Modelica as a design tool for hardware-in-the-loop simulation

This paper focuses on the automatic generation of microcontroller code for hardware-in-the-loop simulation using Modelica models. In this work a test is presented and commented in which Modelica is used to specify a control system, the inline integration code is obtained from the Modelica model and executed part on a PC, and part on a microcontroller board. The presented application, albeit created basically for educational purposes, covers quite dierent scenarii, therefore evidencing the usefulness of Modelica in the addressed context, and providing as a consequence some future research directions. The contribution aspect of this work is twofold: on one side the entire cross-compilator software chain is built within the same framework; on the other hand, all the involved software tools are opensource (mainly GPL) licensed, making the application extremely modular and extensible. Furthermore this work will be included in the next release of the open source Modelica environment SimForge [3], thus enriching its Modelica back-ends support.

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