Scheduling Real-Time HiL Co-Simulation of Cyber-Physical Systems on Multi-Core Architectures
Salah Eddine Saidi, Nicolas Pernet, Yves Sorel · 2018
When designing complex cyber-physical systems, engineers have to integrate numerical models from different modeling environments in order to simulate the whole system and estimate its global performances. Co-simulation refers to such joint simulation of heterogeneous models. If some parts of the system are physically available, it is possible to connect these parts to the co-simulation in a Hardware-in-the-Loop (HiL) approach. In this case, the simulation has to be performed in real-time where models execution consists in periodically reacting to the real (physically available) components and providing periodic output updates. This paper deals with the parallelization and scheduling of real-time Hardware-in-the-Loop co-simulation of numerical models on multi-core architectures. A method for defining real-time constraints that have to be met is proposed. Also, an ILP formulation as well as a heuristic are proposed to solve the problem of scheduling the co-simulation on a multicore architecture while satisfying the previously defined real-time constraints. The proposed approach is evaluated for different sizes of co-simulations and multi-core processors.