Skip to main content

Advertisement

SpringerLink
Log in

State of the art: hardware in the loop modeling and simulation with its applications in design, development and implementation of system and control software

  • Published:
International Journal of Dynamics and Control Aims and scope Submit manuscript

Abstract

Nowadays due to the technology development and use of digital computers in various systems, need for development of high performance and robust software is attracting great attentions. Because of increasing complexity in algorithms and implementation hardware for embedded systems, proper simulation tools are required. In sophisticated systems design, hardware in the loop (HIL) simulation is known as a prominent simulation tool before realistic tests of the system and a step after software simulation. Simultaneously it can be used for verification and validation of automation and control software. HIL has had an historical background in aerospace industries. Recently, this tool has spread in different steps of system life cycle such as design, development, implementation and test of various applications including automobile industry, shipbuilding, power lines, robotic systems and etc. Utilizing a suitable hardware in the loop laboratory, in system design stages is a practical way to increase the system reliability and efficiency as well as value of product. Also, by proper investigation in this modelling and simulation method, many errors can be avoided in design procedure of software and hardware as well as their interconnections. In this study, structure and components of an hardware in the loop laboratory for different systems are explored, also it is tried to more evaluate the applications of HIL simulations in dynamics and control engineering. At last, general structure of an hardware in the loop lab for diverse industries is proposed and discussed.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Fig. 1
Fig. 2
Fig. 3
Fig. 4
Fig. 5
Fig. 6
Fig. 7
Fig. 8

Similar content being viewed by others

References

  1. Ronsheng L, Satina M (2010) Aerospace real-time control system and software. In: Lewis (ed) The control handbook: control system applications. CRC Press, Boca Raton, FL

  2. National Aeronautics and Space Administration (2007). NASA systems engineering handbook. NASA, Washington

  3. European Cooperation for Space Standardization (2010). ECSS-E-HB-60A: control engineering handbook.

  4. European Cooperation for Space Standardization (2001). ECSS-E60: control engineering Standard.

  5. Burbank JL, Kasch W, Ward J (2011) An introduction to network modeling and simulation for the practicing engineer, 1st edn. John Wiley, Hoboken, NJ

    Book  Google Scholar 

  6. Isermann R (1999) Hardware-in-the-loop simulation for the design and testing of engine-control systems. Control Eng Pract 7: 643–653

    Article  Google Scholar 

  7. Chadhuri S-K, Venkatachalam G, Rabhakar M (1995) Hardware in the loop simulation for missile systems. In: Proceedings of the IFAC Intelligent Autonomous Control in Aerospace, pp 105– 112

  8. Sullivan MM (1966) Hybrid simulation of the Apollo guidance and navigation system. Simulation 7:25

    Article  Google Scholar 

  9. Carrol FJ, Spenny CH (1968) APOLLO command and service module stabilization and control system design survey. NASA technical note, Manned Spacecraft Center, Electronic Research Center, Cambridge, MA, December 1968

  10. Gross JL (1967) Real time hardware-in-the-loop simulation verifies performance of Gemini computer and operational program. Simulation 9:141

    Article  Google Scholar 

  11. Peters WH, Cox KJ (1973) APOLLO experience report—guidance and control systems: digital autopilot design development. NASA Technical Note, Manned Spacecraft Center, June 1973

  12. Tedesco M (2012) Orion GNC/Aero interfaces. NASA Technical Note, Manned Spacecraft Center, May 2012

  13. http://www.scopus.com/. Accessed 2013

  14. http://www.proquest.com/. Accessed 2013

  15. http://www.dspace.com/en/inc/home.cfm. Accessed 2013

  16. http://www.opal-rt.com/. Accessed 2013

  17. http://www.carsim.com/. Accessed 2013

  18. http://www.itisim.com/. Accessed 2013

  19. http://www.winemantech.com/

  20. http://www.mathworks.com/products/xpctarget/

  21. Isermann R (2011) Perspectives of automatic control. Control Eng Pract 19:1399–1407

    Article  Google Scholar 

  22. Bolt WM, Carman GL, Halliman CR, Labrecque RJ (1968) Mathematical model for the LM lunar descent hybrid simulation. NASA technical note, Manned Spacecraft Center, April 1968

  23. Karpenko M, Sepehri N (2006) Hardware-in-the-loop simulator for research on fault tolerant control of electrohydraulic flight control systems, American Control Conference Minneapolis, MN, June 14–16

  24. Spangenberg H, Friehmelt H (2005) Hardware-in-the-loop simulation with flight control actuators, AIAA Modeling and Simulation Technologies Conference and Exhibit, San Francisco, CA, August 2005

  25. Anderson N, Hagenauer B, Erickson R, Bhandari S (2008) Flight-testing of a UAV aircraft for autonomous operation using Piccolo II autopilot. In: AIAA atmospheric flight mechanics conference and exhibit, Honolulu, 18–21 August 2008

  26. Gans NR, Dixon WE, Lind R, Kurdila A (2009) An hardware in the loop simulation platform for vision-based control of unmanned air vehicles. Mechatronics 19:1043–1056

    Article  Google Scholar 

  27. Montazeri-Gh M, Nasiri M (2013) Hardware-in-the-loop simulation for testing of electro-hydraulic fuel control unit in a jet engine application. Simulation 89:225–233

    Article  Google Scholar 

  28. Sanvido JMAA (2002) Hardware-in-the-loop simulation framework. Thesis for the degree of Doctor of Technical Sciences, Swiss Federal Institute of Technology (ETH), Zurich

  29. Ledin J, Dickens M, Sharp J (2003) Single modelling environment for constructing high-fidelity plant and controllers, AIAA modeling and simulation technologies conference and exhibit, Austin, TX, 11–14 August

  30. Jeon SW, Jung S (2012) Hardware-in-the-loop simulation for the reaction control system using PWM-based limit cycle analysis. IEEE Trans Control Sys Technol 20(2):538–545

    Article  Google Scholar 

  31. Koh Dong-Wook, Park Sang-Young, Kim Do-Hee, Choi Kyu-Hong (2009) Development of an hardware-in-the-loop simulator for spacecraft attitude control using thrusters. J Astron Space Sci 26(1):47–58

    Article  Google Scholar 

  32. Badaruddin KS, Hernandez JC, Brown JM (2007) The importance of hardware-in-the-loop testing to the cassini mission to saturn. Jet Propulsion Laboratory, California Institute of Technology, Pasadena 2007

  33. Tobbe P, Matras A, Walkerz D (2009) Real-time hardware-in-the-loop simulation of ares launch vehicle. American Institute of Aeronautics and Astronautics

  34. Mitchell JW, Luquettet RJ (2005) Recent developments in hardware-in-the-loop formation navigation and control. NASA technical reports

  35. Keel N (2011) Hardware-in-the-loop simulation 101 introduction to HIL testing. Automotive testing expo North America 2011 forum, Presentations, 25 October 2011

  36. Güvenç BA, Güvenç L, Karama S (2009) Robust yaw stability controller design and hardware-in-the-loop testing for a road vehicle. IEEE Trans Veh Technol 58(2):555–571

    Article  Google Scholar 

  37. Palladino A, Fiengo G, Lanzo D (2012) A portable hardware-in-the-loop (HIL) device for automotive diagnostic control systems. ISA Trans 51:229–236

    Article  Google Scholar 

  38. Gietelink O, Ploeg J, De Schutter B, Verhaegen M (2006) Development of advanced driver assistance systems with vehicle hardware-in-the-loop simulations, Technical report 05–009, Center for Systems and Control, Delft University of Technology

  39. Short Michael, Pont Michael J (2008) Assessment of high-integrity embedded automotive control systems using hardware in the loop simulation. J Sys Softw 81:1163–1183

    Article  Google Scholar 

  40. Lee MH et al (2011) Development of an hardware in the loop simulation systems for electric power steering in vehicles. Int J Automot Technol 12(5):733–744

    Article  Google Scholar 

  41. Naus GJL, Ploeg J, Heemels WPMH, Steinbuch M (2010) Design and implementation of parameterized adaptive cruise control: an explicit model predictive control approach. Control Eng Pract 18:882–892

    Article  Google Scholar 

  42. Morgando Sorniotti A, Velardocchia M (2006) Active roll control: system design and hardware-in-the-looptest bench. Vehicle Sys Dyn 44(Supplement):489–505

    Google Scholar 

  43. Misslehorn WE, Theron NJ, Els PS (2006) Investigation of hardware-in-the-loop for use in suspension development. Veh Sys Dyn 44(1):65–81

    Article  Google Scholar 

  44. Michalek D, Gehsat C, Trapp R, Bertram T (2005) Hardware-in-the-loop-simulation of a vehicle climate controller with a combined HVAC and passenger compartment model. In: Proceedings of the 2005 IEEE/ASME international conference on advanced intelligent mechatronics, Monterey, CA, 24–28 July 2005

  45. Li B, Otten R, Chandan V, Mohs WF, Berge J, Alleyne AG (2010) Optimal on-off control of refrigerated transport systems. Control Eng Pract 18(2010):1406–1417

    Article  Google Scholar 

  46. Conti R, Meli E, Ridolfi A, Rindi A (2014) An innovative hardware in the loop architecture for the analysis of railway braking under degraded adhesion conditions through roller-rigs. Mechatronics 24:139–150

    Article  Google Scholar 

  47. Isermann R (2008) Mechatronic systems–innovative products with embedded control. Control Eng Pract 16:14–29

    Article  Google Scholar 

  48. Li H, Steurer M, Shi KL, Woodruff S, Zhang D (2006) Development of a unified design, test, and research platform for wind energy systemsbased on hardware-in-the-loop real-time simulation. IEEE Trans Ind Electron 53(4):1144–1151

    Article  Google Scholar 

  49. Lu B, Wu X, Figueroa H, Monti A (2007) A low-cost real-time hardware in-the-loop testing approach of power electronics controls. IEEE Trans Ind Electron 54(2):919–931

    Article  Google Scholar 

  50. Kuperman A, Horen Y, Tapuchi S (2010) A differential state-space approachto simultaneous emulation of uncertainties and disturbances involtage-controlled brushless motors. IEEE Trans Ind Electron 57(2):727–734

    Article  Google Scholar 

  51. Ayasun S (2007) Modeling and stability analysis of a simulation-stimulation interface for hardware-in-the-loop applications. Simul Modell Pract Theory 15:734–746

    Article  Google Scholar 

  52. Grono AJ (2001) Synchronizing generators with HITL simulation. IEEE Comput Appl Power 14:43–46

    Article  Google Scholar 

  53. Dinavahi VR, Iravani MR, Bonert R (2001) Real-time digital simulation of power electronic apparatus interfaced with digital controllers. IEEE Trans Power Deliv 16:775–781

    Article  Google Scholar 

  54. Craciun O, Florescu A et al (2014) Hardware-in-the-loop simulation applied to protection devices testing. Electr Power Energy Sys 54:55–64

    Article  Google Scholar 

  55. Faruque MOO, Dinavari V (2010) Hardware in the loop simulation of power electronic systems using adaptive decentralization. IEEE Trans Ind Electron 57(4):1146–1158

  56. Carstensen C, Biela J (2011) 10kV/30kA unipolar arbitrary voltage source for hardware-in-the-loop simulation systems for HVDC circuit breakers. In: Power electronics and applications (EPE 2011), Proceedings of the 2011–2014th European Conference on IEEE pp 1–10. IEEE 2011

  57. Martin A, Emami MR (2011) Dynamic load emulation in hardware-in-the-loop simulation of robot manipulators. IEEE Trans Ind Electron 58(7):2980–2987

    Article  Google Scholar 

  58. Temeltas H, Gokasan M, Bogosyan S, Kilic A (2002) Hardware in the loop simulation of robot manipulators through Internet in mechatronics education. In Proceedings of the 28th Annual Conference IEEE Industrial Electronics Society vol 4. IEEE, Sevilla, pp 2617–2622

  59. Yu G, Zhou F, Marian N, Angelov C (2007) Hardware-in-the-Loop simulation of component-based embedded systems. In: Proceedings of the 8th international workshop on research and education in mechatronics (REM2007) 2007

  60. White G, Bhatt R, Tang C, Krovi V (2009) Experimental evaluation of dynamic redundancy resolution in a nonholonomic wheeled mobile manipulator. IEEE/ASME Trans Mech 14(3):349–357

    Article  Google Scholar 

  61. Hassanzadeh I, Jabbari Asl H (2009) Tele-visual servoing of robotic manipulators, implementation and technical issues. J Appl Sci 9(2):278–286

    Article  Google Scholar 

  62. Skjetne R, Egeland O (2006) Hardware-in-the-loop testing of marine control systems. Model Identif Control 27(4):239–258

    Article  Google Scholar 

  63. Johansen TA, Fossen TI, Vik B (2005) Hardware-in-the-loop testing of DP systems. In Proceedings of the dynamic positioning conference, 27–28 September 2005

  64. Hwang A et al (2009) Verification of unmanned underwater vehicle with velocity over 10knots guidance control system based on hardware in the loop simulation. In Proceedings of the OCEANS 2009, MTS/IEEE biloxi-marine technology for our future: global and local challenges. IEEE 2009

  65. Woolsey M, Jarnagin R (2012) Design, Implementation, and Refinement of an hardware-in-the-Loop Simulator for a Hovering AUV. In: Proceedings of the IEEE Oceans Conference, Hampton 2012

  66. Marouani K et al (2013) “Experimental investigation of an emulator” hardware in the loop for electric naval propulsion system. In: Proceedings of the 21st Mediterranean conference on control & automation (MED), Platanias-Chania, Crete, 25–28 June 2013

  67. Clark AM, Kocak DM, Martindale K, Woodroffe A (2009) “ Numerical Modeling and Hardware-in-the-Loop Simulation- of Undersea Networks, Ocean Observatories and Offshore Communications Backbones. In: Proceedings of the OCEANS 2009, MTS/IEEE biloxi-marine technology for our future: global and local challenges. IEEE, 2009

  68. Resta F, Facchinetti A, Collina A, Bucca G (2008) On the use of an hardware in the loop set-up for pantograph dynamics evaluation. Veh Sys Dyn 46(Supplement):1039–1052

    Article  Google Scholar 

  69. Lin CF, Tseng CY, Tseng TW (2006) An hardware-in-the-loop dynamics simulator for motorcycle rapid controller prototyping. Control Eng Pract 14:1467–1476

    Article  Google Scholar 

  70. Rankin DJ, Jiang J (2011) An hardware-in-the-loop simulation platform for the verification and validation of safety control systems. IEEE Trans Nucl Sci 58:468–478

    Article  Google Scholar 

  71. Gawthropa PJ, Virdenb DW, Neildb SA, Waggb DJ (2008) Emulator-based control for actuator-based hardware-in-the-loop testing. Control Eng Pract 16:897–908

    Article  Google Scholar 

  72. Juang JG, Lin WK, Lin RW (2011) A hybrid intelligent controller for a twin rotor MIMO system and its hardware implementation. ISA Trans 50:609–619

    Article  Google Scholar 

  73. El-Nagar AM, El-Bardini M (2014) Interval type-2 fuzzy neural network controller for a multivariable anesthesia system based on an hardware-in-the-loop simulation. Artif Intell Med 61:1–10

    Article  Google Scholar 

  74. Matraji I et al (2013) Robust control of the PEM fuel cell air-feed system via sub-optimal second order sliding mode. Appl Energy 104:945–957

    Article  Google Scholar 

  75. Potter M, Bacic M (2012) Design and control of hardware-in-the-loop simulations for testing non-return-valve vibrations in air systems. IEEE Trans Control Sys Technol 20(1):98–110

    Article  Google Scholar 

  76. Kossiakoff A et al (2011) System engineering: principles and practice. John Wiley, Hoboken, NJ

    Book  Google Scholar 

  77. Gomez M (2001) Hardware-in-the-loop simulation. Embed Syst Des. http://m.eetindia.co.in/STATIC/PDF/200112/EEIOL_2001DEC02_EMS_TEST_SIG_TA.pdf?SOURCES=DOWNLOAD. Accessed 2013

  78. Buede DM (2009) The engineering design of systems: models and methods. John Wiley, Hoboken, NJ

    Book  Google Scholar 

  79. Schoner HP (2004) Automotive Mechatronics. Control Eng Pract 12(11):1343–1351

    Article  Google Scholar 

  80. Ledin JA (1999) Hardware in the loop simulation. Embed Sys Program 12:42–60

    Google Scholar 

Download references

Author information

Authors and Affiliations

  1. Department of Control Engineering, Islamic Azad University, South Tehran Branch, Tehran, Iran

    Pouria Sarhadi

  2. Department of Computer Engineering, Amir Kabir University of Technology, Tehran, Iran

    Samereh Yousefpour

Authors
  1. Pouria Sarhadi
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Samereh Yousefpour
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Pouria Sarhadi.

Rights and permissions

Reprints and permissions

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

Sarhadi, P., Yousefpour, S. State of the art: hardware in the loop modeling and simulation with its applications in design, development and implementation of system and control software. Int. J. Dynam. Control 3, 470–479 (2015). https://doi.org/10.1007/s40435-014-0108-3

Download citation

  • Received:

  • Revised:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s40435-014-0108-3

Keywords

Search

Navigation