Co-simulation of Cyber-Physical Systems using HLA

Thomas Nägele and Jozef Hooman

Proceedings 7th IEEE Annual Computing and Communication Workshop and Conference (CCWC 2017), pages 267 272, 2017.


The development of cyber-physical systems (CPSs) with mechanical, electrical and software components requires a multi-disciplinary approach. Moreover, the use of models is important to support trade-offs and design decisions early in the development process. Since the different engineering disciplines use different modelling languages and tools, this calls for a co-simulation framework for discrete and continuous models. The main challenge is the proper synchronisation of time and data between these models. Given the increasing importance of software in CPSs, our work concentrates on the incorporation of software models in such a framework. We have created a proof of concept of a co-simulation framework based on the High Level Architecture (HLA) and Functional Mock-up Interface (FMI) standards. We demonstrate the incorporation of software models expressed in the Parallel Object-Oriented Specification Language (POOSL) in this framework. This allows the use of virtual prototypes of CPSs early in the development process.