Corollary equipment model generation device and computer-readable recording medium

Abstract

This corollary equipment model generation device is provided with: a simulation condition acquisition unit that acquires a simulation condition including at least a sampling time; a characteristic parameter acquisition unit that acquires a characteristic parameter indicating a characteristic of the corollary equipment; a stabilization processing unit that adjusts the predetermined characteristic parameter on the basis of the simulation condition and the characteristic parameter so that the numerical calculation in the predetermined corollary equipment model satisfies a stabilization condition for generating damped vibration; and a coefficient calculation unit that calculates a coefficient of the companion equipment model on the basis of the adjusted characteristic parameters of the predetermined companion equipment model.

Description

Technical Field

[0001] The invention relates to a device for generating a supporting equipment model and a computer-readable recording medium. Background Art

[0002] For machines that are controlled, simulators are used to simulate the movements (e.g., Patent Document 1, etc.). Simulations are sometimes performed using data collected when the machines are actually operated. The insights gained from the simulations are used for analysis and design of real controlled objects.

[0003] When simulating the behavior of an industrial machine, for example, a servo system that makes the rotation speed of a spindle, the position of a feed axis, etc. follow a desired value is modeled for simulation. Hereinafter, the spindle and feed axis that are the objects of control in the servo system are referred to as supporting equipment, and the model obtained by simulating the supporting equipment is referred to as a supporting equipment model. The behavior of an industrial machine can be modeled, for example, by ordinary differential equations. Furthermore, the behavior of the industrial machine can be simulated by updating the state quantity by numerical calculation at every predetermined sampling time Δt.

[0004] Prior art literature

[0005] Patent Literature

[0006] Patent Document 1: Japanese Patent Application Publication No. 2004-188541 Summary of the invention

[0007] Problems to be solved by the invention

[0008] The simulation of updating the state quantity of supporting equipment obtained by modeling the behavior of industrial machinery using ordinary differential equations through numerical calculations at predetermined sampling time intervals Δt has nothing to do with the stability of the actual machine's operation, and the state quantity may become unstable (diverge, oscillate) due to the system matrix A that constitutes the ordinary differential equation.

[0009] If it is a simulator of a servo system, it is appropriate to set the sampling time Δt to about 0.5 to 2 times the servo control period. In a simulator that is unstable regardless of the stability of the actual machine's operation, if the sampling time Δt is reduced, instability can be avoided, but there is a problem of increased calculation amount.

[0010] Therefore, on-site, it is desirable to avoid an increase in the amount of calculation and to ensure the stability of the simulation.

[0011] Means for solving problems

[0012] The device for generating a supporting equipment model of the present invention solves the above-mentioned problem by changing specific mechanical characteristic parameters to ensure the stability of the supporting equipment model of the resonant system for a simulator that simulates the behavior of supporting equipment using ordinary differential equations. If the supporting equipment model of the resonant system cannot be stabilized by adjusting the parameters, the supporting equipment model of the resonant system is treated as a rigid body.

[0013] Furthermore, one method of the present disclosure is a supporting equipment model generation device, which generates a supporting equipment model that simulates the behavior of the supporting equipment that is a control object by the numerical calculation of a prescribed formula by calculating the coefficient of the numerical calculation, and the supporting equipment model generation device has: a simulation condition acquisition unit, which acquires the simulation condition that at least includes a sampling time; a characteristic parameter acquisition unit, which acquires characteristic parameters that represent the characteristics of the supporting equipment; a stabilization processing unit, which adjusts the prescribed characteristic parameters based on the simulation conditions and the characteristic parameters so that the numerical calculation in the prescribed supporting equipment model satisfies the stabilization conditions for generating attenuated vibrations; and a coefficient calculation unit, which calculates the coefficients of the supporting equipment model based on the characteristic parameters of the prescribed supporting equipment model adjusted by the stabilization processing unit.

[0014] Another aspect of the present disclosure is a computer-readable recording medium having a program recorded thereon, the program causing a computer to operate as an accessory equipment model generating device, the accessory equipment model generating device generating an accessory equipment model that simulates the behavior of an accessory equipment that is a control object by calculating coefficients of numerical calculations according to a prescribed formula, wherein the program causes the computer to operate as: a simulation condition acquisition unit that acquires simulation conditions that at least include a sampling time; a characteristic parameter acquisition unit that acquires characteristic parameters that represent characteristics of the accessory equipment; a stabilization processing unit that adjusts prescribed characteristic parameters based on the simulation conditions and the characteristic parameters so that the numerical calculations in the prescribed accessory equipment model satisfy the stabilization conditions for generating attenuated vibrations; and a coefficient calculation unit that calculates the coefficients of the accessory equipment model based on the characteristic parameters of the prescribed accessory equipment model adjusted by the stabilization processing unit.

[0015] Effects of the Invention

[0016] According to one aspect of the present disclosure, when constructing a simulator of a servo system, it is expected that the stability of numerical calculations can be ensured while avoiding an increase in the amount of calculations. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a schematic hardware structure diagram of a supporting equipment model generation device according to one embodiment of the present invention.

[0018] Figure 2This is a block diagram showing the general functions of the equipment model generating device according to the first embodiment of the present invention.

[0019] Figure 3 This is a diagram illustrating the configuration of a feed axis of a supporting device that is to be processed as a control target.

[0020] Figure 4 This is a diagram showing an example of a supporting equipment model of a two-inertial resonance system.

[0021] Figure 5 FIG. 1 is a diagram showing an example of a block diagram of a two-inertia resonance system.

[0022] Figure 6 It is a diagram showing an example of a rigid body model.

[0023] Figure 7 This is a flowchart illustrating the flow of processing performed by the stabilization processing unit. DETAILED DESCRIPTION

[0024] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings.

[0025] Figure 1 1 is a schematic hardware structure diagram showing the main parts of the supporting equipment model generation device of one embodiment of the present invention. The supporting equipment model generation device 1 of the present invention can be installed as a control device that controls the industrial machine 4 according to the control program, for example. In addition, the supporting equipment model generation device 1 of the present invention can be installed on a personal computer that is arranged in parallel with the control device that controls the industrial machine 4 according to the control program, a personal computer connected to the control device via a wired / wireless network, a unit computer, a fog computer 6, or a cloud server 7. In this embodiment, an example of installing the supporting equipment model generation device 1 on a personal computer connected to the control device of the industrial machine 4 via a network is shown.

[0026] The CPU 11 of the supporting equipment model generation device 1 of the present invention is a processor that controls the supporting equipment model generation device 1 as a whole. The CPU 11 reads the system program stored in the ROM 12 via the bus 22, and controls the supporting equipment model generation device 1 as a whole according to the system program. The RAM 13 temporarily stores temporary calculation data, display data, and various data input from the outside.

[0027] The non-volatile memory 14 is composed of, for example, a memory backed up by a battery (not shown), an SSD (Solid State Drive), etc., and maintains the storage state even if the power supply of the supporting equipment model generation device 1 is turned off. The non-volatile memory 14 stores data and programs read from the external device 72 via the interface 15, data and programs input via the input device 71, data obtained from the industrial machine 4, etc. The data and programs stored in the non-volatile memory 14 can also be expanded in the RAM 13 when executed / used. In addition, various system programs such as well-known analysis programs are pre-written in the ROM 12.

[0028] The interface 15 is an interface for connecting the CPU 11 of the accessory equipment model generation device 1 and an external device 72 such as a USB device. For example, programs related to the functions of the accessory equipment model generation device 1, various data related to service provision, etc. can be read from the external device 72. In addition, programs and various data edited in the accessory equipment model generation device 1 can be stored in an external storage unit via the external device 72.

[0029] The data read into the memory, the data obtained as a result of executing the program or system program, etc. are outputted via the interface 18 and displayed on the display device 70. In addition, the input device 71 composed of a keyboard, a pointing device, etc. transmits instructions and data based on the operator's operation to the CPU 11 via the interface 19.

[0030] The interface 20 is an interface for connecting the CPU 11 of the supporting equipment model generation device 1 and the network 5. The network 5 can be a WAN (Wide Area Network) composed of a dedicated line or the like, or a wide area network such as the Internet. The network 5 is connected to industrial machinery 4 such as machine tools and robots installed in factories, etc., fog computers 6, cloud servers 7, etc. These devices exchange data with the supporting equipment model generation device 1 via the network 5.

[0031] Figure 2 This is a diagram showing the functions of the equipment model generation device 1 according to the first embodiment of the present invention as a schematic block diagram. The functions of the equipment model generation device 1 according to this embodiment are shown in FIG. Figure 1 This is achieved by the CPU 11 included in the equipment model generation device 1 executing a system program to control the operation of each unit of the equipment model generation device 1 .

[0032] The supporting equipment model generation device 1 of the present embodiment includes a simulation condition acquisition unit 110, a characteristic parameter acquisition unit 120, a stabilization processing unit 130, a coefficient calculation unit 140, and an output unit 150. In addition, in the RAM 13 or the non-volatile memory 14 of the supporting equipment model generation device 1, there are prepared in advance: a supporting equipment model storage unit 200, which is an area for pre-storing a template of a supporting equipment model; a simulation condition storage unit 210, which is an area for storing simulation conditions acquired by the simulation condition acquisition unit 110; and a characteristic parameter storage unit 220, which is an area for storing characteristic parameters acquired by the characteristic parameter acquisition unit 120.

[0033] The simulation condition acquisition unit 110 determines the conditions required for executing a simulation based on the supporting equipment model based on the template of the supporting equipment model stored in the supporting equipment model storage unit 200. And the determined simulation conditions are acquired and stored in the simulation condition storage unit 210. The simulation conditions at least include the sampling time Δt in the simulation. The simulation condition acquisition unit 110 may, for example, display a screen prompting the input of the simulation conditions on the display device 70, and acquire the simulation conditions through the input from the input device 71. In addition, the simulation conditions may be read and acquired from the external device 72. In addition, the simulation conditions may be acquired from a computer such as the fog computer 6 and the cloud server 7 via the network 5.

[0034] The characteristic parameter acquisition unit 120 determines the characteristic parameters required for executing the simulation based on the supporting device model based on the template of the supporting device model stored in the supporting device model storage unit 200. Then, the characteristic parameters of the determined supporting device model are acquired and stored in the characteristic parameter storage unit 220. The characteristic parameters of the supporting device model vary depending on the supporting device model. For example, consider Figure 3 The feed axis structure of the auxiliary equipment to be processed as the control object as shown in the example. Figure 3 In the example, the feed axis uses a pulley to decelerate the rotation of the motor, and uses a ball screw to convert it into linear motion to drive the worktable (workpiece table). Figure 4 As shown in the example, the inertia of the motor rotor and the inertia of a rigid body such as a table can be modeled as a two-inertia resonance system in which a single spring element is combined. The single spring element is a spring element from the pulley to the ball screw.

[0035] Figure 5 This is a diagram illustrating a model of a 2-inertial resonance system in a block diagram. Figure 5 In the equation, u is the torque input to the motor as the operating variable of the servo system, and v is M is the speed of the motor, v L is the speed of the workbench, J M is the rotor inertia moment, JL is the inertia moment of the worktable, C M is the viscous friction (degradation) of the motor, C T It is the attenuation of torque transmission between motor and worktable, K T is the spring constant of a single spring element, R is the inertia moment of the table J L and rotor inertia moment J M Inertia ratio. In addition, 1 / (Z-1) represents an integral element. Figure 5 The illustrated block diagram assumes that viscous friction proportional to inertia acts on the motor and the table.

[0036] about Figure 5 The model shown in the block diagram is used to calculate the motor speed v at the time point (t+Δt)=(k+1)Δt when the time point t=kΔt. M , the speed of the workbench v L , the elongation x of the spring element T The difference equation of can be expressed as in Math 1. In Math 1, A is a system matrix, B is an input matrix, and 1 / (Z-1) is an integral element.

[0037] [Mathematical formula 1]

[0038]

[0039] in,

[0040]

[0041] As an example of other supporting equipment models, there is a rigid model, for example. Figure 6 This diagram models the control object as a rigid body system in which the motor rotor inertia and the table inertia are integrated. In this configuration, when time t = kΔt, the speed v (=v of the motor and the table at time (t+Δt) = (k+1)Δt is calculated. M =v L ) can be expressed as mathematical formula 2.

[0042] [Mathematical formula 2]

[0043]

[0044] In the supporting equipment model storage unit 200, an equation representing the characteristics of such a control object is pre-stored as a supporting equipment model. In the supporting equipment model storage unit 200, characteristic parameters not included in the equation representing the supporting equipment model may be stored, and a relational equation representing the relationship between the characteristic parameters may also be stored. For example, the characteristic parameters of the model of the 2-inertial resonance system are, in addition to the parameters included in the mathematical formula 1, the natural vibration frequency f of the spring-table when the motor shaft is fixed. a , reduction ratio r of the pulley B , Ball screw spacing l S , workbench quality M L Etc. Such characteristic parameters can be used to calculate other characteristic parameters. For example, the inertia moment J of the worktable L The reduction ratio r can be increased by using a pulley B , Ball screw spacing l S , workbench quality M L The spring constant K of a single spring element is calculated by the following mathematical formula 3. T The natural vibration frequency f of the spring-table when the motor shaft is fixed can be obtained by a 、Workbench inertia moment J L It is calculated by the following mathematical formula 4.

[0045] [Mathematical formula 3]

[0046]

[0047] [Formula 4]

[0048]

[0049] The characteristic parameter acquisition unit 120 determines the required characteristic parameters based on the characteristic parameters included in the equation representing the characteristics of the control object and the relationship between the characteristic parameters. L , Spring constant K of a single spring element T Parameters that can be calculated from other characteristic parameters, such as the above, can be directly obtained or calculated indirectly from the values ​​of other characteristic parameters. The characteristic parameter acquisition unit 120 can also display a screen that prompts the input of characteristic parameters on the display device 70 for such characteristic parameters of the supporting equipment model, and obtain the characteristic parameters through input from the input device 71. In addition, the characteristic parameters of the supporting equipment model can also be read and obtained from the external device 72. In addition, the characteristic parameters of the supporting equipment model can also be obtained from a computer such as the fog computer 6 and the cloud server 7 via the network 5.

[0050] The stabilization processing unit 130 derives a stabilized condition for generating damped vibration in the accessory equipment model based on the simulation conditions stored in the simulation condition storage unit 210 and the characteristic parameters stored in the characteristic parameter acquisition unit 120. If there is a stabilized condition for generating damped vibration, a accessory equipment model is generated in which the predetermined characteristic parameters are set within a range for generating damped vibration. On the other hand, if there is no stabilized condition for generating damped vibration, a accessory equipment model is generated in which the characteristic parameters are adjusted so as to become a rigid body model.

[0051] The supporting equipment model generated by the stabilization processing unit 130 uses a model that expresses the action of the control object by a predetermined formula. For example, the supporting equipment model of the two-inertial resonance system illustrated in Mathematical Formula 1 is considered. In this case, when the supporting equipment model is numerically calculated, the condition that does not diverge or oscillate can be used as the stabilization condition. In the case of the supporting equipment model illustrated in Mathematical Formula 1, the eigenvalue λ of the system matrix A can be used to obtain the stabilization condition.

[0052] In equation 1, the eigenvalue λ of the system matrix A is expressed as in equation 5 below. In equation 5, J A is the composite value of the inertia moment of the 2-inertial resonance system, C A It is the composite value of the attenuation of the two-inertial resonance system. When the value of all the eigenvalues ​​λ does not exceed 1, the state quantity of the numerical calculation in the supporting equipment model is stable without divergence or oscillation.

[0053] [Formula 5]

[0054]

[0055] in,

[0056]

[0057] The stabilization processing unit 130 determines the stabilization condition for the eigenvalue λ not exceeding 1 based on the simulation conditions and characteristic parameters provided. In addition, the simulation conditions or characteristic parameters are adjusted to stabilize the numerical calculation of the supporting equipment model. M 、Workbench inertia moment J L , Spring constant K of a single spring element T The characteristic parameters such as Δt and Δt represent characteristics that strongly control the behavior of the industrial machine 4 that is the control object. Therefore, if they are adjusted, the purpose of the simulation may not be achieved. In addition, if the value of the sampling time Δt is reduced, the amount of calculation increases. Therefore, the stabilization processing unit 130 adjusts the attenuation synthesis value C A 、Viscous friction of the motor C M, and the attenuation of torque transmission between motor and worktable C T is adjusted by using at least one value of so that the eigenvalue λ does not exceed 1.

[0058] The intrinsic value of equation 5 (1) and the attenuation C when the torque is transmitted between the motor and the table T It is irrelevant, only the viscous friction C of the motor M The stabilization condition related to equation 5 (1) can be expressed by the following equation 6. The viscous friction C of the motor M Normally, there is no stabilization condition of the eigenvalue that does not satisfy the mathematical expression 5 (1), and therefore, it is not necessary to determine the stabilization condition of the eigenvalue.

[0059] [Mathematical formula 6]

[0060]

[0061] Regarding the intrinsic values ​​of Mathematical Formula 5 (2) and Mathematical Formula 5 (3), the attenuation composite value C A There are cases where damped vibration occurs in the supporting equipment and cases where it becomes over-damped. A The condition can be expressed by the following mathematical formula 7.

[0062] [Formula 7]

[0063]

[0064] in,

[0065]

[0066] In addition, when the mathematical formula (7) is satisfied, C that satisfies the stabilization condition A The lower limit value of can be expressed by the following mathematical formula 8. In mathematical formula 8, δ is a predetermined tolerance value.

[0067] [Mathematical formula 8]

[0068]

[0069] C for damping vibration A The upper limit value of can be expressed by the following mathematical formula 9. A If the upper limit value represented by Mathematical Formula 9 is exceeded, the supporting equipment is over-damped. Even with over-damping, the supporting equipment is stable. No vibration based on resonance occurs during over-damping. Therefore, if a two-inertia resonance system is used as the supporting equipment model, C is preferably used. A Satisfies mathematical formula 9.

[0070] [Mathematical formula 9]

[0071]

[0072] use Figure 7 The flowchart of the stabilization process performed by the stabilization processing unit 130 is described. The stabilization processing unit 130 first derives the stabilization conditions for the numerical calculation of the supporting equipment model based on the simulation conditions and the characteristic parameters of the supporting equipment model (step SA01). Then, it is determined whether there is a synthetic value C of the attenuation that satisfies the condition for generating attenuated vibration. A , that is, whether the condition for generating damped vibration, that is, the condition of Mathematical Formula 7, is satisfied (step SA02). Then, if there is a damping composite value C that satisfies the condition for generating damped vibration, A If (Yes in step SA02), then the attenuation composite value C is determined. A Then, if the mathematical formula 8 is not satisfied (No in step SA03), that is, in C A If the value is less than the lower limit + tolerance value δ, adjust the composite value C of the attenuation A 、Viscous friction of the motor C M , and the attenuation of torque transmission between motor and worktable C T At least one characteristic parameter in order to make the attenuation composite value C A Become K T Δt+δ (step SA04 ).

[0073] In addition, the stabilization processing unit 130 A If the value is greater than the lower limit value + the tolerance value δ (Yes in step SA03), it is determined whether the composite value C indicating the damping property of the damped vibration is satisfied. A Then, if the upper limit value of the mathematical formula 9 is not satisfied (No in step SA05), the attenuation synthesis value C is adjusted. A 、Viscous friction of the motor C M , and the attenuation of torque transmission between motor and worktable C T At least one characteristic parameter in order to make the attenuation composite value C A becomes the upper limit value, that is, 2√(J A K T ).

[0074] Then, the stabilization processing unit 130 generates a damped vibration when there is no damped composite value C AIn the case of (No in step SA02), the supporting equipment model is changed to a rigid body model (step SA07). The stabilization condition of the rigid body model is the same as that expressed by Mathematical Formula 6. Therefore, the stabilization condition is usually satisfied.

[0075] In the case of over-damping, the behavior of the industrial machine 4 can be sufficiently simulated even if the supporting equipment model is a rigid body model. Therefore, when the stabilization processing unit 130 returns No in step SA05 , the supporting equipment model may be a rigid body model (step SA07 ).

[0076] The coefficient calculation unit 140 calculates each coefficient of the equation representing the supporting equipment model based on the supporting equipment model determined by the stabilization processing unit 130, the characteristic parameters of the supporting equipment model that satisfies the stabilization condition, and the simulation conditions. For example, the coefficient calculation unit 140 calculates each coefficient in the difference equations exemplified in Mathematical Formula 1 and Mathematical Formula 2 based on the characteristic parameters of the supporting equipment model determined by the stabilization processing unit 130 and the simulation conditions, thereby generating the supporting equipment model.

[0077] The output unit 150 outputs the supporting equipment model generated by calculating the coefficients by the coefficient calculation unit 140. The output unit 150 may also display the output of the formula representing the generated supporting equipment model to the display device 70, for example. In addition, the output to the external storage device may be stored via the external device 72. Furthermore, the output may be sent to the industrial machine 4 via the network 5, or to a computer such as the fog computer 6 and the cloud server 7. The output supporting equipment model is used for simulation in a simulation device, a digital twin system, etc.

[0078] The supporting equipment model generation device 1 of the present embodiment having the above-mentioned structure can be expected to avoid an increase in the amount of calculation and ensure the stability of numerical calculation when constructing a simulator of a servo system. In the case of an externally sold simulator, if the supporting equipment model is unstable and diverges or oscillates, it may be captured as "a defect of the simulator = a failure of the software". However, when calculating the coefficients of the supporting equipment model, the characteristic parameters are adjusted in advance by the stabilization processing unit 130, so that the numerical calculation of the supporting equipment model is stable, which helps to improve the reliability of the product.

[0079] The following describes a second embodiment of the equipment model generation device 1 of the present invention. The equipment model generation device 1 of this embodiment is different from the equipment model generation device 1 of the first embodiment in the stabilization process of the stabilization processing unit 130 .

[0080] The stabilization processing unit 130 of this embodiment determines the attenuation composite value C A Whether it satisfies mathematical formula 8. Then, if mathematical formula 8 is not satisfied, that is, in CA If the value is less than the lower limit + tolerance, it is temporarily adjusted to the attenuated composite value C. A Become K T Characteristic parameters such as Δt+δ.

[0081] Then, the stabilization processing unit 130 determines whether the temporarily adjusted characteristic parameters satisfy the over-attenuation stabilization condition of the following equation 10. Then, when the condition is satisfied, the temporarily adjusted characteristic parameters are output as adjusted characteristic parameters.

[0082] [Formula 10]

[0083]

[0084] in,

[0085]

[0086] On the other hand, when the stabilization condition of Mathematical Formula 10 is not satisfied, the auxiliary equipment model is changed to a rigid body model. The method of changing to a rigid body model is the same as that of the first embodiment.

[0087] As mentioned above, although embodiment of this invention was described, this invention is not limited only to the example of the said embodiment, It can implement in various forms by adding appropriate changes.

[0088] For example, in the above-mentioned embodiment, only the supporting equipment model and the rigid body model of the two-inertial resonance system are described, but the technology of the present invention can also be applied to other supporting equipment models modeled in the form of general ordinary differential equations.

[0089] Description of Reference Numerals

[0090] 1. Supporting equipment model generation device

[0091] 4 Industrial Machinery

[0092] 5 Network

[0093] 6 Fog Computer

[0094] 7 Cloud Server

[0095] 11 CPU

[0096] 12 ROM

[0097] 13 RAM

[0098] 14 Non-volatile memory

[0099] 15, 18, 19, 20 interfaces

[0100] 22 Bus

[0101] 70 Display device

[0102] 71 Input device

[0103] 72 External Devices

[0104] 110 Simulation condition acquisition unit

[0105] 120 characteristic parameter acquisition unit

[0106] 130 Stabilization treatment unit

[0107] 140 Coefficient calculation unit

[0108] 150 Output

[0109] 200 Supporting equipment model storage unit

[0110] 210 Simulation condition storage unit

[0111] 220 Characteristic parameter storage unit.

Claims

1. A device for generating a supporting equipment model, which generates a supporting equipment model for simulating the behavior of supporting equipment to be controlled by the numerical calculation of a predetermined formula by calculating coefficients of numerical calculation, characterized in that: The supporting equipment model generating device comprises: a simulation condition acquisition unit that acquires simulation conditions including at least a sampling time; a characteristic parameter acquisition unit that acquires characteristic parameters representing characteristics of the supporting equipment; a stabilization processing unit that adjusts a predetermined characteristic parameter based on the simulation condition and the characteristic parameter so that a numerical calculation in a predetermined supporting equipment model satisfies a stabilization condition for generating damped vibration; as well as A coefficient calculation unit calculates a coefficient of the equipment model based on the characteristic parameters of the predetermined equipment model adjusted by the stabilization processing unit.

2. The device for generating a supporting equipment model according to claim 1, characterized in that: The stabilization processing unit adjusts the value of the characteristic parameter from a value obtained by adding a predetermined tolerance to a lower limit value of the stabilization condition to a range of an upper limit value when the numerical calculation in the supporting equipment model satisfies the value of the characteristic parameter that satisfies the stabilization condition for generating attenuated vibrations, and changes the supporting equipment model to a rigid body model when there is no value of the characteristic parameter that satisfies the stabilization condition for generating attenuated vibrations.

3. The device for generating a supporting equipment model according to claim 1, characterized in that: The stabilization processing unit temporarily adjusts the value of the specified characteristic parameter to a value greater than the value obtained by adding a tolerance to the lower limit value of the condition for stabilization of the attenuated vibration generated by the numerical calculation in the supporting equipment model. When the temporary adjustment is performed, when the condition for stabilization of over-attenuation is met, the value of the characteristic parameter after the temporary adjustment is processed as the adjusted characteristic parameter, and when the condition for stabilization of over-attenuation is not met, the supporting equipment model is changed to a rigid body model.

4. A computer-readable recording medium having a program recorded thereon, the program causing a computer to operate as a supporting equipment model generating device, the supporting equipment model generating device generating a supporting equipment model that simulates the behavior of a supporting equipment to be controlled by the numerical calculation of a predetermined formula by calculating coefficients of numerical calculation, characterized in that: The program causes the computer to act as follows: a simulation condition acquisition unit that acquires simulation conditions including at least a sampling time; a characteristic parameter acquisition unit that acquires characteristic parameters representing characteristics of the supporting equipment; a stabilization processing unit that adjusts a specified characteristic parameter based on the simulation condition and the characteristic parameter so that the numerical calculation in the specified supporting equipment model satisfies the stabilization condition for generating the damped vibration; as well as A coefficient calculation unit calculates a coefficient of the equipment model based on the characteristic parameters of the predetermined equipment model adjusted by the stabilization processing unit.

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