Models for Distributed Real-Time Simulation in a Vehicle Co-Simulator Setup

Anders Anderson
Swedish National Road and Transportation Research Institute, Sweden

Peter Fritzson
IDA, Linköping University, Sweden

Ladda ner artikel

Ingår i: Proceedings of the 5th International Workshop on Equation-Based Object-Oriented Modeling Languages and Tools; April 19; University of Nottingham; Nottingham; UK

Linköping Electronic Conference Proceedings 84:16, s. 131-139

Visa mer +

Publicerad: 2013-03-27

ISBN: 978-91-7519-621-3 (print)

ISSN: 1650-3686 (tryckt), 1650-3740 (online)


A car model in Modelica has been developed to be used in a new setup for distributed real-time simulation where a moving base car simulator is connected with a real car in a chassis dynamometer via a 500m fiber optic communication link. The new co-simulator set-up can be used in a number of configurations where hardware in the loop can be interchanged with software in the loop. The models presented in this paper are the basic blocks chosen for modeling the system in the context of a distributed real-time simulation; estimating parameters for the powertrain model; the choice of numeric solver; and the interaction with the solver for real-time properties.


Modelica; real-time; distributed; communications link


[1] X. Hu and E. Azarnasab. From virtual to real – A progressive simulation-based design framework. In Discrete-Event Modeling and Simulation; CRC Press; 2010.

[2] A. Andersson; P. Nyberg; H. Sehammar; and P. Öberg. Vehicle Powertrain Test Bench Co-Simulation with a Moving Base Simulator Using a Pedal Robot. In SAE World Congress; number 2013-01-0410; Detroit; USA; 2013.

[3] Modelica Association. Modelica Language Specification 3.3; www.modelica.org; May 2012.

[4] Peter Fritzson. Principles of Object Oriented Modeling and Simulation with Modelica 2.1; 940 pages; ISBN 0-471-471631; Wiley-IEEE Press. January 2004.

[5] Elmqvist; H.; Mattsson; S.; & Olsson; H. Real-time simulation of detailed vehicle and powertrain dynamics. SAE SP; 2004.

[6] Otter; M.; Schlegel; C.; & Elmqvist; H. Modeling and realtime simulation of an automatic gearbox using Modelica. Proceedings of ESS; 1997.

[7] A. Bolling; J. Jansson; M. Hjort; M. Lidström; et al. An approach for realistic simulation of real road condition in a moving base driving simulator. ASME/Journal of Computing and Information Science in Engineering; 11(4); 2011.

[8] P. Öberg; P. Nyberg; and L. Nielsen. A new chassis dynamometer laboratory for vehicle research. In SAE World Congress; number 2013-01-0402; Detroit; USA; 2013.

[9] S. Mattson; H. Elmqvist and M. Otter. Physical system modeling with Modelica. Control Engineering Practice; 6(4); 501–510; 1998.

[10] Open Source Modelica Consortium. OpenModelica Users Guide version 1.9.0beta; February 2013. www.openmodelica.org.

[11] Dassault Systems. Dymola Users Guide; version 7.1; February 2013. www.dymola.com.

[12] D. L. Mills. Internet Time Synchronization: The Network Time Protocol; IEEE Transactions on Communications; vol. 39; no. 10; 1991.

[13] J. G. Fernández. A Vehicle Dynamics Model for Driving Simulators. Master’s thesis at Chalmers University of Technology; Göteborg; Sweden; 2012.

[14] P. J. Mosterman; S. Prabhu; A. Dowd; J. Glass; T. Erkkinen; J. Kluza; R. Shenoy. Embedded Real-Time Control via MATLAB; Simulink; and xPC Target.

[15] M. Huhn; M. Sjölund; W. Chen; C. Schulze & P. Fritzson. Tool Support for Modelica Real-time Models In Proceedings of the 8th Modelica Conference; Dresden; Germany; March 20-22; 2011.

[16] T. Blochwitz; M. Otter; & M. Arnold. The Functional Mockup Interface for Tool independent Exchange of Simulation Models. In Proceedings of the 8th Modelica Conference; (pp. 105–114); 2011.

Citeringar i Crossref