Research And Implementation Of Integrative Real-Time & Hardware-in-the-loop Simulation Platform Based On Simulink

Real-time and hardware-in-the-loop simulation is an important branch in the area of computer simulation. And it's of the highest confidence level in a variety of simulation systems. At present, most of the real-time and hardware-in-the-loop simulation platforms that are used widely have difficulties in all-purpose use, modeling, or interactive simulation. Simulink is a very popular tool internationally on the dynamic system modeling and simulation. It can be used in many areas engineering and mathematics involved, and its powerful graphics modeling feature greatly enhances the efficiency of the development of simulation applications. However, Simulink itself does not support real-time simulation, and does not provide the necessary external physical interface for hardware-in-the-loop simulation as well. Therefore, in order to take full advantages of Simulink simulation productions and its powerful graphics modeling feature, research and development of integrative real-time and hardware-in-the-loop simulation platform based on Simulink is of great significance.Aiming at the actuality that Simulink dynamic systems modeling and simulation lacks real-time control and graphics modeling lacks physical interface module, the key technologies of implementation of intergrative real-time and hardware-in-the-loop simulation platform based on Simulink are discussed thoroughly in the paper. The main works and innovations are as the followings.1. Hardware is an important part of hardware-in-the-loop simulation system, so to provide access to external physical interface to support the hardware-in-the-loop simulation is necessary. Because of that Simulink itself does not provide external physical interface module, on the basis of characteristics of Simulink graphical modeling, this thesis presents a solution which uses S-function modules integrating hardware driving to provide external physical interface. So that physical interface is added to Simulink graphics modeling, it is easier for the development of hardware-in-the-loop simulation application and the efficiency of the development improved too.2. Real-time control is the core of real-time simulation platform and directly bears on the real-time performance that the real-time simulation system can achieve. Aiming at the actuality that model C code generated by Real-Time Workshop lacks real-time control, this thesis presents a way based on template files with real-time control to convert model C code automatically and designs the template files. The model C code can be added real-time control automatically by the method, so the real-time control simulation is carried out.3. Real-time simulation data display and storage is an important aspect of real-time and hardware-in-the-loop simulation, its realization base is data exchange between real-time process and non real-time process. For creating large shared memory between real-time process and non real-time process may affect the performance and stability of the simulation system, this thesis presents a high-performance data exchange algorithm based on optimized data buffer queue. The algorithm is not only a good way to achieve a large number of inter-process high-speed data exchange and to ensure the system's performance and stability. 4. Interaction in simulation is an important way to improve the efficiency of the simulation, and remodifying and resetting of the simulation parameters is the important part of interaction. Aiming at the problem that model code of Simulink does not provide interactive features, this thesis presents the method of interactive simulation based on the parameters configuration file and file format is optimized. The method implements interaction functions and improves the efficiency of real-time simulation.On the basis of those research results, the intergrative real-time and hardware-in-the-loop simulation platform with functions such as graphics modeling, physical interface, real-time simulation operation and control, interactive simulation, real-time data display, results analysis and so on is designed and implemented. The platform can effectively support the development and execution of real-time and hardware-in-the-loop simulation application. It has been successfully applied in some actual projects and achieves excellent real-time performance.