although the embodiments of the present invention have been described so far, the present invention can be implemented in various different embodiments in addition to the above-described embodiments within the scope of the technical idea described in the claims. It may be.

  For example, in this embodiment, the integrated electric simulation unit 205 describes a case where the integrated electric characteristic unit is configured by a semiconductor integrated circuit with a built-in program. However, the present invention is not limited to this, and the integrated electric simulation is performed. The unit 205 can be applied when the integrated electrical characteristic unit is configured by software or software multi-process.

  In addition, among the processes described in the present embodiment, all or a part of the processes described as being automatically performed can be manually performed, or the processes described as being manually performed All or a part of the above can be automatically performed by a known method. In addition, the processing procedure, control procedure, specific name, and information including various data and parameters shown in the above-described document and drawings can be arbitrarily changed unless otherwise specified.

  Each component of each illustrated device is functionally conceptual and does not necessarily need to be physically configured as illustrated. That is, the specific form of distribution / integration of each device (simulator device) is not limited to that shown in the figure, and all or a part thereof can be functionally or physically processed in an arbitrary unit according to various loads or usage conditions. Can be distributed and integrated. Further, all or any part of each processing function performed in each device may be realized by a CPU and a program analyzed and executed by the CPU, or may be realized as hardware by wired logic.

  Note that the simulation method described in this embodiment can be realized by executing a program prepared in advance on a computer such as a personal computer or a workstation. This program can be distributed via a network such as the Internet. The program can also be executed by being recorded on a computer-readable recording medium such as a hard disk, a flexible disk (FD), a CD-ROM, an MO, and a DVD and being read from the recording medium by the computer.

  As described above, the simulator device according to the present invention is useful for a model simulator device having an electrical characteristic portion and a mechanical property portion, and is particularly suitable for a motor simulator device.

It is a functional block diagram which shows the structure of the simulator system which concerns on an Example. It is a figure which shows an example of reduction of the processing load of the simulator system shown in FIG. It is a figure which shows the front-wheel motor and rear-wheel motor of a hybrid vehicle to which the simulator apparatus shown in FIG. 1 is applied. It is a block diagram which shows the motor model of the integrated electric simulation part shown in FIG. It is a flowchart which shows the simulation procedure of the simulator system shown in FIG. It is a flowchart which shows the integrated electric simulation procedure shown in FIG. 5 in detail.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 Simulator system 12 Input / output device 14 Vehicle control device 20 Simulator device 201, 202, 203 IF unit 204 Storage unit 205 Integrated electric simulation unit 206 Control unit 2041 Motor characteristic data storage unit 2042 Machine simulation software storage unit 2051 Parallel processing unit 2061 Machine simulation section

Claims (6)

A simulator device for simulating using first and second models each having an electrical characteristic part and a mechanical characteristic part,
Parallel processing means for processing operations of the electrical characteristic units in the first and second models in parallel;
Electrical simulation means for outputting first and second electrical simulation results by simulating each electrical characteristic section using the parallel processing means;
A mechanical simulation for simulating the mechanical property portion in the first model based on the first electrical simulation result and for simulating the mechanical property portion in the second model based on the second electrical simulation result Means and
With
The machine simulation means outputs a machine simulation result, which is a result of simulating each mechanical characteristic part in the first and second models, to the parallel processing means,
The simulator is characterized in that the parallel processing means processes in parallel the operations of the electrical characteristic units in the first and second models based on the machine simulation result . 2. The parallel processing means integrates the electrical characteristic units in the first and second models, and configures the integrated electrical characteristic unit with a program-embedded semiconductor integrated circuit and performs simulation. The simulator device described. 2. The simulator according to claim 1, wherein the parallel processing unit integrates the electrical characteristic units in the first and second models, and configures and simulates the integrated electrical characteristic unit by software. apparatus. Said parallel processing means integrates the electrical characteristic portion in the first and second model, the electrical characteristics section integrated program internal semiconductor integrated circuit and / or configured in parallel by Soviet Futouea, simulation The simulator device according to claim 1, 2, or 3. A simulation method for simulating using first and second models each having an electrical characteristic part and a mechanical characteristic part,
A parallel processing step of processing operations of the electrical characteristic units in the first and second models in parallel;
An electrical simulation step of outputting the first and second electrical simulation results by simulating each electrical characteristic unit using the parallel processing step;
A mechanical simulation for simulating the mechanical characteristic part in the first model based on the first electrical simulation result and simulating the mechanical characteristic part in the second model based on the second electrical simulation result Process and
Including
The machine simulation step outputs a machine simulation result, which is a result of simulating each mechanical characteristic part in the first and second models, to the parallel processing step.
In the parallel processing step, the calculation of each electrical characteristic unit in the first and second models is processed in parallel based on the mechanical simulation result . A simulation program for simulating using first and second models each having an electrical characteristic part and a mechanical characteristic part,
A parallel processing procedure for processing operations of the electrical characteristic units in the first and second models in parallel;
An electrical simulation procedure for outputting first and second electrical simulation results by simulating each electrical characteristic unit using the parallel processing procedure;
A machine in the second model is simulated based on the second electrical simulation result output by the electrical simulation procedure while simulating the mechanical characteristic portion in the first model based on the first electrical simulation result. Machine simulation procedure for simulating mechanical characteristics
To the computer,
The machine simulation procedure outputs a machine simulation result, which is a result of simulating each mechanical characteristic unit in the first and second models, to the parallel processing procedure,
The simulation program characterized in that the parallel processing procedure processes operations of each electrical characteristic unit in the first and second models in parallel based on the machine simulation result .

Images