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The present invention relates to a non-linear characteristic reproducing apparatus wherein a non-linear transformation processing is applied to a state quantity to be outputted. A non-linear behavior of products and parts is reproduced through modeling. [Solving means] there are provided a non-linea

The present invention relates to a non-linear characteristic reproducing apparatus wherein a non-linear transformation processing is applied to a state quantity to be outputted. A non-linear behavior of products and parts is reproduced through modeling. [Solving means] there are provided a non-linear characteristic reproducing unit for receiving an estimated observation quantity at the subsequent sampling time of an input state quantity and determining a normalized estimated value in which an estimated value is normalized by an estimated observation quantity at the subsequent sampling time, and a state quantity transformation unit for transforming the input state quantity at the subsequent sampling time to the output state quantity at the subsequent sampling time in accordance with a non-linear operation based on the a normalized estimated value determined in the non-linear characteristic reproducing unit.

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What is claimed is: 1. A non-linear characteristic reproducing apparatus wherein upon receipt of a predetermined first state quantity for reproducing a behavior of an entity, a non-linear transformation processing is applied to the entered first state quantity so that a second state quantity is gen

What is claimed is: 1. A non-linear characteristic reproducing apparatus wherein upon receipt of a predetermined first state quantity for reproducing a behavior of an entity, a non-linear transformation processing is applied to the entered first state quantity so that a second state quantity is generated and outputted, the non-linear characteristic reproducing apparatus comprising: a state quantity transformation unit for linear-transforming the first state quantity to the second state quantity every sampling time in accordance with a transformation parameter, which reproduces a physical property of an entity, set up; and a non-linear characteristic reproducing unit for determining a transformation parameter to transform the first state quantity to the second state quantity at a subsequent sampling time in accordance with an estimated state quantity at the subsequent sampling time derived from at least one state quantity of the first state quantity and the second state quantity or a variation of the one state quantity to set the determined transformation parameter to the state quantity transformation unit. 2. A non-linear characteristic reproducing apparatus according to claim 1, wherein said non-linear characteristic reproducing unit receives the estimated state quantity and one or more external operation variables as well, and determines the transformation parameter in accordance with the estimated state quantity and one or more variables thus received. 3. A non-linear characteristic reproducing apparatus according to claim 1, wherein said non-linear characteristic reproducing unit determines in form of the transformation parameter a normalized estimation value in which an estimation value of the second state quantity at the subsequent sampling time is normalized with the estimated state quantity. 4. A non-linear characteristic reproducing apparatus according to claim 3, wherein in said non-linear characteristic reproducing unit, the estimation value of the second state quantity at the subsequent sampling time is multiplied or divided with an absolute value of the estimated state quantity of the first state quantity, so that the transformation parameter independent of the sign of the first state quantity is determined. 5. A non-linear characteristic reproducing apparatus according to claim 1, wherein said non-linear characteristic reproducing apparatus is an apparatus for reproducing characteristics of a non-linear spring, said state quantity transformation unit performs a transformation between a velocity difference on both ends of the non-linear spring and a variation of load of the non-linear spring, and said non-linear characteristic reproducing unit determines a transformation parameter for performing transformation between the velocity difference on both ends of the non-linear spring as an object of a characteristic reproduction and the variation of load of the non-linear spring at a subsequent sampling time in accordance with an estimated state quantity at the subsequent sampling time of the velocity difference on both ends of the non-linear spring to set the determined transformation parameter to said state quantity transformation unit. 6. A non-linear characteristic reproducing apparatus according to claim 1, wherein said non-linear characteristic reproducing apparatus is an apparatus for reproducing characteristics of an air spring said state quantity transformation unit performs a transformation between a deformation velocity of the air spring and a variation of an internal pressure of the air spring, and said non-linear characteristic reproducing unit determines a transformation parameter for performing transformation between the deformation velocity of the air spring as an object of a characteristic reproduction and the variation of the internal pressure of the air spring at a subsequent sampling time in accordance with an estimated state quantity at the subsequent sampling time of the deformation velocity of the air spring to set the determined transformation parameter to said state quantity transformation unit. 7. A non-linear characteristic reproducing apparatus according to claim 1, wherein said non-linear characteristic reproducing apparatus is an apparatus for reproducing characteristics of a link mechanism, said state quantity transformation unit transforms a value of velocity or angular velocity of a supporting point portion of the link mechanism, and said nonlinear characteristic reproducing unit determines a transformation parameter for transforming the value of velocity or angular velocity of the supporting point portion of the link mechanism as an object of a characteristic reproduction at a subsequent sampling time in accordance with an estimated state quantity at the subsequent sampling time of velocity or angular velocity applied to the supporting point portion of the link mechanism to set the determined transformation parameter to said state quantity transformation unit. 8. A non-linear characteristic reproducing apparatus according to claim 7, wherein said state quantity transformation unit transforms a value of velocity or angular velocity of the supporting point portion of the link mechanism, and also a value of force or torque applied to the supporting point portion, using the same parameter as that used for transformation of the value of velocity or angular velocity of the supporting point portion of the link mechanism, said parameter being set by said non-linear characteristic reproducing unit. 9. A non-linear characteristic reproducing apparatus according to claim 1, wherein said non-linear characteristic reproducing apparatus is an apparatus for reproducing characteristics of an object moving while involving a friction, said state quantity transformation unit performs a transformation between a force applied to the object and a moving velocity of the object and said non-linear characteristic reproducing unit determines a transformation parameter for performing transformation between the force applied to the object as an object of a characteristic reproduction and the moving velocity of the object at a subsequent sampling time in accordance with an estimated state quantity at the subsequent sampling time of the moving velocity of the object to set the determined transformation parameter to said state quantity transformation unit. 10. A non-linear characteristic reproducing apparatus according to claim 9, wherein said non-linear characteristic reproducing unit determines a frictional force applied to the object in form of the transformation parameter to set the determined transformation parameter to said state quantity transformation unit, and said state quantity transformation unit performs a transformation between the force applied to the object and the moving velocity of the object, in a case where a force, in which the frictional force set by said state quantity transformation unit is subtracted from the force applied to the object, is applied to an object in which an effect of the frictional force is neglected. 11. A non-linear characteristic reproducing apparatus according to claim 10, wherein said non-linear characteristic transformation unit comprises: a kinetic friction generating unit for determining a kinetic frictional force applied to the object as an object of a characteristic reproduction at a subsequent sampling time in accordance with an estimated state quantity at the subsequent sampling time of the moving velocity of the object; a static friction generating unit for determining a static frictional force applied to the object as an object of a characteristic reproduction at a subsequent sampling time in accordance with an estimated state quantity at the subsequent sampling time of the force applied to the object; and a frictional force selection unit for selecting one frictional force between the kinetic frictional force generated in said kinetic friction generating unit and the static frictional force generated in said static friction generating unit in accordance with the estimated state quantity at the subsequent sampling time of the moving velocity of the object to set the selected frictional force to said state quantity transformation unit. 12. A non-linear characteristic reproducing apparatus according to claim 11, wherein said kinetic friction generating unit determines a kinetic frictional force different in value in accordance with an estimated state quantity at the subsequent sampling time of the moving velocity of the object. 13. A non-linear characteristic reproducing apparatus according to claim 1, wherein said non-linear characteristic reproducing apparatus is an apparatus for reproducing characteristics of a variable inertia moment mechanism in which an inertia moment is varied in accordance with an angular velocity, said state quantity transformation unit performs a transformation between a torque applied to the variable inertia moment mechanism and an angular velocity of the variable inertia moment mechanism, and said non-linear characteristic reproducing unit determines a transformation parameter for performing transformation between the torque applied to the variable inertia moment mechanism as an object of a characteristic reproduction and an angular acceleration velocity of the variable inertia moment mechanism at a subsequent sampling time in accordance with an estimated state quantity at the subsequent sampling time of the angular velocity of the variable inertia moment mechanism to set the determined transformation parameter to said state quantity transformation unit. 14. A non-linear characteristic reproducing apparatus according to claim 13, wherein said variable inertia moment mechanism as an object of a characteristic reproduction has a translational member translating in a radius direction in accordance with a centrifugal force, and said non-linear characteristic reproducing unit comprises; a rotational translation transformation unit for determining a centrifugal force applied to the translational member in accordance with an estimated state quantity at a subsequent sampling time of the angular velocity of the variable inertia moment mechanism; and a translational motion reproducing unit for reproducing a translational motion of the translational member by the centrifugal force determined by said rotational translation transformation unit, and said non-linear characteristic reproducing unit determines a transformation parameter according to the translational motion of the translational member reproduced by said translational motion reproducing unit to set the determined transformation parameter to said state quantity transformation unit. 15. A non-linear characteristic reproducing apparatus comprising a linear model unit for reproducing characteristics of a linear system, and a non-linear model unit for determining, upon receipt of an estimated state quantity at a subsequent sampling time of at least one state quantity of a first state quantity and a second state quantity, which are in a relation of mutually non-linear transformation, or a state quantity derived from said one state quantity, from said linear model unit, a transformation parameter used for a linear transformation at the subsequent sampling time between the first state quantity and the second state quantity, wherein an operation of determining the transformation parameter at the subsequent sampling time in said non-linear model unit and a linear operation including a linear transformation between the first state quantity and the second state quantity using the transformation parameter at the subsequent sampling time determined in said non-linear model unit, in said linear model unit are alternatively repeated. 16. A non-linear characteristic reproducing apparatus according to claim 15, wherein said non-linear model unit has a plurality of non-linear transformation units for determining, upon receipt of an estimated state quantity at a subsequent sampling time of at least one state quantity of a first state quantity and a second state quantity, which are in a relation of mutually non-linear transformation and at least one of which is different in type, or a state quantity derived from said one state quantity, a transformation parameter used for a linear transformation at the subsequent sampling time between the first state quantity and the second state quantity. 17. A nonlinear characteristic reproducing apparatus according to claim 15, wherein said non-linear characteristic reproducing apparatus is an apparatus for reproducing characteristics of Geneva mechanism, said linear model unit performs linear transformations including a linear transformation of angular velocity-to-angular velocity between master section and slave section of the Geneva mechanism, and a linear transformation of torque-to-torque between master section and slave section of the Geneva mechanism, and said non-linear model unit has a non-linear transformation unit for determining a transformation parameter including information as to whether master section and slave section of the Geneva mechanism are connected to one another at the subsequent sampling time, said information being used for both the linear transformation of angular velocity-to-angular velocity between master section and slave section of the Geneva mechanism and the linear transformation of torque-to-torque between master section and slave section of the Geneva mechanism, at a subsequent sampling time of an angle of the master section of the Geneva mechanism, in accordance with an estimated state quantity at the subsequent sampling time. 18. A non-linear characteristic reproducing apparatus according to claim 15, wherein said non-linear characteristic reproducing apparatus is an apparatus for reproducing characteristics of a liquid residue warning lamp in which a lamp and a thermistor are connected in series, said linear model unit performs linear transformations including a transformation between a voltage applied to the lamp and a current conducting through the lamp and a transformation between a voltage applied to the thermistor and a current conducting through the thermistor, and said non-linear model unit has a first non-linear transformation unit for determining a resistance of the thermistor at a subsequent sampling time of a consumed power of the thermistor in accordance with an estimated state quantity at the subsequent sampling time. 19. A non-linear characteristic reproducing apparatus comprising: a state quantity selecting unit for reproducing characteristics of a linear system, and a non-linear model unit for determining, upon receipt of an estimated state quantity at a subsequent sampling time of at least one state quantity of a first input state quantity and a second output state quantity, which are in a relation of mutually non-linear transformation, or a state quantity derived from said one state quantity, from the state quantity selecting unit, a transformation parameter used for a transformation or connection at the subsequent sampling time between the first input state quantity and the second output state quantity; a logical decision unit for receiving one or more variables, and determining a logical value at a subsequent sampling time, selected among from a plurality of discrete values in accordance with one or more variables input to the non-linear model unit; and a state quantity selecting unit for receiving a predetermined input state quantity and outputting at the subsequent sampling time an output state quantity in which a relation of transformation or connection between the input state quantity and the output state quantity is changed over to a relation according to the logical value at the subsequent sampling time determined by said logical decision unit. 20. A non-linear characteristic reproducing apparatus according to claim 19, wherein said state quantity selecting unit outputs at the subsequent sampling time an output state quantity in which a relation between the input state quantity and the output state quantity is changed over to a connection relation according to the logical value at the subsequent sampling time determined by said logical decision unit. 21. A non-linear characteristic reproducing apparatus according to claim 19, wherein said state quantity selecting unit integrates the input state quantity and outputs as an output state quantity, and in a case where the logical value at the subsequent sampling time determined by said logical decision unit into which the output state quantity is inputted is a predetermined logical value, said state quantity selecting unit outputs an output state quantity which is changed over to an initial value at the subsequent sampling time. 22. A non-linear characteristic reproducing apparatus according to claim 19, wherein said logical decision unit determines a logical value at a subsequent sampling time, selected among from a plurality of discrete values in accordance with an estimated state quantity at the subsequent sampling time of a plurality of input state quantities, and said state quantity selecting unit receives the plurality of input state quantities and outputs at the subsequent sampling time in form of an output state quantity an input state quantity selected in accordance with the logical value at the subsequent sampling time determined by said logical decision unit. 23. A non-linear characteristic reproducing apparatus according to claim 19, wherein said non-linear characteristic reproducing apparatus is an apparatus for reproducing characteristics of a mechanism including two members having a relative movement possible state and a relative movement impossible state, said logical decision unit determines a logical value representing whether said two members are in the relative movement possible state or the relative movement impossible state in accordance with an estimated state quantity at a subsequent sampling time of a relative position of said two members or a state quantity derived from the relative position of said two members, and said state quantity selecting unit changes over a relation between a relative moving velocity and a distribution of force of said two members. 24. A non-linear characteristic reproducing apparatus according to claim 19, wherein said non-linear characteristic reproducing apparatus is an apparatus for reproducing characteristics of a clutch mechanism including two members having a relatively slid sliding state and a mutually connected connecting state, said logical decision unit determines a logical value representing whether said two members are in the sliding state or the connecting state in accordance with an estimated state quantity at a subsequent sampling time of a relative angular velocity of said two members, and said state quantity selecting unit changes over a relation between a relative angular velocity and a distribution of torque of said two members. 25. A non-linear characteristic reproducing apparatus according to claim 19, wherein said non-linear characteristic reproducing apparatus is an apparatus for reproducing characteristics of a brake mechanism for applying a braking energy to a driving shaft, said logical decision unit determines a logical value representing whether the driving shaft is in a rotating state or a stationary state in accordance with an estimated state quantity at a subsequent sampling time of a torque which a brake receives from the driving shaft, and said state quantity selecting unit changes over a braking torque to be applied to the driving shaft. 26. A non-linear characteristic reproducing apparatus according to claim 19, wherein said non-linear characteristic reproducing apparatus is an apparatus for reproducing characteristics of an automatic-reset mechanism in which a spring is effected on a movable member, and when application of an external force to the movable member is removed, the movable member is automatically reset to an initial state by an effect of the spring, said automatic-reset mechanism having a stopper to limit a movable range of the movable member, said logical decision unit determines a logical value representing whether the movable member interferes with the stopper in accordance with an estimated state quantity at a subsequent sampling time of a moving position of the movable member, and said state quantity selecting unit changes over a relation between velocity or angular velocity of the movable member and force or torque to be applied to the movable member. 27. A non-linear characteristic reproducing apparatus wherein upon receipt of a predetermined first state quantity, a second state quantity changed over to a non-linearity according as the received first state quantity is in a predetermined state is generated, said non-linear characteristic reproducing apparatus comprising: a state variation estimation unit for predicting a state quantity variation width during a period from a present sampling time to a subsequent sampling time of the first state quantity; a state deviation detection unit for determining a deviation between a value at the present sampling tine of the first state quantity and a decision value for deciding whether the first state quantity is in a predetermined state; a stable state decision unit for determining a logical value to be selected from among a plurality of discrete values, predicting a non-linear variation at a subsequent sampling time in accordance with a comparison of the state quantity variation width predicted by said state variation estimation unit with the deviation determined in said state deviation detection unit; and a state quantity selecting unit for outputting the second state quantity changed over in accordance with the logical value determined in said stable state decision unit. 28. A non-linear characteristic reproducing apparatus according to claim 27, wherein said state deviation detection unit determines a deviation between a value at the present sampling time of the first state quantity and a decision value for deciding whether the first state quantity is in a predetermined state, said decision value being varied in accordance with positive or negative of the state quantity variation width predicted in said state variation estimation unit. 29. A non-linear characteristic reproducing apparatus comprising: a linear model unit for reproducing characteristics of a linear system, including a state quantity transformation unit for linear-transforming a first observation state quantity to a second observation state quantity in accordance with a transformation parameter set up; and a non-linear model unit for generating, upon receipt of an estimated state quantity at a subsequent sampling time of a predetermined first observation state quantity inputted to a state quantity transformation unit from said linear model unit, the transformation parameter in accordance with the received estimated state quantity and setting the generated transformation parameter on said state quantity transformation unit, wherein said non-linear model unit comprises: a slow change reproducing unit for receiving from said linear model an observation quantity or an estimated observation value of a predetermined second observation state quantity identical to or different from the first observation state quantity, to generate a slow change state quantity reflecting characteristic of a first non-linear system such as temperature increase or the like offering a relatively slow behavior change in accordance with the observation quantity or the estimated observation value of the second observation state quantity; and a characteristic generating unit for generating a transformation parameter reflecting characteristic of a second non-linear system offering a relatively rapid behavior change in accordance with the estimated observation value at a subsequent sampling time of the first observation state quantity derived from said linear model unit and the slow change state quantity generated in said slow change reproducing unit and setting up the generated transformation parameter on said state quantity transformation unit. 30. A non-linear characteristic reproducing apparatus according to claim 29, wherein said slow change reproducing unit comprises: a stationary value setting up unit for determining a stationary value, after passage of an infinite time, of the slow change state quantity assuming that a state of said linear model unit is maintained, generated in accordance with the observation quantity or the estimated observation value of the second observation state quantity; and a normalization response unit for generating the slow change state quantity reflecting characteristic of the first non-linear system which is to be transferred to said characteristic generating unit, in accordance with a stationary value of the slow change state quantity determined in said stationary value setting up unit, and a known normalized time change characteristic of the slow change state quantity in the first non-linear system. 31. A non-linear characteristic reproducing apparatus according to claim 30, wherein said non-linear characteristic reproducing apparatus is an apparatus for reproducing characteristics of a system having an element which is varied in a resistance value in accordance with a temperature variation, said state quantity transformation unit sets up a transformation parameter representative of the resistance value and performs a transformation between a voltage applied to the element having the resistance value and a current conducting through the element, said stationary value setting up unit determines a stationary value, after passage of an infinite time, of a temperature of the element assuming that an energy to be consumed in the element is maintained, in accordance with the estimated state quantity at a subsequent sampling time of the energy to be consumed in the element, said normalization response unit determines a temperature of the element in accordance with a stationary value of the temperature of the element determined in said stationary value setting up unit, and a known normalized step response curve representative of a time variation of the temperature of the element to a variation of an energy to be consumed in the element, and said characteristic generating unit generates a transformation parameter representative of the resistance value of the element in accordance with the temperature determined in said normalization response unit and sets up the generated transformation parameter on said state quantity transformation unit. 32. A non-linear characteristic reproducing apparatus according to claim 31, wherein said normalization response unit determines a temperature of the element in accordance with an observation quantity of an ambient temperature. 33. A non-linear characteristic reproducing program storage medium storing a non-linear characteristic reproducing program which causes a computer to operate as a non-linear characteristic reproducing apparatus wherein upon receipt of a predetermined first state quantity, a non-linear transformation processing is applied to the entered first state quantity so that a second state quantity is generated and outputted, wherein said non-linear characteristic reproducing program storage medium stores a non-linear characteristic reproducing program comprising: a state quantity transformation unit for linear-transforming the first state quantity to the second state quantity every sampling time in accordance with a transformation parameter set up; and a non-linear characteristic reproducing unit for determining a transformation parameter for transformation at a subsequent sampling time in accordance with an estimated state quantity at the subsequent sampling time of at least one state quantity of the first state quantity and the second state quantity or a state quantity derived from said one state quantity to set the determined transformation parameter to said state quantity transformation unit. 34. A non-linear characteristic reproducing program storage medium storing a non-linear characteristic reproducing program which causes a computer to operate as a non-linear characteristic reproducing apparatus for reproducing characteristics of a system including a non-linear system, wherein said non-linear characteristic reproducing program storage medium stores a non-linear characteristic reproducing program comprising: a linear model unit for reproducing characteristics of a linear system, and a non-linear model unit for determining, upon receipt of an estimated state quantity at a subsequent sampling time of at least one state quantity of a first state quantity and a second state quantity, which are in a relation of mutually non-linear transformation, or a state quantity derived from said one state quantity, from said linear model unit, a transformation parameter used for a linear transformation at the subsequent sampling time between the first state quantity and the second state quantity, wherein an operation of determining the transformation parameter at the subsequent sampling time in said non-linear model unit and a linear operation including a linear transformation between the first state quantity and the second state quantity using the transformation parameter at the subsequent sampling time determined in said non-linear model unit, in said linear model unit are alternatively repeated. 35. A non-linear characteristic reproducing program storage medium storing a on-linear characteristic reproducing program which causes a computer to operate as a nonlinear characteristic reproducing apparatus for reproducing characteristics of a system including a non-linear system, wherein said non-linear characteristic reproducing program storage medium stores a non-linear characteristic reproducing program comprising: a logical decision unit for receiving one or more variables, and determining a logical value at a subsequent sampling time, selected among from a plurality of discrete values in accordance with the received one or more variables; and a state quantity selecting unit for receiving a predetermined input state quantity and outputting at the subsequent sampling time an output state quantity in which a relation between the input state quantity and the output state quantity is changed over to a relation according to the logical value at the subsequent sampling time determined by said logical decision unit. 36. A non-linear characteristic reproducing program storage medium storing a non-linear characteristic reproducing program which causes a computer to operate as a non-linear characteristic reproducing apparatus wherein upon receipt of a predetermined first state quantity, a second state quantity changed over to a non-linearity according as the received first state quantity is in a predetermined state is generated, wherein said non-linear characteristic reproducing program storage medium stores a non-linear characteristic reproducing program comprising: a state variation estimation unit for predicting a state quantity variation width during a period from a present sampling time to a subsequent sampling time of the first state quantity; a state deviation detection unit for determining a deviation between a value at the present sampling time of the first state quantity and a decision value for deciding whether the first state quantity is in a predetermined state; a stable state decision unit for determining a logical value to be selected from among a plurality of discrete values, predicting a non-linear variation at a subsequent sampling time in accordance with a comparison of the state quantity variation width predicted by said state variation estimation unit with the deviation determined in said state deviation detection unit; and a state quantity selecting unit for outputting the second state quantity changed over in accordance with the logical value determined in said stable state decision unit. 37. A non-linear characteristic reproducing program storage medium storing a non-linear characteristic reproducing program which causes a computer to operate as a non-linear characteristic reproducing apparatus for reproducing characteristics of a system including a non-linear system, wherein said non-linear characteristic reproducing program storage medium stores a non-linear characteristic reproducing program comprising: a linear model unit for reproducing characteristics of a linear system; including a state quantity transformation unit for linear-transforming a first observation state quantity to a second observation state quantity in accordance with a transformation parameter set up; and a non-linear model unit for generating, upon receipt of an estimated state quantity at a subsequent sampling time of a first observation state quantity from said linear model unit the transformation parameter in accordance with the received estimated state quantity and setting the generated transformation parameter on said state quantity transformation unit, wherein said non-linear model unit comprises: a slow change reproducing unit for receiving from said linear model an observation quantity or an estimated observation value of a predetermined second observation state quantity identical to or different from the first observation state quantity, to generate a slow change state quantity reflecting characteristic of a first non-linear system offering a relatively slow behavior change in accordance with the observation quantity or the estimated observation value of the second observation state quantity; and a characteristic generating unit for generating a transformation parameter reflecting characteristic of a second non-linear system offering a relatively rapid behavior change in accordance with the estimated observation value at a subsequent sampling time of the first observation state quantity derived from said linear model unit and the slow change state quantity generated in said slow change reproducing unit and setting up the generated transformation parameter on said state quantity transformation unit.