Co-simulation framework for design of time-triggered cyber physical systems

Abstract

Designing cyber-physical systems (CPS) is challenging due to the tight interactions between software, network/platform, and physical components. A co-simulation method is valuable to enable early system evaluation. In this paper, a cosimulation framework that considers interacting CPS components for design of time-triggered (TT) CPS is proposed. Virtual prototyping of CPS is the core of the proposed framework. A network/platform model in SystemC forms the backbone of the virtual prototyping, which bridges control software and physical environment. The network/platform model consists of processing elements abstracted by realtime operating systems, communication systems, sensors, and actuators. The framework is also integrated with a model-based design tool to enable rapid prototyping. The framework is validated by comparing simulation results with the results from a hardware-in-the-loop automotive simulator.

Stochastic hybrid systems meet software components for well-founded cyber-physical systems software architectures

“…Masaccio [7] proposes a component-oriented reformulation of hybrid automata but where "components" are modular models, not software ones. Co-simulation, understood as the joint execution of a simulation with a software system, has been proposed to provide a form of SIL [1,16,18] but seen as separate entities rather than merged into a unifying concept. Robotics has produced an extensive literature on the joint use of software/hardware and simulation to test robots too large to cite here.…”

Robust Cyber–Physical Systems: Concept, models, and implementation

“…In reality, the individual timing constraints for each individual component vary due to the non-deterministic system delay caused by the several different actions in the CPS, such as sensing, computation, communication, and actuation. When all these systems come together with their own individual timing constraints, the overall timing factor of the CPS becomes a significant challenge [57].…”

Co-modelling and co-simulation in the engineering of systems of cyber-physical systems

“…Zhang et al [17] propose a co-simulation framework that has many parallels with the Crescendo approach, however they focus on timetriggered cyber-physical systems, particularly in the automotive domain, with tighter coupling to networking protocols. Modelica [18] is a non-proprietary, object-oriented, equationbased language intended to model complex physical systems.…”