JP4544881B2 - Physical model creation device, simulation device equipped with the physical model creation device, and program in the physical model creation device - Google Patents

Description

The present invention relates to a physical model creation device, a simulation device including the physical model creation device , and a program in the physical model creation device , and in particular, when simulating a system including a control target including a mechanism portion and a control device, the mechanism portion The present invention relates to a physical model creation device that creates a physical model of a control target including the above, a simulation device including the physical model creation device , and a program in the physical model creation device .

  2. Description of the Related Art Conventionally, when a controlled object including a mechanical component is controlled by a computer, a stereoscopic image (3D image) using a computer is created and simulated without using an actual mechanical component. What is necessary for such a simulation is a simulation apparatus composed of hardware and simulation software. When performing simulation using this simulation apparatus, it is common to create a physical model that models a control system including mechanisms, circuits, and the like, and perform simulation using this physical model.

  The hardware configuration is the same as that of an ordinary personal computer, and a computer design support device may be added to this. FIG. 1 shows an example of the configuration of a conventional simulation apparatus 4 and shows an example in which a computer design support apparatus 20 is combined with a personal computer 10.

  The personal computer 10 includes a disk drive 11 for reading software recorded on a disk medium such as a CD-ROM, a hard disk drive (denoted as HDD in the figure) 12 which is an external storage device for recording software and data, a hard disk 12, a memory 13 for developing software and data, a CPU 14 for processing (calculating) the software and data, a display 15 for displaying the processing results, a communication device 16 for communicating with an external device, and an external device There is a data input device 17 for inputting these data, and they are connected to each other by a bus 18. The data input device 17 is connected to a keyboard 19 and a mouse (not shown).

  In this example, the computer design support apparatus 20 is connected to the personal computer 10 by a communication cable 21. Inside the computer design support device 20, a communication device 22, a memory 23, a CPU 24, and a hard disk 25 connected to the communication cable are provided, and are connected to each other via a bus 28.

  The software is roughly divided into two types: software that performs “physical model creation, simulation information setting, and result display” and software that performs “physical model calculation”. Here, a case where “physical model creation, simulation information setting, and result display” are performed by the personal computer 10 and “physical model calculation” is performed by the computer design support apparatus 20 will be described.

  In this example, software is installed in the personal computer 10 using three CD-ROMs 1, 2, and 3 that are disk media. In the CD-ROM 1, for example, data of a three-dimensional computer-aided design apparatus (3D-CAD) that supports 3D images is read, and 3D software 1S having a 3D animation function is recorded. The CD-ROM 2 stores physical model creation software 2S having a physical model creation function, for example. Further, simulation software 3S having, for example, simulation information setting / operation / result display / result analysis function and physical model calculation function is recorded in the CD-ROM 3.

  Each software read by the disk drive 11 of the personal computer 10 is stored on the hard disk drive 12. When the CPU 14 actually uses the software, the software stored on the hard disk drive 12 is expanded on the memory 13 and the CPU 14 performs processing. The processing result is displayed on the display 15.

  On the other hand, on the computer design support apparatus 20 side, when the simulation software 3S is read from the disk drive 11 of the personal computer 10, it is stored in the hard disk drive 25. When the CPU 24 actually uses the simulation software 3S, the software stored on the hard disk drive 25 is expanded on the memory 23 and processed. That is, 3D-CAD data input via the disk drive 11 or the communication device 16 is converted into a physical model by the personal computer 10 and then stored in the HDD 25 of the computer design support device 20. A simulation is performed using the physical model.

  For example, when developing and designing a control device using the computer design support device 20 instead of an actual engine or vehicle, a control device (ECU or the like) is connected to the computer design support device 20. The role of the engine mechanism and electrical signals is modeled by the personal computer 10, and the engineer uses the actual engine by the computer design support apparatus 20 simulating the movement equivalent to the actual engine system. It is possible to develop and design the control device while watching the movement of the control system on the desk.

  An example of handling the robot arm RA as a physical model in the simulation apparatus 4 configured as described above will be described with reference to FIG.

  FIG. 2 shows a robot arm RA in which three rod-like parts A, B, and C are connected by joints D and E with one degree of freedom, respectively. Each joint D, E has a built-in motor to drive the joint.

  The 3D-CAD data includes the shape of the parts, the positional relationship between the parts, the material of the parts, and the like. The mass, center of gravity, etc. of the part can be calculated from the material and shape. Next, using 3D-CAD as it is or using mechanism simulation software, joint type (in this case, 1 axis), constraint conditions, motor type (DC motor, pulse motor, etc.), position and acceleration The type of a spec (torque characteristic) sensor that detects etc. is input. Based on these pieces of information, a physical model is created.

  As a technique for creating such a physical model, for example, in a finite element method analysis of a three-dimensional shape object using software called a Pre / Post processor, 3D-CAD data is output in an intermediate file format. Patent Document 1 discloses a technique for forming a master model composed of three-dimensional shape data by reading a file with a Pre / Post processor.

  The method described in Patent Document 1 is a model creation method in a finite element method analysis of a three-dimensional object, and a method of creating a model from 3D-CAD data from each component and connection information between components (described later). This is different from the model creation method of the present invention. Further, the model creation procedure from adding information to the intermediate file described in Patent Document 1 to completing the model is different from the model creation procedure in the present invention.

JP 2000-231579 A

However, when creating such a physical model, only information that can be input by 3D-CAD or mechanism simulation software can be used as model creation information. For this reason, there were the following problems.
(1) It was difficult to add arbitrary elements such as joint friction and rattling.
(2) It was difficult to add new types of parts such as motors and sensors.
(3) It was difficult to delete elements that are not necessary for the physical simulation.

Therefore, the present invention solves the problems of the conventional simulation apparatus, and can add an arbitrary element to the physical model, delete an arbitrary element, and execute a more accurate simulation. An object of the present invention is to provide a creation device, a simulation device including the physical model creation device , and a program in the physical model creation device .

A first aspect of the present invention that achieves the above object is a physical model creation device that creates a physical model of a controlled object used in a simulation of a system that includes a control device and a controlled object including a mechanism portion. Intermediate format data for creating a physical model based on 3D-CAD data to be controlled created using a 3D-CAD device , which is a computer design support device, and is expressed in the form of an arithmetic expression Based on physical model data creation means for creating physical model data configured to set physical model element information and information on the connection relationship between the physical model elements , and change physical model data based on change operation input a physical model data changing means for allowing Te, from the physical model data changed by the physical model data changing unit, simulation fruit And a physical model generating means for generating a physical model of the form that can be processed executable unit, the physical model data changing means, based on the physical model data between blocks and the physical model elements that represent the physical model element In the state where the connection line indicating the connection relation is displayed, it is possible to input a change operation, and at least one of friction information between the mechanical parts included in the control target and backlash information between the mechanical parts included in the control target. It is characterized in that information can be added to physical model data by adding a block of physical model elements representing friction information or backlash information .

According to a second aspect of the present invention , there is provided a physical model creation device for creating a physical model of a control target used in a simulation of a system including a control device and a control target including a mechanism portion, and a three-dimensional computer design support device. This is intermediate format data for creating a physical model based on 3D-CAD data to be controlled created using a 3D-CAD device, and models the mechanical parts that make up the mechanism part to be controlled. First intermediate data creating means for creating first intermediate data configured in such a manner that information on the mechanism model elements and information on connection relations between the mechanism model elements are set; and First intermediate data changing means for enabling a change based on a change operation input, and intermediate format data for creating a physical model based on the first intermediate data Second to create second intermediate data that is physical model data configured in such a manner that information on physical model elements expressed in the form of arithmetic expressions and information on connection relations between the physical model elements are set. Intermediate data creating means, second intermediate data changing means for enabling the change of the second intermediate data based on the change operation input, and the second intermediate data changed by the second intermediate data changing means A physical model creating means for creating a physical model in the form of an executable body capable of executing a simulation, and the second intermediate data changing means represents a physical model element based on the second intermediate data The change operation input is possible with the connection line indicating the connection relation between the block and the physical model element displayed, and the friction information between the mechanical parts included in the control target and the control target are included in the control target. Rattling information between mechanical parts, it is characterized in that possible by adding additional to the second intermediate data of at least one of the information, the block of the physical model elements that represent the friction information or rattling information.

According to a third aspect of the present invention , there is provided a simulation apparatus for executing a simulation of a system including a control device and a control target including a mechanism portion, and including the physical model creation device according to the first or second aspect. Yes.

Furthermore, the program in the physical model creating apparatus of the present invention for achieving the above object, a program in the physical model creating apparatus for creating a control target of the physical model used in the simulation of a system consisting of a control object including a control device and mechanical parts An intermediate format for creating a physical model based on 3D-CAD data of a control target created using a 3D-CAD device , which is a three-dimensional computer design support device, in the physical model creation device A physical model data creation step for creating physical model data configured in a form in which information of physical model elements expressed in the form of arithmetic expressions and information on connection relations between the physical model elements is set ; Physical model data change step that enables physical model data change based on change operation input, and physical From the physical model data changed in the model data change step, a physical model creation step for creating a physical model to be controlled, which is in the form of an executable body capable of executing simulation, is executed . In the physical model data change step, Based on the physical model data, the physical model creation device enables the input of change operation while displaying the block representing the physical model element and the connection line representing the connection relationship between the physical model element, and the control target Add the friction information between the mechanical parts included in the control part and the backlash information between the mechanical parts included in the control target to the physical model data of at least one of the information, add a block of physical model elements representing the friction information or backlash information It is characterized by being made possible by adding .

According to the physical model creation device of the present invention, the simulation device provided with the physical model creation device , and the program in the physical model creation device , when simulating a system composed of a control object including a mechanism portion and a control device, the mechanism portion Since the simulation is performed by creating a physical model of the control target including, arbitrary elements can be added to or deleted from the physical model, and a more accurate simulation can be executed. .

  Further, there is an effect that the simulation speed can be improved by deleting an arbitrary element, that is, replacing a redundant model with a specific model, or replacing a multi-degree-of-freedom joint with a one-degree-of-freedom joint.

  Furthermore, there is an effect that a physical model to be controlled can be easily created by selecting / arranging a part information model between predetermined parts and a physical model of the part from a model library.

  Hereinafter, embodiments of the present invention will be described in detail based on specific examples with reference to the drawings. The same components as those of the conventional simulation apparatus described with reference to FIG.

  FIG. 3 is a block diagram showing the configuration of an embodiment of the simulation apparatus 4 of the present invention. In this embodiment, the simulation apparatus 4 includes a personal computer 10 and a computer design support apparatus 20. The computer design support apparatus 20 may not be connected. In this case, the function of the computer design support apparatus 20 is provided on the personal computer 10 side.

  The personal computer 10 includes a disk drive 11 that reads software recorded on a disk medium such as a CD-ROM, an HDD (hard disk drive) 12 that is an external storage device that records software and data, software on the HDD 12, A memory 13 for developing data, a CPU 14 for processing (calculating) software and data, a display 15 for displaying processing results, a communication device 16 for communicating with an external device, and inputting external data Are connected to each other by a bus 18. The data input device 17 is connected to a keyboard 19 and a mouse (not shown).

  In addition to being connected to the computer design support device 20 via the communication cable 21, the communication device 16 can be connected to the Internet via a telephone line or an optical cable. That is, the communication device 16 can import software and data into the personal computer 10 via the Internet.

  Inside the computer design support device 20, a communication device 22 connected to the communication cable 21, a memory 23, a CPU 24, and a hard disk 25 are provided, and are connected to each other via a bus 28. As a prior art of the present invention, the case where “physical model creation, simulation information setting, and result display” are performed by the personal computer 10 and “physical model calculation” is performed by the computer design support apparatus 20 has been described. As described above, when the function of the computer design support apparatus 20 is provided on the personal computer 10 side, the “physical model calculation” can also be performed on the personal computer 10 side.

  Therefore, the system configuration diagram of the simulation apparatus for realizing the present invention shown in FIG. 4 does not separately explain whether the “physical model calculation” is performed by the personal computer 10 or the computer design support apparatus 20; The apparatus 4 has a physical model creation / simulation information setting / result display portion 4A for performing “physical model creation, simulation information setting, and result display”, and a physical model computation portion 4B for performing “physical model computation”. Will be described.

  As shown in this figure, three CD-ROMs 1, 2, and 3 as disk media are set in the disk drive 11 and the recorded software is installed in the HDD 12. In the physical model creation, simulation information setting, and result display portion 4A of the HDD 12, 3D-CAD data reading and software SF1 having a 3D animation function are read from the 3D software recorded on the CD-ROM 1. It is. From the physical model creation software recorded on the CD-ROM 2, software SF3 having a physical model creation function is read into the physical model creation, simulation information setting, and result display portion 4A of the HDD 12. Furthermore, from the simulation software recorded on the CD-ROM 3, software SF2 having simulation information setting / operation / result display / result analysis functions is provided in the physical model creation, simulation information setting, and result display portion 4A of the HDD 12. The software SF4 that has been read and has a physical model calculation function is read into the physical model calculation portion 4B of the HDD 12. The software SF2 includes simulation software including a conversion tool that converts 3D-CAD data so that it can be read by a modeling tool, and further compiles the converted data into an execution body.

  In the physical model creation, simulation information setting, and result display portion 4A, the software SF1, SF2, and SF3 stored on the HDD 12 are expanded on the memory 13 and processed by the CPU. The software SF1 processed by the CPU 14 is stereoscopically displayed on the display 15 as 3D-CAD or an animation image. The software SF2 processed by the CPU 14 is displayed on the display 15 as a hardware simulator image. The software SF3 processed by the CPU 14 is displayed on the display unit 15 as technical computing environment data in the form of an electrical system model or the like. Also in the physical model calculation unit 4B, the software SF4 stored on the HDD 12 is expanded on the memory 13 and processed by the CPU.

  An example in which a robot arm is handled as a physical model in the simulation apparatus configured as described above will be described with reference to FIG. FIG. 5 shows a robot arm RA in which three rod-like parts A, B, and C are connected by joints D and E with one degree of freedom, respectively. Each joint D, E has a built-in motor to drive the joints D, E.

  The 3D-CAD data includes the shape of the parts, the positional relationship between the parts, the material of the parts, and the like. The mass, center of gravity, etc. of the part can be calculated from the material and shape. Conventionally, as described above, using 3D-CAD as it is or using mechanism simulation software, the joint type (in this case, one axis), constraint conditions, motor type (DC motor, pulse motor, etc.) In addition, the type of spec (torque characteristic) sensor that detects position, acceleration, and the like is input, and a physical model is created based on the information.

  On the other hand, in this embodiment, as the 3D-CAD data, the shape of the part, the positional relationship between the parts, the material of the part, etc. are input, and after calculating the mass, the center of gravity, etc. of the part from the material and the shape, the software The 3D-CAD data is converted into a file (an intermediate file created in the HDD 12) that can be read by the modeling tool by the conversion tool installed in the SF2. As a result, the 3D-CAD data of the three rod-shaped parts A, B, C and joints (motor units) D, E are all converted into software SF2 format data as shown in the lower side of FIG. The Since model information can be freely added in this state, for example, as shown in this figure, information on frictional force and information on backlash between parts can be added. The file converted into data in the software SF2 format in this way is compiled into a model execution body by a conversion tool installed in the software SF2.

  The data flow until the 3D-CAD data is converted into the model execution body will be described with reference to the system diagram shown in FIG. 6 and the flowchart shown in FIG. Here, the circled numbers shown in FIG. 6 correspond to the circled numbers in each step of FIG.

  The data processing shown in the flowchart of FIG. 7 is executed after the mechanism part is designed with 3D-CAD in the physical model creation, simulation information setting, and result display part 4A and stored as data in 3D-CAD format. First, in step 701, the software SF1 is made to read data in 3D-CAD format. In the next step 702, information necessary for 3D animation such as connection information (relation) information between parts and constraint conditions is input on the software SF1 and stored as data in the software SF1 format.

  In the subsequent step 703, the data provided in the software SF2 is converted into data in the software SF2 format by the converter provided in the software SF2. In step 704, the data converted into the software SF2 format is opened by the software SF3. In this state, it is possible to freely add model information. Therefore, in step 705, for example, information on frictional force or backlash between parts is added on the software SF3, and addition or correction of a model is performed. Execute.

  Thereafter, in step 706, a C code (C language) is created from the model on the software SF3. The physical model is finally expressed in the form of an arithmetic expression displayed in C language. However, since this C language notation cannot be processed by the CPU, it is compiled into a form (executable) that can be processed by the CPU, that is, compiled into a form that can be executed by the software SF2. This compilation completes the model execution body, which is a feature of the present invention, and completes the present invention. Until this model execution body is made, it is an important feature of the present invention.

  In the next step 707, the model execution body created in this way is calculated by the software SF4 of the physical model calculation portion 4B, executes a simulation, and ends this routine.

  When the simulation is performed, the result is obtained in the form of sampling data, and this is again returned to the physical model creation, simulation information setting, and result display portion 4A. The returned data enters the shared memory of the HDD 12. The data stored in the shared memory is transferred to the animation screen of the software SF1 for animation display. Then, since the animation operates according to this simulation, it is possible to confirm realistic behavior of the animation. In addition, since the simulation can be performed using the mechanism model without using the actual machine, the design of the mechanism can be evaluated before the actual machine is prototyped.

  As described above, in the physical model creation apparatus according to the present invention, the data to be controlled including the mechanism part created by 3D-CAD is once converted into a general-purpose physical model creation software format, thereby 3D -Arbitrary elements can be added, new types of parts can be added, and elements that are not necessary for physical simulation can be added to the control target data including the mechanism part created by CAD. Further, in the physical model creation apparatus of the present invention, a model of each part to be controlled is created and handled in the same way as the part, and the model converted into the part is selected / placed in accordance with the system, whereby the physical model is created. Can be easily created. This example will be described with reference to FIG.

  FIG. 8 shows a case where each of the mechanical elements of the robot arm RA when the physical model in the physical model creation apparatus of the present invention is the robot arm RA is converted into a model part using general-purpose model creation software. It is a figure explaining the Example which produces a physical model by performing selection and arrangement | positioning. The robot arm RA shown in FIG. 8 has three rod-like parts A, B, and C connected by joints D and E with one degree of freedom, respectively.

  Using simulation and system model verification functions of general-purpose model creation software (for example, model creation software for technical computing environments using a high-level programming language called MATLAB is known) Each of the mechanical elements of the robot arm RA shown on the upper display screen of FIG. 8 can be constructed as a model for each part as shown on the lower screen of FIG. That is, each element of the mechanism, friction information between parts, and backlash information are modeled, and can be expressed in the form of a physical model by selecting and arranging according to the system.

  When a physical model based on 3D-CAD data is created using general-purpose model creation software in this way, model parts such as arbitrary parts F and parts can be freely created on the general-purpose model creation software. G can be added, or part information, for example, frictional force between parts or rattle data can be added. As a result, it is possible to easily create a physical model, and it is possible to perform a more accurate simulation by adding arbitrary parts or adding part information.

  FIG. 9 shows the library software using the library software corresponding to the general-purpose model creation software for each of the mechanical elements of the robot arm RA when the physical model in the physical model creation apparatus of the present invention is the robot arm RA. FIG. 2 is a diagram for explaining an embodiment in which a physical model is created by converting data into data in a hardware format and further converting the data into data in a general-purpose model creation software format using a general-purpose model creation software system. That is, in the embodiment shown in FIG. 9, physical model creation can be made easier by mediating library software for general-purpose physical model creation software. The robot arm RA shown in FIG. 9 also has three rod-like parts A, B, and C connected by joints D and E with one degree of freedom, respectively.

  Library software that supports general-purpose physical model creation software, for example, stores many model elements represented by easy-to-understand icons, and refers to the contents of model elements, and drags and drags necessary model elements. -Drop and pull out and combine them to create a complex multi-domain model. 9 is converted into data (model elements) in the form of library software by converting each component of the robot arm RA into data (model elements) in the library software using the library software. It looks like the screen shown in. On this screen, library parts such as part F and part G can be freely added.

  This library software can be linked with general-purpose physical model creation software, and model elements selected / placed using the library software are further converted into a format that can be run on general-purpose physical model creation software. Is done. The converted model element is as shown in the lower screen of FIG. What is shown in the lower screen of FIG. 9 has the same concept as that shown in the lower screen of FIG. Therefore, model parts and model information can be freely added to the configuration shown on this screen.

  The model elements shown in the lower screen of FIG. 9 are finally expressed in the form of an arithmetic expression written in C language (C code). Further, since it cannot be processed by the CPU in the C language notation, it is converted (compiled) into an executable that can be processed by the CPU, and this executable is processed by the CPU.

  In this way, by interposing the library software for general-purpose physical model creation software, a model of the library software format is constructed from the 3D-CAD data using the model elements on the library software. Furthermore, if it is converted to a model on general-purpose model creation software, a physical model can be created easily.

It is a block block diagram which shows the structure of the conventional simulation apparatus. It is a figure explaining the example in case the physical model in the conventional simulation apparatus is a robot arm. It is a block block diagram which shows one Example of a structure of the simulation apparatus which has a physical model creation apparatus of this invention. It is a figure which shows the system configuration | structure of the simulation apparatus which has a physical model creation apparatus for implement | achieving this invention. It is a figure explaining addition of the data to physical model data when the physical model in the physical model creation apparatus of this invention is a robot arm. It is a figure which shows the flow of the data in the system of this invention. It is a flowchart explaining the operation | movement procedure in the system of FIG. The figure explaining the example which converts the data of 3D-CAD etc. into the model data on general-purpose model creation software, and sets a part model when the physical model in the physical model creation apparatus of this invention is a robot arm. is there. When the physical model in the physical model creation apparatus of the present invention is a robot arm, data such as 3D-CAD is converted into model data on general-purpose model creation software via the library software, and a part model is converted It is a figure explaining the example to set.

Explanation of symbols

4 ... Simulation device 10 ... Personal computer 18 ... Bus 21 ... Communication cable RA ... Robot arm

Claims (4)

A physical model creation device for creating a physical model of the control object used in a system simulation comprising a control device and a control object including a mechanism part ,
It is intermediate format data for creating the physical model based on 3D-CAD data to be controlled created using a 3D-CAD device , which is a three-dimensional computer design support device, and is in the form of an arithmetic expression Physical model data creation means for creating physical model data configured in a form in which information on physical model elements represented by the above and information on connection relations between the physical model elements are set ;
Physical model data changing means for enabling change of the physical model data based on a change operation input ;
Wherein the physical model the physical model data changed by the data changing means comprises a physical model generating means for generating the physical model in the form of execution of the simulation can run bodies, and
The physical model data changing means enables a change operation input in a state in which a block representing the physical model element and a connection line representing a connection relation between the physical model elements are displayed based on the physical model data. The friction information between the mechanical parts included in the control target and the backlash information between the mechanical parts included in the control target are added to the physical model data of at least one of the friction information or the backlash information. A physical model creation device characterized by being made possible by adding blocks of physical model elements to be represented . A physical model creation device for creating a physical model of the control object used in a system simulation comprising a control device and a control object including a mechanism part,
The intermediate format data for creating the physical model based on the 3D-CAD data of the control object created using the 3D-CAD apparatus which is a three-dimensional computer design support apparatus, First intermediate data for creating first intermediate data configured in such a manner that information on a mechanism model element obtained by modeling a mechanism part constituting the mechanism portion and information on a connection relation between the mechanism model elements are set. Creating means;
First intermediate data changing means for enabling the change of the first intermediate data based on a change operation input;
Intermediate format data for creating the physical model based on the first intermediate data, and information on physical model elements expressed in the form of arithmetic expressions and information on connection relationships between the physical model elements Second intermediate data creating means for creating second intermediate data that is physical model data configured in a set form;
Second intermediate data changing means for enabling change of the second intermediate data based on a change operation input;
Physical model creation means for creating, from the second intermediate data changed by the second intermediate data change means, the physical model that is in the form of an executable body capable of executing a simulation,
The second intermediate data changing means performs a change operation in a state where a block representing the physical model element and a connection line representing a connection relation between the physical model elements are displayed based on the second intermediate data. The friction information between the mechanical parts included in the control target and the backlash information between the mechanical parts included in the control target are added to the second intermediate data of at least one of the information. A physical model creation apparatus , which is made possible by adding a block of physical model elements representing information or the backlash information . A simulation apparatus for executing a simulation of a system including a control apparatus and a control target including a mechanism portion, comprising the physical model creation apparatus according to claim 1 . A program in a physical model creation device for creating a physical model of the control target to be used in a simulation of a system including a control device and a target including a mechanism part , the physical model creation device,
It is intermediate format data for creating the physical model based on 3D-CAD data to be controlled created using a 3D-CAD device , which is a three-dimensional computer design support device, and is in the form of an arithmetic expression A physical model data creation step for creating physical model data configured in a form in which information of physical model elements represented by and information on connection relations between the physical model elements is set ;
A physical model data changing step that enables the physical model data to be changed based on a change operation input ;
Executing the physical model creation step of creating the physical model of the controlled object in the form of an executable body capable of executing a simulation from the physical model data changed in the physical model data change step ;
In the physical model data changing step, the physical model creation device displays a block representing the physical model element and a connection line representing a connection relationship between the physical model elements based on the physical model data. , Enabling change operation input, adding friction information between mechanical parts included in the control target and backlash information between mechanical parts included in the control target to at least one of the information to the physical model data, A program in a physical model creation apparatus , which is made possible by adding a block of physical model elements representing the friction information or the backlash information .

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