OpenModelica-HIL-Simulation

Free library for Hardware-in-Loop simulation with Arduino using Modelica and Modelica_DeviceDrivers models in Linux.

Library description

The OpenModelica-HIL-Simulation library is an open source Modelica package for Hardware-in-Loop simulations involving Arduino platforms using Interprocess Communication.

Main features:

• Support for Linux.
• (Soft) real-time synchronization of a simulation.

Please note that the library is known to work with

• OpenModelica (partial support starting with OpenModelica v1.11.0, e.g.serial port).

Prerequisites

• OpenModelica (>= v1.11.0) (https://www.openmodelica.org/download/download-linux)

• Modelica_DeviceDrivers (v1.5.1) (https://github.com/modelica/Modelica_DeviceDrivers/releases/tag/v1.5.1)

• Servomechanisms(https://github.com/afrhu/Servomechanisms.git)

• Install and Run: Launch OMEdit with admin priviledeges('sudo mode') and load the package OpenModelica-HIL-Simulation(HIL_IPC/HIL_ArduinoIPC/package.mo & HIL_OpenModelica/package.mo) and InterProcessCommunication(InterProcessCommunication/package.mo).Also, load the Servomechanisms package. Load the Arduino platform with the controller1.ino code in controller1 directory. Create any model using the package and simulate.

Running Test Simulation

Test the package using HIL_Arduino.mo test provided.

• Load the Arduino platform with the controller1.ino code.
• Compile the SerialSHM.c file in HIL_IPC/HIL_ArduinoIPC/Resources/Include using the following command

$ gcc Serial_SHM.c -o Serial_SHM -lrt

• Execute the SerialSHM file using the following command

$ sudo ./Serial_SHM

• Load the HIL_Arduino.mo test model present in package.
• Set simulation flag '-rt=1' in OMEdit. Simulate the model. If no error occurs, the package is good to go.

For further information: Visit https://build.openmodelica.org/Documentation/Modelica.html , https://build.openmodelica.org/Documentation/Servomechanisms.html

Development and contribution

Main developers:

• Souradip Pal, contribution to the Linux specific code

Contributions in shape of [Pull Requests] are always welcome.

The following people have directly contributed to the implementation of the library (many more have contributed by providing feedback and suggestions):

• Manas Ranjan Das (project mentor), contribution in bug fixes,error removal etc.