MIL / SIL Tutorial

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Overview
Introduction Power Window Model MIL SIL HIL Review

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Introduction
Goals of this tutorial
Describe differences between MIL, SIL & HIL Give a walkthrough of how to actually go from MIL to SIL using Real-Time Workshop

Things not covered here

Details of how to create and run HIL (too many real-time simulator vendors to demonstrate while remaining tool-neutral)

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Introduction
Different stages of the development process (V-diagram) require different kinds of models
MIL = Model-in-the-Loop SIL = Software-in-the-Loop HIL = Hardware-in-the-Loop

What are the differences in these models? How do we create them?

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Introduction: MIL
Model exists entirely in native simulation tool (e.g., Simulink / Stateflow) Good for control algorithm development

Controller
u

Plant
y

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Introduction: SIL
Part of the model exists in native simulation tool (e.g., Simulink / Stateflow), and part as executable C-code (e.g., S-function) Good for testing controller implementations in C-code Controller
u
C-code

Plant
y

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Introduction: HIL
Part of the model runs in a real-time simulator, and part may exist as physical hardware (e.g., ECU) Good for testing interactions with hardware

Controller
u

Plant
y

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Overview
Introduction Power Window Model MIL SIL HIL Review

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Power Window Model

Simulink includes a demo model of a power window (PW) and its controller (see Simulink / Automotive Applications section of the Demo tab in Help system) We will use this model to demonstrate how to go from MIL to SIL

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Power Window Model

controller subsystem plant subsystem

user interface

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PW Model: Configurable Subsystems

PW model uses configurable subsystems (linked libraries)

right-click on a subsystem and select Block Choice to see other available subsystem choices
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PW Model: Controller Subsystem

preprocess command signals from driver and passenger

main logic (Stateflow chart)

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triggered subsystem periodically checks if theres an obstacle

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PW Model: Stateflow Chart

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PW Model: Plant Subsystem

simple plant model integrates acceleration and velocity to predict window position

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PW Model: Console

toggle switches to signal up and down commands from driver / passenger

toggle switch to engage obstacle

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Overview
Introduction Power Window Model MIL SIL HIL Review

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Model-in-the-Loop (MIL)
Run the existing model in Simulink for MIL

MIL controller subsystem uses Stateflow chart

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Model-in-the-Loop (MIL)
Controlling the model
Original model controls inputs via 5 toggle switches
obstacle driver up driver down passenger up passenger down

Not very convenient for automated testing

Enhancements
Replace 5 toggle switches with from Workspace blocks so you can run automated model testing through an m-script
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Model-in-the-Loop (MIL)

replace toggle switches with from Workspace blocks change constant = 0 to bypass ObstacleLogic Stateflow chart (use ObstIntro variable directly from Workspace)
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Model-in-the-Loop (MIL)
Sample script will:
open specific test model select specific subsystems from library set specific input conditions (test vector) execute simulation compare results to known good

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Model-in-the-Loop (MIL)
model = 2; % model configuration input = 2; % input conditions output = 2; % expected results plotit = 1; % show plot of results?

% set model configuration switch model case 1 % original Mathworks model modelname = 'PW_demoCS.mdl'; open(modelname) set_param('PW_demoCS/PW_controller','BlockChoice','simpleSL_controller'); set_param('PW_demoCS/PW_controller/simpleSL_controller/PW_MainController','BlockChoice','MainControllerLogic'); case 2 % model modified to shortcut console Stateflow diagram modelname = 'PW_demoCS_Modified.mdl'; open(modelname) set_param('PW_demoCS_Modified/PW_controller','BlockChoice','simpleSL_controller'); set_param('PW_demoCS_Modified/PW_controller/simpleSL_controller/PW_MainController','BlockChoice','MainControllerLogic'); case 3 % model using S-function representation of controller subsystem modelname = 'PW_demoCS_Modified_SIL.mdl'; open(modelname) set_param('PW_demoCS_Modified_SIL/PW_controller','BlockChoice','Controller_Sfunction'); end

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Model-in-the-Loop (MIL)
% set input conditions switch input case 1 % passenger raises at 2s, driver lowers at 9s tDU = [0;10]; DrvUpCmd = [0;0]; tDD = [0;6;6;9;9;10]; DrvDownCmd = [0;0;1;1;0;0]; tPU = [0;2;2;7;7;10]; PassUpCmd = [0;0;1;1;0;0]; tPD = [0;10]; PassDownCmd = [0;0]; tOi = [0;10]; ObstIntro = [0;0]; case 2 % passenger raises at 2s, obstruction at 3s tDU = [0;10]; DrvUpCmd = [0;0]; tDD = [0;10]; DrvDownCmd = [0;0]; tPU = [0;2;2;2.1;2.1;10]; PassUpCmd = [0;0;1;1;0;0]; tPD = [0;10]; PassDownCmd = [0;0]; tOi = [0;3;3;10]; ObstIntro = [0;0;1;1]; end

% run simulation sim(modelname);

Emmeskay function for comparing time traces

% check outputs for pass / fail switch output case 1 % window raised at 2s up to 0.4m and lowers at 9s back to 0m expected = load('ExpectedResult1.mat'); rms_error = minimum_rms( ... [position.time, position.signals.values], ... [expected.position.time, expected.position.signals.values]); if rms_error < 0.01, result = 1, else, result = 0, end if plotit plot(expected.position.time, expected.position.signals.values,'b', ... position.time, position.signals.values, 'r--') legend('Expected Results','Actual Results') end case 2 % window raised at 2s up to 0.25m and lowers at 3s back to 0m expected = load('ExpectedResult2.mat'); rms_error = minimum_rms( ... [position.time, position.signals.values], ... [expected.position.time, expected.position.signals.values]); if rms_error < 0.01, result = 1, else, result = 0, end if plotit plot(expected.position.time, expected.position.signals.values,'b', ... position.time, position.signals.values, 'r--') legend('Expected Results','Actual Results') end end
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Model-in-the-Loop (MIL)
Running the script for test case shown above results in the following:
>> PW_openloop result = 1

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Overview
Introduction Power Window Model MIL SIL HIL Review

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Software-in-the-Loop (SIL)
Convert controller to S-function for SIL

SIL controller subsystem uses S-function

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Software-in-the-Loop (SIL)
How do you create the S-function for the controller subsystem?
Right-click on controller subsystem and select Real-Time Workshop / Generate S-Function Click Build

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Software-in-the-Loop (SIL)
Is that all there is to it?
No, not really We want to eventually run this in a HIL system HIL means you run the model in real-time Therefore, must get this model to run with a fixed-step solver

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Software-in-the-Loop (SIL)
1. Create S-function
a. Change model to fixed-step solver

Note: The original model wont run with fixed-step solvers as is. See Potential Gotcha #1 below.
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Software-in-the-Loop (SIL)
1. Create S-function
a. Change model to fixed-step solver b. Build S-function from controller subsystem c. A new model will open in Simulink

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Software-in-the-Loop (SIL)
2. Bring S-function into library
a. Copy new model b. Right-click controller: Go To Library Block

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Software-in-the-Loop (SIL)
2. Bring S-function into library
a. b. c. d. e. Copy new model Right-click controller: Go To Library Block In library, select Edit / Unlock Library Paste new model into library Rename new model

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Software-in-the-Loop (SIL)
Unlock library

Paste in new Sfunction model

Double-click name to rename it

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Software-in-the-Loop (SIL)
2. Bring S-function into library
a. b. c. d. e. f. g. Copy new model Right-click controller: Go To Library Block In library, select Edit / Unlock Library Paste new model into library Rename new model Double-click PW_controller Check new model to make it available as a block choice and click OK h. Save library and close it
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Software-in-the-Loop (SIL)

Check new model to include it as a library block choice

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Software-in-the-Loop (SIL)
3. Run the SIL system
a. Select the new S-function for the controller subsystem b. Simulate the model
Select new S-function model for controller block choice

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Software-in-the-Loop (SIL)
Potential Gotcha #1
When trying to run MIL with a fixed step solver, you get this error:
The problem is that original model does not run properly with fixed step solvers because of the triggered subsystems. You must insert Rate Transition blocks to let the subsystems communicate in fixed step. Fixing the two triggered subsystems in the simpleSL_controller will allow the model to run in fixed-step.
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Software-in-the-Loop (SIL)

Triggered subsystem #1 is in the controllers MainControllerLogic subsystem. Source library is in Lib_MainControllerCS.

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Software-in-the-Loop (SIL)

Triggered subsystem #2 is in the controllers top level.

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Software-in-the-Loop (SIL)
Potential Gotcha #2:
When running Generate S-function, you get the following error:
The problem is that the variables used in the from Workspace blocks were not declared first. Run the script (see MIL) to define values for these variables and try again.

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Overview
Introduction Power Window Model MIL SIL HIL Review

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Hardware-in-the-Loop (HIL)
Build real-time system on simulator for HIL

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Hardware-in-the-Loop (HIL)
Use Real-Time Workshop to build a version of the model that will run on real-time simulator. Use software tools to control the inputs to the real-time simulation. Automate testing, if desired. Contact us to know more about your hardware and software options.

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Hardware-in-the-Loop (HIL)
How will your software control the model inputs?
Some software can only change the value of constant blocks Some software can only change the value of workspace signals

We want to build a model that will work with either setup Start from MIL model again to extract the source model blocks, not the S-function
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Hardware-in-the-Loop (HIL)

Use a switch to control whether model inputs come from constant blocks or workspace.

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Hardware-in-the-Loop (HIL)
1. Build the model for Real-Time
a. Turn off Block reduction option
This option will restructure the model for simulation speed, but that prevents us from controlling specific blocks directly from a realtime simulator (HIL). It must be turned off to build a HIL model.

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Hardware-in-the-Loop (HIL)
1. Build the model for Real-Time
a. Turn off Block reduction option b. Specify the target system c. Click Build
Use the Browse button to find your target platform for the build.

Click Build to generate the HIL files.

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Hardware-in-the-Loop (HIL)
2. Run model and hardware together in realtime simulator
a. Could use any number of platforms, so we wont show this step

3. Analyze results
a. b. c. d. Store signals from test Read into MATLAB Compare to expected results Report as Pass / Fail

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Hardware-in-the-Loop (HIL)
After loading .mat file into workspace

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Overview
Introduction Power Window Model MIL SIL HIL Review

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Review
Started with a simple Power Window model Modified it for automated testing
from workspace blocks testing script

Modified it for real-time application

fixed-step solver rate transition blocks created multiple input conditions to run on different control software
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Review
MIL: ran the model in automated testing to validate the control algorithm SIL: built S-functions of controller to validate the C-code implementation HIL: built MIL for real-time simulator to validate the hardware performance

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Thank you and good luck!!

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