---
readstatus: true
dateread: 2024-08-13
title: "Hardware-in-the-Loop Simulations: A Historical Overview of Engineering Challenges"
year: 2022
authors:
  - Mihalič, Franc
  - Truntič, Mitja
  - Hren, Alenka
DOI: 10.3390/electronics11152462
ISBN: ""
citekey: mihalicHardwareintheLoopSimulationsHistorical2022
itemType: journalArticle
journal: _Electronics_
volume: 11
issue: 15
pages: 2462
---
#### DOI
[10.3390/electronics11152462](https://doi.org/10.3390/electronics11152462)
#### ISBN
[](https://www.isbnsearch.org/isbn/)

### Tags:
#automotive, #controller-in-the-loop-CIL, #DC-DC-converters, #electric-drives, #grid-applications, #hardware-in-the-loop-HIL, #inverter-systems, #power-hardware-in-the-loop-PHIL, #railway-systems

**Contribution**:: 
* Lots of good citations to papers about hardware in the loop things. Has citations for a lot of the claims I'm making in [[ARCADE Implementation at the University of Pittsburgh]] about implementation in automotive contexts. Also comments about how expensive these systems are.
**Related**:: 

> [!LINK] 
>
>  [Full Text PDF](file:///home/danesabo/Zotero/storage/893YXFRK/Mihalič%20et%20al.%20-%202022%20-%20Hardware-in-the-Loop%20Simulations%20A%20Historical%20Ove.pdf).

> [!Abstract]
>
> The design of modern industrial products is further improved through the hardware-in-the-loop (HIL) simulation. Realistic simulation is enabled by the closed loop between the hardware under test (HUT) and real-time simulation. Such a system involves a field programmable gate array (FPGA) and digital signal processor (DSP). An HIL model can bypass serious damage to the real object, reduce debugging cost, and, finally, reduce the comprehensive effort during the testing. This paper provides a historical overview of HIL simulations through different engineering challenges, i.e., within automotive, power electronics systems, and different industrial drives. Various platforms, such as National Instruments, dSPACE, Typhoon HIL, or MATLAB Simulink Real-Time toolboxes and Speedgoat hardware systems, offer a powerful tool for efficient and successful investigations in different fields. Therefore, HIL simulation practice must begin already during the university’s education process to prepare the students for professional engagements in the industry, which was also verified experimentally at the end of the paper.
>.
> 
# Notes
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### Imported: 2024-08-13 1:47 pm



<mark style="background-color: #5fb236">Quote</mark>
> An HIL model can bypass serious damage to the real object, reduce debugging cost, and, finally, reduce the comprehensive effort during the testing.

<mark style="background-color: #ffd400">Quote</mark>
> At the same time, HIL simulation also includes controller-in-the-loop (CIL) simulations, forming the backbone of the automotive, defense, marine, and space industries. This simulation is infallible in testing a component, such as an electronic control unit (ECU), and is connected to the simulation instead of the real equipment under control.

<mark style="background-color: #ff6666">Quote</mark>
> The fact is that the actuators are hard to model, and, when they are available, can be incorporated into the simulation loop to improve the simulation.

<mark style="background-color: #5fb236">Quote</mark>
> In the last half-century, HIL simulation has played an essential role in the field of flight simulation [3]. At the same time, broad use of this method can also be found in the testing of missile guidance systems [4]. Even before this, highly maneuverable aircraft technology (HiMAT) was developed by NASA [5]. Within this program, the use of advanced concepts was investigated (such as fly-by-wire and reduced static stability). Additional to NASA’s development of an area of high-fidelity HIL simulations, the USAF Phillips Lab has developed a laboratory to integrate component technologies and demonstrate spacecraft subsystem/payload level capabilities [6]. HIL simulation is developing fast from a system model design, synthesis, and simulation criterion. An HIL simulator is often a powerful tool in many applications, such as airplanes, missiles, and uncrewed aerial- or ground-traffic vehicles, where the autopilots play a crucial and vital role [7]. Through the HIL simulator, the embedded system is forced to operate in real time, such as in the real world with real inputs and outputs. For example, the autopilot fools the aircraft system into thinking that it is flying.

<mark style="background-color: #e56eee">Quote</mark>
> cost slightly over EUR 100,000 (with 100 inputs and outputs), then the second identical unit cost about EUR 25,000 to build. This was considered a bargain compared to the multi-million dollar unmanned aerial vehicles (UAVs) they were developing—if the HILS prevented the crash of just one UAV, the company would get its money’s worth. There was another, even more, valuable benefit: a HILS allows the software to be developed and tested without waiting for the actual hardware to be built (or, in this case, built and flown

<mark style="background-color: #e56eee">Quote</mark>
> In [13], dSpace offers safe testing through the power hardware-in-theloop (Power HIL or PHIL) systems, where a relevant emulation is used for the simulated signals (Figure 3) to validate the ECUs with software-in-the-loop (SIL) in HIL environments. The ECU software is, in a SIL solution, certified in a virtual environment. The ECU software can then be approved with no ECU hardware at all. The requested object model and the software run on a PC using particular tools. The test execution is also possible in the cloud with included scaling as well.

<mark style="background-color: #5fb236">Quote</mark>
> MATLAB by MathWorks, Inc. [81] is used widely in the dynamic system and controls analysis and simulation areas in the industry and at universities for educational purposes. MATLAB with add-on components called toolboxes is the primary “engine”. Simulink is a MATLAB add-on that provides a graphical user interface for model development and system simulation [9]. The real-time toolboxes and Speedgoat real-time target machines (see Figure 38) can generate real-time code for Simulink models [10], and take you from simulation to RCP and HIL testing in a single click.


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%% Import Date: 2024-08-13T13:47:22.281-04:00 %%
