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Systems engineers face the ever increasing chase for reduced time to market, while the systems to develop ever increase in complexity. Software systems design and integration processes have therefor evolved along the well-known V-cycle. This paper will focus on the software integration for mechatronic systems as they develop fast due to high demands and challenging requirements in the automotive industry. The development order of model in the loop (MIL), software in the loop (SIL), processor in the loop (PIL) and hardware in the loop (HIL) can be seen as state of the art practised by many systems engineers. Driver in the loop (DIL) may be in its infancy, but rapidly growing. The novelty presented in this paper is the consistency of the plant models used in the integration chain supporting consistent model data propagation: Functional Mock-up Units (FMU) defined by the open standard of the Functional Mock-up Interface 1 (FMI).

The TNO i Delft-Tyre is a renowned model for the pneumatic tire in the automotive industry based upon the famous Magic Formula first introduced by Bakker et.al. in the late eighties [1]. The name Magic Formula seems to appear first at the 1 st Delft colloquium on tires four years later [2]. The Magic Formulae themselves have evolved greatly during the last two decades with contributions from a wide variety of companies and researchers. The Magic Formula is widely used in the automotive (and gaming) industry because of its ease of use to represent the complicated tire characteristics. TNO has marketed the Magic Formula tire model as Delft-Tyre and implemented the dynamic forces and moments computation routines, including the extension of SWIFT [3], in a variety of multibody simulation packages, like ADAMS and DADS and general purpose simulation software Simulink ii . Modelon has in close cooperation with TNO by means of extensive benchmarks implemented the MF-Tyre/MF-Swift in Modelica. This paper presents the work conducted to implement the TNO tire models in Modelica which now is available as a commercial library in Dymola iii .

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Thispaper will discuss Modelica's unprecedented flexibility for multi-body simulations. Classical multi-body simulation has as a prerequisite constant mass and inertia for deriving the equations of motion for rigid bodies. However, there are industry applications, like the control development of paper winding, that require time dependency of mass and inertia. In these applications mass and inertia cannot be assumed constant and will thus constitute part of the differential equations system by means of introducing mass and inertia as states.Introducing mass and inertia as states, rather than parameters, requires reformulation of the Newton/Euler formulation of the body model component in the Modelica mechanics multibody library [3].A successful new body model formulation has been created and is applied in an industrial example system model.