Real-Time Simulation and Visualization Architecture With Field Programmable Gate Array (FPGA) Simulator

“…The steering valve dynamics, described in detail in [10], simulates the dynamics between the rotation of the steering wheel and the rotational motion of the front steer wheel about the king pin. The dynamics of this system are quite stiff due to small time constants associated with internal volumes in the steering valve.…”

Section: Hardware Implementationmentioning

confidence: 99%

Real-time simulation of dynamic vehicle models using a high-performance reconfigurable platform

Monga

Roggow

Karkee

et al. 2015

Microprocessors and Microsystems

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A purely software-based approach for Real-Time Simulation (RTS) may have difficulties in meeting real-time constraints for complex physical model simulations. In this paper, we present a methodology for the design and im-plementationof RTS algorithms,basedontheuseof Field-ProgrammableGateArray(FPGA) technologytoimprove the response time of these models. Our methodology utilizes traditional hardware/ software co-design approaches to generate a heterogeneous architecture for an FPGA-based simulator. The hardware design was optimized such that it efficiently utilizes the parallel nature of FPGAs and pipelines the independent operations. Further enhancement is obtained through the use of custom accelerators for common non-linear functions. Since the systems we examined had relatively low response time requirements, our approach greatly simplifies the software components by porting the computationally complexregionsto hardware.We illustratethe partitioningofa hardware-based simulator design across dual FPGAs, initiateRTS usinga system input froma Hardware-in-the-Loop (HIL) framework, and use these simulation results from our FPGA-based platform to perform response analysis. The total simulation time, which includes the time required to receive the system input over a socket (without HIL), software initialization, hardware computation, and transferof simulation results backovera socket, showsa speedup of 2× as compared to a similar setup with no hardware acceleration. The correctness of the simulation output from the hardware has also been validated with the simulated results from the software-only design. AbstractA purely software-based approach for Real-Time Simulation (RTS) may have difficulties in meeting real-time constraints for complex physical model simulations. In this paper, we present a methodology for the design and implementation of RTS algorithms, based on the use of Field-Programmable Gate Array (FPGA) technology to improve the response time of these models. Our methodology utilizes traditional hardware/software co-design approaches to generate a heterogeneous architecture for an FPGA-based simulator. The hardware design was optimized such that it efficiently utilizes the parallel nature of FPGAs and pipelines the independent operations. Further enhancement is obtained through the use of custom accelerators for common non-linear functions. Since the systems we examined had relatively low response time requirements, our approach greatly simplifies the software components by porting the computationally complex regions to hardware. We illustrate the partitioning of a hardware-based simulator design across dual FPGAs, initiate RTS using a system input from a Hardware-in-the-Loop (HIL) framework, and use these simulation results from our FPGA-based platform to perform response analysis. The total simulation time, which includes the time required to receive the system input over a socket (without HIL), software initialization, hardware computation, and transfer of simulation results back over a sock...

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“…The steering valve dynamics is described in detail in [18]. It uses a gerotor motor and a rotary valve assembly, to direct the fluid to different branches of a double ended cylinder.…”

Section: Th Order Vehicle System -Steering Valve and Vehicle Modelmentioning

confidence: 99%

Real-time simulation of dynamic vehicle models using high performance reconﬁgurable computing platforms

Monga

Self Cite

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Real-Time Simulation and Visualization Architecture With Field Programmable Gate Array (FPGA) Simulator

Cited by 5 publications

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Automated Implementation from Modeling to FPGA of Vehicle Autopilot

Automated Implementation from Modeling to FPGA of Vehicle Autopilot

Real-time simulation of dynamic vehicle models using a high-performance reconfigurable platform

Real-time simulation of dynamic vehicle models using high performance reconﬁgurable computing platforms

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