Hardware-In-The-Loop (HIL) simulation has an important role on rapid prototyping and developing control software for various application areas. Having deterministic time response and high computational power, a personal computer (PC) with a real-time operating system is an efficient platform solution for HIL simulation needs. Fast development time and cost efficiency of simulation platform are other important issues for reduction of total production lead time and overall cost. In this paper; taking into consideration all these aforementioned aspects, we propose a HIL simulation software framework for PC target. Building a MATLAB/Simulink diagram and using available device drivers, an ordinary user can develop and execute HIL simulation of his/her controller. The proposed framework is developed for PC platforms that have Linux Xenomai real-time operating system infrastructure. The framework contains a Simulink Xenomai target control module, a Graphical User Interface (GUI) and a Simulink device driver library. Also, to illustrate the performance and feasibility of the proposed framework, a Xenomai real-time driver model (RTDM) based driver for Quanser Q8 data acquisition board has been implemented. Experiments performed on servo control of a two degree of freedom (DOF) robot illustrated that proposed framework meets hard real-time requirements


    Access

    Download


    Export, share and cite



    Title :

    LINUX-XENOMAI TARGET: A REAL-TIME HARDWARE-IN-THE-LOOP SIMULATION FRAMEWORK BASED ON SIMULINK


    Contributors:

    Publication date :

    2015-05-09


    Remarks:

    doi:10.21015/vtse.v6i2.324
    VFAST Transactions on Software Engineering; Vol 3, No 1 (2015): January-December; 7-18 ; 2309-3978 ; 2411-6246



    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    DDC:    629



    Echtzeit-Linux mit Xenomai

    British Library Online Contents | 2007


    Hard Real-Time Control Using SIMULINK Target for Real-Time Linux

    Murillo-Garcia, R. / Womle, F. / Stewart, B. G. et al. | British Library Online Contents | 2004


    Real-time simulation using Linux

    Nalepka, Joseph / Danube, Thomas / Williams, Glenn et al. | AIAA | 2001


    Hardware-in-the-loop simulation framework

    Sanvido, Marco Aurelio Antonio | TIBKAT | 2002


    Hardware-in-the-loop simulation framework

    Sanvido, M.A.A. | Tema Archive | 2002