Simulator control data generation device, simulator control data generation method, and simulator control data generation program

Abstract

A simulator control data generation device according to one embodiment of the present invention comprises a conversion unit, a phase processing unit, and an inverse conversion unit. The conversion unit converts motion data indicating the motion of a tool from the time domain to the frequency domain to obtain first frequency domain data which includes a DC component, an amplitude for each frequency, and a phase for each frequency. The phase processing unit changes the phase for each frequency. The inverse conversion unit converts, from the frequency domain to the time domain, second frequency domain data which includes the DC component, the amplitude for each frequency, and the changed phase for each frequency, and generates control data used to control a simulator that reproduces the motion of the tool.

Description

Simulator control data generating device, simulator control data generating method, and simulator control data generating program

[0001] The present invention relates to a technique for generating control data for a simulator.

[0002] In simulators for sports in which people use equipment such as vehicles, a housing that mimics the shape of the equipment is provided, and by moving the housing up and down, left and right, and tilting it, the physical sensations experienced while playing the sport are reproduced. In addition to the housing, a display device that reproduces the field of view during the sport is often used.

[0003] A control device is connected to the housing, and the control device moves and tilts the housing on multiple axes to reproduce the movement of the equipment when actually playing sports (see, for example, non-patent document 1).

[0004] The display device may be, for example, a virtual reality (VR) goggle, which displays pre-recorded wide-angle images or computer-generated images, recreating the field of view experienced when actually playing sports.

[0005] 4-Axis Motion Simulator SIMVR, WIZAPPLY Co., Ltd. [Retrieved January 30, 2023], Internet <URL: https: / / motion.wizapply.com / simvr / > Ryota Imai, Mitsuhiro Goto, Kenji Ezaki, Hitoshi Seshita, "Proposal of a Body Control Method for a Player Reproducing Physical Sensations Considering the Frequency Characteristics of Human Swaying and Tilt Sensations in Windsurfing Competitions," IEICE Technical Report, Vol. 123, No. 359, MVE2023-37, pp. 25-30, January 2024

[0006] To simulate the movement of sports equipment in a simulator, it is necessary to move and tilt the housing by controlling the actuators equipped in the simulator. This requires control data, which is time-series data on the movement and tilt of the housing. To obtain the control data, sensors can be used to measure the movement of real equipment when an actual sport is played, or it can be artificially generated. For example, in a windsurfing simulator disclosed in Non-Patent Document 2, experiments were conducted using control data obtained by sailing on the ocean using real equipment equipped with sensors, as well as artificial data with characteristics similar to that data.

[0007] However, there are cases where multiple variations of control data are required. For example, when conducting experiments or verifications using a simulator, if the same control data is used every time, the rider may memorize the movements, which may affect the results. As another example, when providing a simulator as experiential content to third parties, it is desirable for the same person to have different experiences even when using it multiple times.

[0008] However, to prepare multiple pieces of control data, it is necessary to obtain multiple pieces of control data measured during actual sports (hereinafter also referred to as measured data) or to use artificially generated control data (hereinafter also referred to as generated data), each of which has its own challenges. The former method requires costs such as arranging space and personnel, installing sensors, managing data, and ensuring various safety measures. The latter method requires simple generation methods that are difficult to reproduce the ride comfort of actual equipment, and advanced generation methods using physical simulations, etc., require time and money to design generation algorithms and secure computing resources.

[0009] An object of the present invention is to provide a technique for generating control data for a simulator at low cost.

[0010] A simulator control data generation device according to one aspect of the present invention includes a transformation unit, a phase processing unit, and an inverse transformation unit. The transformation unit transforms motion data indicating the motion of an implement from the time domain to the frequency domain to obtain first frequency domain data including a DC component, an amplitude for each frequency, and a phase for each frequency. The phase processing unit modifies the phase for each frequency. The inverse transformation unit transforms second frequency domain data including the DC component, the amplitude for each frequency, and the modified phase for each frequency from the frequency domain to the time domain to generate control data used to control a simulator that reproduces the motion of the implement.

[0011] According to the present invention, it is possible to provide a technique for generating control data for a simulator at low cost.

[0012] FIG. 1 is a block diagram showing a simulator control data generating device according to an embodiment. FIG. 2 is a diagram showing an example of measurement data stored in a measurement data storage unit shown in FIG. 1. FIG. 3 is a diagram showing an example of data stored in the measurement data storage unit, phase change amount data storage unit, and generated data storage unit shown in FIG. 1. FIG. 4 is a diagram showing amplitude for each frequency obtained by Fourier transforming the measurement data shown in FIG. 3. FIG. 5 is a diagram showing phase for each frequency obtained by Fourier transforming the measurement data shown in FIG. 3. FIG. 6 is a diagram showing an example of phase change amount data stored in a phase change amount data storage unit shown in FIG. 1. FIG. 7 is a diagram showing an example of phase change amount data stored in a phase change amount data storage unit shown in FIG. 1. FIG. 8 is a diagram showing an example of a noise array generated using the phase change amount data shown in FIG. 7. FIG. 9 is a diagram showing an example of generated data generated from the measurement data shown in FIG. 2. FIG. 10 is a block diagram showing a computer that can realize the simulator control data generating device shown in FIG. 1. FIG. 11 is a diagram showing a simulator system according to an embodiment. FIG. 12 is a diagram showing the movement of the board shown in FIG. 11. FIG. 13 is a flowchart showing a simulator control data generating method according to an embodiment.

[0013] Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

[0014] A simulator control data generation device according to an embodiment generates generation data used to control a simulator corresponding to a sport in which a person uses equipment. The simulator allows a user to experience operating the equipment. For example, the simulator may include a housing that resembles the shape of the equipment, and the housing is controlled to reproduce the movement of the equipment. The generation data generated by the simulator control data generation device is used to control the housing included in the simulator.

[0015] Fig. 1 schematically illustrates a simulator control data generating device 100 according to one embodiment. As shown in Fig. 1, the simulator control data generating device 100 includes an input unit 101, a conversion unit 102, a noise generation unit 103, a synthesis unit 104, an inverse conversion unit 105, an output unit 106, a measurement data storage unit 111, a phase change amount data storage unit 112, and a generated data storage unit 113. The section including the noise generation unit 103 and the synthesis unit 104 is referred to as a phase processing unit 109.

[0016] The measurement data storage unit 111 stores measurement data (also referred to as motion data) that indicates the movement of actual equipment used in sports, obtained by measurements using sensors. For example, the measurement data is obtained by attaching a sensor to the equipment and measuring the movement of the equipment while the athlete is playing the sport. Examples of sensors include, but are not limited to, acceleration sensors and angular velocity sensors.

[0017] Fig. 2 shows an example of the measurement data stored in the measurement data storage unit 111. As shown in Fig. 2, the measurement data is a time domain signal that indicates the movement of the implement. The measurement data itself can also be used as control data.

[0018] Typically, the measurement data storage unit 111 stores multiple types of measurement data related to the implement, as shown in (a) of FIG. 3. If the implement includes multiple moving parts, measurement data is obtained for each moving part. Furthermore, if the movement of one moving part is represented by multiple parameters, measurement data is obtained for each parameter. In the example shown in FIG. 3, the movement of moving part A is represented by angles around three axes: pitch, yaw, and roll, and the measurement data related to moving part A includes measurement data indicating the pitch angle, measurement data indicating the yaw angle, and measurement data indicating the roll angle. The measurement data is managed using IDs as identification information. In the example shown in FIG. 3, M01 is assigned to the measurement data corresponding to the pitch of moving part A, M02 is assigned to the measurement data corresponding to the yaw of moving part A, and M03 is assigned to the measurement data corresponding to the roll of moving part A. Hereinafter, data with an ID of X may be referred to as data X. For example, measurement data M01 refers to measurement data corresponding to the pitch of moving part A.

[0019] Referring back to FIG. 1 , the phase change amount data storage unit 112 stores phase change amount data indicating the degree to which noise is applied to the phase for each frequency. When the measurement data storage unit 111 stores multiple types of measurement data, the phase change amount data storage unit 112 stores multiple types of phase change amount data corresponding to the types of measurement data, as shown in FIG. 3 . In the example shown in FIG. 3 , the phase change amount data storage unit 112 stores phase change amount data P01 corresponding to measurement data M01, phase change amount data P02 corresponding to measurement data M02, and phase change amount data P03 corresponding to measurement data M03. Note that phase change amount data common to multiple types of measurement data may be prepared. For example, the phase change amount data storage unit 112 may store one phase change amount data corresponding to measurement data M01, M02, and M03 related to the movable part A.

[0020] Referring again to Fig. 1, the input unit 101 retrieves measurement data from the measurement data storage unit 111 and sends the retrieved measurement data to the conversion unit 102. Furthermore, the input unit 101 retrieves phase change amount data corresponding to the measurement data sent to the conversion unit 102 from the phase change amount data storage unit 112 and sends the retrieved phase change amount data to the noise generation unit 103. Referring to the example shown in Fig. 3, the input unit 101 sequentially performs the following operations: sends a set of measurement data M01 corresponding to the pitch of the movable part A and phase change amount data P01 corresponding to the pitch of the movable part A to the conversion unit 102 and the noise generation unit 103; and sends a set of measurement data M02 corresponding to the yaw of the movable part A and phase change amount data P02 corresponding to the yaw of the movable part A to the conversion unit 102 and the noise generation unit 103.

[0021] The transform unit 102 transforms the measurement data received from the input unit 101 from the time domain to the frequency domain to obtain frequency domain data including a DC component and an amplitude and phase for each frequency. The frequency domain data is a frequency domain representation of the measurement data. For example, a Fourier transform or a wavelet transform can be used to transform data from the time domain to the frequency domain. In the embodiment, a Fourier transform is used. The transform unit 102 applies a Fourier transform to the measurement data to obtain Fourier coefficients of the measurement data. The Fourier coefficients can be expressed as one DC component and an amplitude and phase for each frequency. The transform unit 102 calculates the DC component and the amplitude and phase for each frequency from the Fourier coefficients, and sends the frequency domain data including the DC component and the amplitude and phase for each frequency to the synthesis unit 104.

[0022] However, since the input is a real number, the Fourier coefficient to be processed is c when the complex Fourier series expansion is expressed as follows: ｎ For example, in the case of measurement data of 20 samples per second and 30 seconds, there are 301 Fourier coefficients c ０ ~c ３００ is used.

[0023] Figures 4 and 5 show the amplitude and phase for each frequency obtained by Fourier transforming the measurement data shown in Figure 3. For ease of visibility, Figures 4 and 5 show graphs of the amplitude and phase corresponding to n = 1 to 100.

[0024] Referring back to FIG. 1 , the noise generator 103 generates a random number array and applies the phase change data received from the input unit 101 to the random number array to generate a noise array. The random number array is an array containing random numbers in the range of -π to π as elements. Each random number contained in the random number array may be generated using, for example, a pseudorandom function. The phase change data is an array containing numerical values ​​in the range of 0 to 1 as elements. The lengths of the random number array and the phase change data are equal to the number of Fourier coefficients obtained by the Fourier transform of the measurement data in the transformer 102, minus one corresponding to the DC component. If the number of Fourier coefficients is N, the random number array and the phase change data each have N-1 elements. The noise generator 103 calculates the Hadamard product of the random number array and the phase change data to obtain a noise array. Therefore, the length of the noise array is also equal to the number of Fourier coefficients minus 1. The noise array indicates noise for each frequency.

[0025] Each element of the phase change amount data is determined based on how much the phase of the corresponding frequency is to be changed by noise. For example, if you want to make the phase of all frequencies completely random, set all elements to 1. If you want to maintain the original phase for frequencies below a certain level, set the elements corresponding to that frequency or lower to 0.

[0026] 6 and 7 show examples of phase change amount data. For ease of visibility, elements corresponding to n=1 to 100 are extracted and graphed in FIGS. 6 and 7. The phase change amount data shown in FIG. 6 corresponds to the case where the phase of all frequencies is randomized by 50%. Specifically, all elements are set to 0.5. The phase change amount data shown in FIG. 7 corresponds to the case where the original phase is maintained below the frequency corresponding to n=5, and the phase is completely randomized above that frequency. Specifically, the elements corresponding to n=1 to 5 are set to 0, and the remaining elements are set to 1.

[0027] Fig. 8 shows an example of a noise array generated using the phase change amount data shown in Fig. 7. For the sake of visibility, elements corresponding to n = 1 to 100 are extracted and graphed in Fig. 8. As shown in Fig. 8, elements corresponding to n = 1 to 5 are set to 0.

[0028] In the above example, the noise sequence is generated by applying phase change data to a random number sequence. In another example, the noise sequence may be generated by using phase change data when generating the random number sequence. Specifically, for each element of the random number sequence, a random number may be generated within a range corresponding to the phase change data. For example, if the phase change data is as shown in FIG. 6, the noise generator 103 may generate a random number sequence including random numbers within a range of −π / 2 to π / 2 and output it as the noise sequence. If the phase change data is as shown in FIG. 7, the noise generator 103 may generate the noise sequence by setting elements corresponding to n=1 to 5 to 0 and generating random numbers within a range of −π to π for each element corresponding to n≧6. The method of using phase change data when generating a random number sequence is substantially the same as the method of applying phase change data to a random number sequence. In this specification, the phrase "generating a random number sequence and applying phase change data to the random number sequence" includes the use of phase change data when generating the random number sequence.

[0029] Referring back to Fig. 1, the synthesis unit 104 receives the frequency domain data from the transform unit 102 and applies the noise sequence to the phase of each frequency included in the received frequency domain data. Specifically, the synthesis unit 104 adds the corresponding element of the noise sequence to the phase of each frequency.

[0030] In this way, the phase processing unit 109, which includes the noise generating unit 103 and the combining unit 104, randomly changes the phase for each frequency calculated from the Fourier coefficients obtained by Fourier transforming the measurement data. The phase processing unit 109 sends frequency domain data including the processed Fourier coefficients to the inverse transform unit 105. Specifically, the frequency domain data includes a DC component, an amplitude for each frequency, and a changed phase for each frequency.

[0031] The inverse transform unit 105 transforms the frequency domain data received from the synthesis unit 104 from the frequency domain to the time domain to obtain generated data that is a time domain representation. Specifically, the inverse transform unit 105 obtains generated data by applying an inverse Fourier transform to the processed Fourier coefficients received from the synthesis unit 104. When there are multiple types of measurement data as shown in FIG. 3 , multiple types of generated data are generated for each of the multiple types of measurement data. In the example shown in FIG. 3 , generated data G01 is generated from a set of measurement data M01 and phase change amount data P01, generated data G02 is generated from a set of measurement data M02 and phase change amount data P02, and generated data G03 is generated from a set of measurement data M03 and phase change amount data P03.

[0032] The output unit 106 outputs the generated data generated by the inverse conversion unit 105. For example, the output unit 106 causes the generated data storage unit 113 to store the generated data.

[0033] 9 shows an example of generated data generated by the inverse conversion unit 105. The generated data shown in FIG. 9 is generated based on the measurement data shown in FIG.

[0034] 10 is a schematic diagram illustrating an example of the hardware configuration of a computer 1000 that can realize the simulator control data generation device 100. As shown in Fig. 10, the computer 1000 includes a central processing unit (CPU) 1001 as a processing circuit, a random access memory (RAM) 1002, and a storage device 1003. The computer 1000 may further include a communication module for communicating with an external device.

[0035] The CPU 1001 is an example of a general-purpose processor capable of executing a computer program. The RAM 1002 is a volatile memory used as a work area for the CPU 1001. The storage device 1003 is a non-volatile memory such as a hard disk drive (HDD) or a solid state drive (SSD). The storage device 1003 stores various programs, such as a simulator control data generation program, and various data. When executed by the CPU 1001, the simulator control data generation program causes the CPU 1001 to perform a series of processes described below regarding the input unit 101, the conversion unit 102, the noise generation unit 103, the synthesis unit 104, the inverse conversion unit 105, and the output unit 106. In other words, the CPU 1001 is configured to function as the input unit 101, the conversion unit 102, the noise generation unit 103, the synthesis unit 104, the inverse conversion unit 105, and the output unit 106. The storage device 1003 functions as a measurement data storage unit 111 , a phase change amount data storage unit 112 , and a generated data storage unit 113 .

[0036] Note that the computer 1000 may include a dedicated processor such as an FPGA (field programmable gate array) instead of or in addition to the general-purpose processor. The processing circuit includes a general-purpose processor, a dedicated processor, or a combination of a general-purpose processor and a dedicated processor.

[0037] A program such as the simulator control data generation program may be provided to the computer 1000 in a state where it is stored on a computer-readable recording medium. In this case, the computer 1000 is equipped with a drive that reads data from the recording medium and acquires the program from the recording medium. Examples of recording media include magnetic disks, optical disks (CD-ROM, CD-R, DVD-ROM, DVD-R, etc.), magneto-optical disks (MO, etc.), and semiconductor memories. The program may also be distributed via a communications network. Specifically, the program may be stored on a server on the communications network, and the computer 1000 may download the program from the server.

[0038] An example of a simulator system that uses the generated data generated by the simulator control data generator 100 will now be briefly described.

[0039] Fig. 11 is a schematic diagram of a simulator system 1100 according to one embodiment. As shown in Fig. 11, the simulator system 1100 allows a user to experience a simulated windsurfing experience, and includes a simulator 1110, a display device 1120, and a control device 1130.

[0040] The control device 1130 may be a computer such as a personal computer. The control device 1130 controls the simulator 1110 and the display device 1120. The control device 1130 is provided with generated data generated by the simulator control data generating device 100 shown in FIG. 1. In one example, the simulator control data generating device 100 may be included in the control device 1130. In an example in which the simulator control data generating device 100 is provided external to the control device 1130, the control device 1130 may acquire the generated data from the simulator control data generating device 100 via a communication network or a recording medium. The control device 1130 generates a drive signal for driving the simulator 1110 based on the generated data and outputs the drive signal to the simulator 1110. Furthermore, the control device 1130 outputs display data to the display device 1120.

[0041] The simulator 1110 includes a housing 1111 on which the user boards, and a drive unit 1115 that supports and drives the housing 1111. The housing 1111 is a structure that resembles windsurfing equipment, and specifically includes a board 1112 on which the user stands, a mast 1113 that is erected on the board 1112, and a boom 1114 that is attached to the mast 1113 and that the user holds.

[0042] The driving unit 1115 includes, for example, actuators 1116 that correspond to the four-axial movements of pitch, roll, yaw, and heave that occur in the board 1112 as shown in Fig. 12. The driving unit 1115 operates the actuators 1116 in response to drive signals output from the control device 1130, thereby moving the board 1112 and the mast 1113 in the four-axial directions.

[0043] The drive unit 1115 is not limited to one that corresponds to the four axes described above, but may also correspond to five or more axes, including the inclination angle of the mast 1113 relative to the board 1112, or may correspond to only two axes, pitch and yaw, or only three axes, pitch, roll, and yaw.

[0044] The display device 1120 may be VR goggles worn on the user's head. The VR goggles display display data output from the control device 1130. The VR goggles may also have a built-in speaker that plays back audio data output from the control device 1130.

[0045] Next, the operation of the simulator control data generating device 100 will be described.

[0046] 13 is a diagram illustrating an example of a procedure for generating simulator control data according to an embodiment. The simulator control data generating process illustrated in FIG. 13 is executed by the simulator control data generating device 100 illustrated in FIG.

[0047] In step S1301 of Fig. 13 , the input unit 101 acquires a data set to be processed. Specifically, the input unit 101 acquires measurement data from the measurement data storage unit 111, and acquires phase change amount data used to process the extracted measurement data from the phase change amount data storage unit 112. For example, referring to the example shown in Fig. 3 , the input unit 101 acquires measurement data M01 corresponding to the pitch of the movable part A from the measurement data storage unit 111, and acquires phase change amount data P01 corresponding to the pitch of the movable part A from the phase change amount data storage unit 112. The measurement data is motion data obtained by measurement using a sensor and indicating the motion of equipment such as a board used for windsurfing. The phase change amount data indicates the degree to which noise is applied to the phase for each frequency.

[0048] In step S1302, the transform unit 102 applies a Fourier transform to the measurement data acquired in step S1301 to obtain frequency domain data, which is a frequency domain representation of the measurement data. The frequency domain data includes one DC component, an amplitude for each frequency, and a phase for each frequency.

[0049] In step S1303, the noise generator 103 generates a noise sequence indicating noise for each frequency based on the phase change amount data acquired in step S1301. Specifically, the noise generator 103 generates a random number sequence including random numbers within a predetermined range as elements, and applies the phase change amount data to the random number sequence to generate a noise sequence.

[0050] Although FIG. 13 shows the process of step S1303 as being executed after the process of step S1302, the process of step S1303 may be executed before the process of step S1302 or may be executed in parallel with the process of step S1302.

[0051] In step S1304, the synthesis unit 104 applies the noise sequence generated in step S1303 to the phase for each frequency included in the frequency domain data obtained in step S1302 to obtain a modified phase for each frequency, thereby obtaining processed frequency domain data including the DC component and amplitude for each frequency included in the frequency domain data obtained in step S1302, and the modified phase for each frequency.

[0052] In step S1305, the inverse transform unit 105 applies an inverse Fourier transform to the processed frequency domain data obtained in step S1304 to obtain generated data that is a time domain representation of the processed frequency domain data.

[0053] In step S1306, the output unit 106 stores the generated data obtained in step S1305 in the generated data storage unit 113.

[0054] If there is unprocessed measurement data (step S1307; Yes), the flow returns to step S1301. For example, referring to the example shown in FIG. 3, once processing for measurement data M01 is completed, processing for measurement data M02 is next performed. In step S1301, a set of measurement data M02 and phase change amount data P02 is acquired, and a series of processes shown in steps S1302 to S1306 is performed on the set of measurement data M02 and phase change amount data P02.

[0055] When the processing for all the measurement data is completed (step S1307; No), the flow ends.

[0056] As described above, the simulator control data generation device 100 converts measurement data indicating equipment movement from the time domain to the frequency domain to obtain frequency domain data including a DC component, an amplitude for each frequency, and a phase for each frequency, changes the phase for each frequency, and converts the frequency domain data including the DC component, the amplitude for each frequency, and the changed phase for each frequency from the frequency domain to the time domain to generate generated data used to control a simulator that reproduces equipment movement.

[0057] According to the above configuration, the phase of each frequency is changed without changing the amplitude of each frequency. Therefore, generated data generated based on measurement data has the same frequency characteristics as the measurement data. Therefore, it is possible to generate generated data having a waveform different from that of the measurement data while maintaining the ride quality derived from the frequency characteristics of the measurement data. For example, in a simulator for sports in which people use vehicles, the generated data makes it possible to reproduce a ride quality close to that of an actual ride. By changing the amount of phase change for each frequency, such as by randomly changing the phase for each frequency, it is possible to generate multiple generated data based on one measurement data. Therefore, it is possible to generate generated data simply and at low cost.

[0058] The simulator control data generating device 100 may generate an array including random numbers within a predetermined range, and apply phase change amount data indicating the degree to which noise is applied to the phase for each frequency to the random number array to generate a noise array.

[0059] According to the above configuration, it is possible to set the amount of phase change for each frequency. This makes it possible to suppress the sense of incongruity when combined with other information such as visual information. Specifically, when there is a frequency band that requires consistency with other information such as visual information, the sense of incongruity can be suppressed by reducing or eliminating the phase change in that frequency band. For example, in windsurfing, the movement caused by being blown around by the wind is visually and swaying. In this case, the phase change amount data is set to suppress the phase change in the corresponding frequency band.

[0060] The present invention is not limited to the above-described embodiments, and various modifications can be made in the implementation stage without departing from the spirit of the invention. Furthermore, the embodiments may be implemented in appropriate combinations, in which case the combined effects can be obtained. Furthermore, the above-described embodiments include various inventions, and various inventions can be extracted by combining selected components from the disclosed components. For example, if the problem can be solved and the effects can be obtained even if some components are removed from all the components shown in the embodiments, the configuration from which these components are removed can be extracted as an invention.

[0061] DESCRIPTION OF SYMBOLS 100...Simulator control data generating device 101...Input section 102...Conversion section 103...Noise generating section 104...Synthesis section 105...Inverse conversion section 106...Output section 109...Phase processing section 111...Measurement data storage section 112...Phase change amount data storage section 113...Generated data storage section 1000...Computer 1001...CPU 1002...RAM 1003...Storage device 1100...Simulator system 1110...Simulator 1111...Housing 1112...Board 1113...Mast 1114...Boom 1115...Drive section 1116...Actuator 1120...Display device 1130...Control device

Claims

1. A simulator control data generating device comprising: a conversion unit that converts motion data indicating the motion of an implement from the time domain to the frequency domain to obtain first frequency domain data including a DC component, an amplitude for each frequency, and a phase for each frequency; a phase processing unit that changes the phase for each frequency; and an inverse conversion unit that converts second frequency domain data including the DC component, the amplitude for each frequency, and the changed phase for each frequency from the frequency domain to the time domain to generate control data used to control a simulator that reproduces the motion of the implement.

2. The simulator control data generating device according to claim 1, wherein the phase processing unit comprises: a noise generating unit that generates a random number array containing random numbers within a predetermined range, and applies phase change amount data indicating the degree to which noise is applied to the phase for each frequency to the random number array to generate a noise array indicating noise for each frequency; and a synthesis unit that applies the noise array to the phase for each frequency.

3. A computer-implemented simulator control data generation method comprising: converting motion data indicative of equipment motion from the time domain to the frequency domain to obtain first frequency domain data including a DC component, an amplitude for each frequency, and a phase for each frequency; modifying the phase for each frequency; and converting second frequency domain data including the DC component, the amplitude for each frequency, and the modified phase for each frequency from the frequency domain to the time domain to generate control data used to control a simulator that reproduces the equipment motion.

4. A simulator control data generating program for causing a computer to function as each unit of the simulator control data generating device according to claim 1 or 2.

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