www.dspace.

com

dSPACE Hardware-in-the-Loop Test

Systems
n Ranging from component tests to system integration testing
n For all vehicle domains
n Testing
systems for advanced driver assistance systems (ADAS), autonomous driving
and electromobility applications
HIL Testing / Contents

Hardware-in-the-Loop Testing

Hardware-in-the-Loop Simulation ______________________________________ 3

A Typical HIL System __________________________________________ 4
ISO 26262-Compliant Development Using HIL Testing ______________ 5
Electrical Fault Simulation for ECU Testing ________________________ 6
Restbus Simulation ___________________________________________ 7
Simulation Models ___________________________________________ 8
Test Type Characteristics and Requirements _______________________ 9
Test Domains for dSPACE HIL Simulation ________________________ 10
Use Cases
Environment Simulation for Driver Assistance Systems _____________ 11
Sensor Simulation for Testing Camera-Based Systems _____________ 12
Euro NCAP Crash Tests with HIL Simulation ______________________ 13
Testing Electric Motor ECUs ___________________________________ 14
HIL Tests for Battery Management Systems ______________________ 15
Real-Time ECU Access for White-Box Testing _____________________ 16
Testing Engine ECUs _________________________________________ 17
Testing ECU Networks of Hybrid Electric Powertrains ______________ 18
Testing Vehicle Dynamics ECUs ________________________________ 19
Simulating Airbag ECU _______________________________________ 20
Testing ECUs and ECU Networks _______________________________ 21
Simulating Hybrid Control Units _______________________________ 22
Testing Integrated Sensors and Actuators _______________________ 23
Steering Test Bench __________________________________________ 24
Aerospace: Testing Embedded Components _____________________ 25
Aerospace: Testing Networked Aircraft Systems __________________ 26
SCALEXIO ________________________________________________________ 27
Systems ____________________________________________________ 28
SCALEXIO Processing Hardware _______________________________ 32
SCALEXIO I/O Hardware ______________________________________ 33
System Setup _______________________________________________ 34
dSPACE Software for HIL Simulation __________________________________ 36
dSPACE Engineering Services ________________________________________ 38
Connecting Third-Party Models _____________________________________ 39
 HIL Testing / Introduction

Hardware-in-the-Loop (HIL) Simulation

High-quality ECU software tests with dSPACE

Highlights
Single-source solution with a comprehensive hardware
„„
and software tool chain
In-depth test systems for higher ECU quality
„„
Automated test execution for around-the-clock testing
„„
Simulators for all automotive domains and other industries
„„
Scalable systems, from small to large
„„
Engineering for customer-specific applications
„„

Hardware-in-the-loop (HIL) simulation is a method for test- Enhanced Quality and Efficiency
ing the functions, system integration, and communication HIL simulation offers you a wide range of benefits:
of electronic control units (ECU) thoroughly in a simulated „„Improve the quality of the ECU software at an early
environment. If the tests are performed at an early develop- development stage
ment stage, they increase the technical maturity of prod- „„Shorten the time to market despite the growing volume
ucts, thereby reducing the amount of time and monetary and complexity of the vehicle electronics
resources required in the following stages. For example, the „„Test dangerous situations without any risk at all
ECUs or the rest of the vehicle may not be available yet, but „„Avoid recall campaigns
the ECU functions can already be tested in a realistic envi- „„Support quality control (e.g., ISO 26262)
ronment and under any condition. The HIL system simulates „„Use the high processing power provided by processing
the electrical properties of the ECUs’ technical environment units, FPGAs and graphical processing units (GPUs) to
and the interconnected system parts in real time. These can test demanding applications
be parts of the vehicle, such as the engine, or a complete
vehicle including the surrounding scenery.

Reproducibility for More Safety Your Benefits from HIL Tests with dSPACE
HIL tests are easy to reproduce, so they can be used system­ „„dSPACE offers a comprehensive single-provider tool chain
atically and are completely safe, even when critical thresh- that lets you integrate third-party modeling tools which
olds are exceeded. are based on industry standards.
Because they enable original equipment manufacturers „„dSPACE HIL test systems cover all vehicle domains and
(OEMs) and their suppliers to detect errors during the are suited for all test scenarios, from component tests
development of ECU software, they play an important to network testing.
part in the software approval and release process. „„dSPACE has more than 30 years of experience with HIL
HIL simulation is widely used in development and test pro- simulation and is the leading provider of HIL test systems.
cesses, not only in the automotive industry. Other fields „„dSPACE supports its customers by adapting the simulation
include the aerospace and robotics industries. hardware and test software to specific project require-
ments and by setting up the complete HIL test system,
if required (refer to dSPACE Engineering Services on p. 38).
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 HIL Testing / Introduction

A Typical Hardware-in-the-Loop System

A typical HIL test system comprises components such as: Auxiliary components, such as load boards, and the
„„
A processing unit for computing large and complex
„„ possibility to perform electrical fault simulation for spe-
simulation models and for connecting the real-time cific application scenarios. For this, dSPACE offers the
model with the relevant I/O. The dSPACE SCALEXIO Electronic Load Modules and the DS2642 FIU & Power
processing hardware therefore provides multicore and Switch Board.
multiprocessor support as well as communication with A simulation of the bus and network communication
„„
the I/O via IOCNET for handling a high number of I/O to test the communication between two or more EUCs.
and bus channels in real-time. Network participants that are not available yet are simu-
Battery simulation components for providing the power
„„ lated as well.
supply to generate currents and voltages for the ECU One or more ECUs containing new functions or ECU soft-
„„
for manual and automated tests. dSPACE offers vari- ware to be tested. They are connected to the test system
ous boards for controlling the battery simulation power and typically called device under test (DUT).
supply, e.g., the DS2907 Battery Simulation Controller, The software for configuring and automating the HIL
„„
the DS2642 FIU & Power Switch Board, and the DS2680 test. It runs on a PC, as does the software for parameter-
I/O Unit. izing the simulation model and visualizing the simulation.
I/O interfaces for connecting the ECU with the test system.
„„ Data management software can be used to handle and
For different test scenarios, dSPACE offers various boards manage test data, such as models, signals, parameters,
with dedicated or freely configurable I/O interfaces, such tests, and test results.
as the SCALEXIO MultiCompact, HighFlex, and I/O boards.

SYNECT
e.g., test data management and workflow management

ControlDesk AutomationDesk ModelDesk MotionDesk

Third-party software
Test experimentation Test automation Model parameterization Test visualization

Loads for Unit Failure Insertion I/O

Under Test Unit (FIU) Hardware

Simulation Model
Device under test (DUT),
e.g. one or more ECUs
ConfigurationDesk
Bus Manager
Implementation software

Processing Hardware Battery Simulation

Power supply unit

Schematic overview of a typical HIL system and its components.

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 HIL Testing / Introduction

ISO 26262-Compliant Development Using HIL Testing

Safety-critical functions have to be reliable, and so do the testing safety-related functions, components, single ECUs,
test methods used to verify them. The functional safety and ECU networks. This is because HIL tests have been
standard for E/E systems in road vehicles, ISO 26262, highly state-of-the-art for years and have been used for testing
recommends using hardware-in-the-loop (HIL) tests for safety-critical functions nearly as long.

Aspects of ISO 26262-compliant Testing

Defining test strategies
„„ Ensuring the suitability of the complete tool chain
„„
An appropriate test strategy has to be defined. This includes In addition to verifying the HIL test system, you have to
decisions about the test focus, test object, and test level, ensure that the complete tool chain is suitable for im-
such as software unit testing, software integration and plementing the defined test strategy and executing the
testing, verification of software safety requirements, item intended tests. To comply with ISO 26262, you have to
integration and testing. To implement this test strategy, you ensure that the software tool used provides the required
have to select suitable test environments, such as hardware- level of confidence according to the Automotive Safety
in-the-loop simulators. Integrity Level (ASIL) of the project. dSPACE can support
your classification and qualification procedures for proving
Verifying the suitability of the test environment
„„ the suitability of your tool chain for use in safety-related
After the test strategy has been defined, you have to verify applications from ASIL A up to ASIL D.
the suitability of the HIL system for use in the specific safety- For HIL test automation, dSPACE offers AutomationDesk.
related project by testing the entire system. This must be This software has been certified by TÜV SÜD for testing
done after system assembly and then performed repeatedly safety-­related systems according to ISO 26262 and IEC
for a system in use. If the HIL system consists of hardware 61508.
and software, both have to be verified together.

dSPACE Process Consulting

dSPACE provides advice for customers regarding pro-
„„ Confirming the suitability of dSPACE HIL systems during
„„
cess design and optimization, providing evidence of maintenance work and after modifications
the suitability of the test methods, systems, tools, and Documenting the development and test process to prove
„„
processes applied for safety-critical projects, such as: the HIL simulator’s correct behavior
Tailoring and implementating ISO 26262-compliant
„„ Qualifying the whole software tool chain for the use
„„
processes in safety-critical projects for every ASIL
Verifying the suitability of dSPACE HIL systems before
„„
their first operational use

Typical Services (Examples) Description

Creating and implementing standard- dSPACE Process Consulting advises on working with development and test environments to comply with
compliant processes standards such as ISO 26262, ISO/IEC 15504, and Automotive SPICE.
Proof of suitability for verification environments dSPACE Process Consulting evaluates processes and makes necessary adjustments for safety-critical projects.
when working on safety-critical projects
Benchmarking, process analysis, and dSPACE Process Consulting analyzes existing customer processes and compares them with best practices
optimization from various industries. The specialists identify optimization potential and make suggestions for implementing
new processes. If required, dSPACE also supports the implementation.
Introducing hardware-in-the-loop testing dSPACE Process Consulting determines if and how you can profit from the benefits of hardware-in-the-
in safety-critical projects loop testing and supports you in achieving ISO 26262 compliance in an efficient manner.

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 HIL Testing / Introduction

Electrical Fault Simulation for ECU Testing

ECUs not only need testing during normal operation. It is within the model and/or with a Failure Insertion Unit (FIU),
also vital to know how they will behave during exceptional which inserts electrical faults in the inputs and outputs of
situations – if components such as sensors, actuators or ECUs. The dSPACE HIL system comprises hardware with an
wiring harnesses are faulty, for example, or if errors occur integrated FIU as well as dedicated FIU hardware.
in bus communication. Faults and errors can be simulated

Standard Electrical Fault Types

Electrical fault simulation with FIUs can be performed with Electrical fault simulation on the HIL simulator is usually
all dSPACE simulator systems. The following fault condi- performed on all channel types, i.e., actuator, sensor and bus
tions can be used: channels. With actuator channels, you can specify whether
n Open circuit to reject the load when switching to the failure potential to
n Short circuit to ground avoid an open circuit state.
n Short circuit to battery voltage Because the sensor signals are simulated, a large proportion
n Short circuit between ECU pins of faults can be simulated by the model itself. An electrical
n Loose contact for all faults according to relevant standards FIU is used if the ECU has to capture and evaluate currents,
n Dynamic faults that are set for a specific duration or to simulate an open circuit.

Bad Contacts and Damaged Insulation Tracing FIU States

To simulate bad contacts and damaged insulation, dSPACE To help test an ECU’s diagnostic functions, dSPACE HIL sys-
uses resistors, the same method as used for inserting electri- tems provide FIU state tracing. This enables you to measure
cal faults. A special fault simulation module is available for or plot FIU states and therefore monitor the time frame
dSPACE HIL simulators. It can be used to simulate a short from a change in FIU status to any other event, such as the
circuit to ground with additional hardware in series, for detection of the fault.
example. Faults for the following resistance types can be
simulated by means of resistance simulation (RSIM): Model Variable State-Dependent Fault Insertion
n Bleeder resistance Faults can also be injected depending on specific model
n Transfer resistance variable states, e.g., a wheel speed sensor that malfunc-
n Resistance between two signals tions at the apex of the curve.

Standardized Access with XIL API

dSPACE HIL systems support the ASAM XIL API EESPort Battery
standard. This enables you to use any software to perform
fault simulation tests.

Device under
Test (DuT) Load

FIU

The Failure Insertion Unit enables the electric manipulation of the I/O

cable harness to simulate effects such as a broken cable or open wire.

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 HIL Testing / Introduction

Restbus Simulation

Often during HIL simulation, not all participants of a net-

worked system are available. These absent network par- Comfort ECU 1 Comfort ECU 2
Device under
ticipants (called the restbus) have to be simulated by the Test (DuT)
test system. The test system emulates the communication
from the missing nodes, which is necessary to operate the Comfort CAN

device under test. A basic requirement for a realistic restbus Comfort LIN
simulation is the ability to generate all the needed protocol
data units (PDUs), messages and signals, including all their
Comfort ECU 3 Central
features, mechanisms, and characteristics. To perform nega- Gateway ECU
tive testing, the simulator must also be able to manipulate
Simulated restbus
the communication. Typically, the emulated communication
is based on available communication descriptions. Example for a rest bus simulation.

Supported Bus Systems and Networks

dSPACE supports a wide range of automotive communica-
tion networks for communication tests, such as
n LIN
n CAN, CAN FD (ISO and Non-ISO)
n FlexRay
n Ethernet (standard and automotive Ethernet)

Errors in Bus Communication

Testing bus communication plays a key role in large-scale
CAN gateway software
networks. Errors in bus communication, such as missing or
Signal manipulation
manipulated messages, can be simulated with a dSPACE HIL
simulator system during restbus simulation. Signal
manipulation
For example, it might be necessary to manipulate messages
between real ECUs to validate the behavior of networked
Rx Tx Rx Tx
or distributed functions. An established method for this is
the error gateway. The bus lines of a device on the bus are
switched to a failure bus on the simulator, and the messages Communication Communication
Controller 1 Controller 2
are manipulated (if required) and then transferred back to
the original bus. You can change individual bus signals (such
as checksums) and entire messages (missing, wrong timing),
or even remove the complete bus node, to investigate the
effects of these changes on the rest of the network. ECU 1 ECU 2 ECU n

CAN gateway hardware

Example setup for error simulation with a CAN gateway.

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 HIL Testing / Introduction

Simulation Models
dSPACE Automotive Simulation Models Key Benefits
To use a HIL system efficiently, comprehensive and realistic All the Simulink blocks in the ASMs are visible, so it is easy
simulation models, such as plant and environment models, to add or replace components with custom models to adapt
are essential. dSPACE offers its own dSPACE Automotive the properties of modeled components perfectly to individual
Simulation Models (ASMs). The open Simulink models are requirements. The ASMs’ standardized interfaces make it
used for model-based function development and for ECU easy to expand a single model, such as an engine or body
tests on a HIL simulator. model, or even to create an entire virtual vehicle. Roads and
driving maneuvers can be easily and intuitively created by
using graphical tools with previews and clear visualization.

dSPACE XSG models

dSPACE offers FPGA-based open simulation models for
high-speed electric drive and inverter simulation
with ultra high-speed I/O interfaces. Please
see page 37 for more information.

Tool Suite

The ASMs include simulation models for a wide

range of applications.

Integration of Third-Party Models 3rd-Party Simulation Models

dSPACE HIL simulator systems are open for
integrating third-party and custom simu-
lation models that are designed for use
with MATLAB®/Simulink®/Stateflow® or
are compatible with the Functional Mock-
up Interface (FMI) standard. For more in- FMU
XML

formation about integrating and using C Code

Libs

third-party models, please see page 39.

dSPACE HIL systems support open standards

for integrating third-party models.

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 HIL Testing / Introduction

Test Type Characteristics and Requirements

With numerous hardware units and a huge range of different processing. In addition to ECU test tasks, HIL systems are
I/O options, the modular and flexible dSPACE HIL simulation ideal for ECU calibration tasks because you can use realistic
systems can easily be tailored to fit specific tasks. They cover vehicle models, for example. Project-specific solutions for
a wide range of tests types and their requirements, e.g., hardware and software and hands-on training are available
simulating, measuring, capturing and generating signals, for all test scenarios.
as well as user-programmable FPGA options for fast signal

Test Type Requirements

Function test Flexible
„„ simulator to adapt to different ECU variants and reuse control algorithms
Flexible, interactive
„„ simulator experiment software
Testing single functions and the interaction between them for ECU acceptance tests
„„
Management of HIL software components (models, parameter sets, test scripts, etc.)
„„
Simulation of vehicle and component variants for testing against specifications, e.g., slalom tests and lane change
„„
maneuvers (ISO TR 3888) for vehicle dynamics control units or standard drive cycles (FTP75) for engine controls
Component test Restbus
„„ simulation with high computing power and interfaces for different bus protocols
Compatible
„„ test systems for suppliers and OEMs to exchange and compare tests and test results
Integration of the OEMs functions into suppliers ECUs
„„
Integration test Ample
„„ computing power for computing large simulation models
Management
„„ of the simulator’s software components (submodels, test scripts, etc.)
Test automation
„„
Communication tests between all ECUs via CAN, LIN, Ethernet, and FlexRay
„„
Tests of networked ECUs, e.g., for powertrain or body electronic systems
„„
Electrical failure test Inserting electrical errors for failure simulation
„„
Testing ECUs’ behavior when sensors, actuators or wiring harness are faulty
„„
Automated electric failure simulation
„„
Communication test Restbus
„„ simulation with emulated communication to and from missing nodes
Manipulation
„„ gateways
Support of all automotive bus systems
„„
Monitoring the bus communication
„„
Regression test Test automation
„„
Reusing automated tests from the development phase
„„
ECU network test/system test Diagnostics
„„ included
Support
„„ of numerous different controlled system models, I/O channels and bus communications
Distributed multiprocessor system providing ample computation power for networked systems
„„
Tests reproducible for all ECU/vehicle variants
„„
Release/approval test Flexible, configurable HIL system that adapts to different ECUs
„„
Easy management of HIL system software components
„„
Software layouts for representing the HIL system’s functionality
„„
Test automation
„„
Regression tests with failure insertion
„„
Test of diagnostic functions Closed-loop
„„ simulation
(OBDII or EOBD) Systematic
„„ testing of all defined operating points
Insertion of implausible signals or defective electrical connections and errors
„„
Insertion of communication and electric faults to test the ECUs’ response
„„

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 HIL Testing / Introduction

Test Domains for dSPACE HIL Simulation

With more than 20 years of experience in HIL simulation, sizes, but also supports users setting up their own simula-
dSPACE has a wide range of knowledge regarding simula- tor. As a single source, dSPACE provides the right tools
tion models, hardware, software, and project organization. and simulation models for each domain and test scenario,
dSPACE offers complete turn-key simulation systems in all including engineering for project-specific adaptations.

Advanced driver assistance systems (ADAS): Suitable

„„ including parameterization are available. The ModelDesk
models for the driver assistance functions, the vehicle, its software also supports the parameterization of user-­
sensors, the road, the driver and the traffic environment defined simulation models.
have to be combined and configured in order to test Body electronics: Different vehicle models with different
„„
ADAS applications. They can all be simulated by means combinations of features have to be tested. This means
of the dSPACE Automotive Simulation Models tool suite. that resistance-coded switches, high current, low-speed
„„Electromobility: Fast reactivity is needed for electric and low-cost buses, failures, etc., all have to be simulated.
motors and their sensor signals. Tests on electric motors Infotainment: dSPACE offers optical instrument panel
„„
require the simulation of high currents. dSPACE provides cluster tests and automatic keypad manipulation for
modular hardware for these purposes, and also for failure testing infotainment systems. The simulation of typical
simulation and electronic loads. infotainment bus systems, like MOST and Ethernet, is
„„Powertrain: Different vehicle models mean that numerous also supported.
test variants are needed for testing engine and transmis- Virtual vehicle: All the above domains can also be com-
„„
sion ECUs. dSPACE offers a universal simulator with bined. Used together with simulation models such as
numerous I/O channels for quick changes from one the dSPACE Automotive Simulation Models, the HIL
variant to another. simulator can represent a whole complex virtual vehicle
„„Vehicle dynamics: dSPACE supports the use of safety- for testing ECUs.
critical bus systems. Highly dynamic simulation models

Diesel Gasoline Transmission Hybrid and Electric Vehicles

 Up to 24 cylinders  Up to 16 cylinders  Continuously variable transmission  Electric motors
 Turbocharger, EGR  Manifold injection  Automatic transmission  Power electronics
 Common rail and unit injection  Direct injection  Automated manual transmission  High-voltage battery systems
 Exhaust systems, incl. DPF, SCR  Turbocharger, EGR  Double-clutch transmission (Li-Ion, NiMH, …)
 In-cylinder pressure sensors  Formula One engines  Central and rear differential (AWD)  DC/DC converters
 Hybrid control system

Multimedia/Infotainment Vehicle Types

 Radios, amplifiers  Passenger cars
 Displays  Light trucks
 Man-machine interface (MMI)  Heavy-duty trucks
 Head unit  Off-highway vehicles
 Formula One
 Vehicle with trailer

Others Driver Assistance Systems Vehicle Dynamics

 Body electronics  Adaptive cruise control (ACC)  Active front steering
 Comfort electronics  Lane departure warning (LDW)  ESP including ABS, ASR, …
 Air-conditioning control systems  Traffic sign recognition  Electronic air suspension
 Restraint systems (airbag, belt, pretensioner)  Automatic emergency braking  Continuous damping control
 Door and seat modules  Park assist systems  Electronic parking brake
 Interior and exterior lighting  Electronic wedge brake

Overview of typical tests for various application areas.

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 HIL Testing / Use Case

Advanced Driver Assistance Systems –

Environment Simulation for Driver Assistance Systems
Application Area dSPACE Solution
Advanced driver assistance systems (ADAS) can be based dSPACE provides realistic simulation scenarios for hardware-
upon camera systems, radar sensors, ultrasonic sensors, in-the-loop testing so that many tests drives on the road can
etc., in order to react to other vehicles and the environment. be replaced with virtual test drives in the laboratory. The HIL
Adaptive cruise control (ACC), and assistants for intersec- simulation can be based, for example, on real navigation
tion braking, parking, lane changing and lane keeping, are date or data from a video camera integrated in the ECU un-
examples of ADAS. der test. The dSPACE Automotive Simulation Models (ASM)
One example is a lane keeping assistant which monitors tool suite offers models for the vehicle and its environment
the road ahead of the vehicle by using a video camera and sensors, the driver, the road and the traffic environment.
actively controls the steering system to keep the vehicle Additional, third-party models can be integrated. dSPACE
between the road lanes. Validating such a functionality AutomationDesk, the HIL test software, enables automatic
requires numerous test runs to be repeated under different simulation runs and overnight tests, resulting in increased
conditions. test depth and a greater maturity of driver assistance
Some other examples: systems.
n Traffic sign recognition
n Lane departure warning systems
n Parking assistant
n Car2x

MotionDesk provides a realistic simulation scenario for driver assistance systems.

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 HIL Testing / Use Case

Advanced Driver Assistance Systems –

Sensor Simulation for Testing Camera-Based Systems
Application Area Important Aspects
The camera box is a widely used method when testing The basis for raw data generation is a GPU-based camera
camera-based ADAS applications. However, with the in- sensor model in MotionDesk that takes into account not only
creasing complexity of sensors, issues such as limited con- scenarios from the ASM simulation model but also effects
trast of monitors or distortions caused by optical lenses typically caused by camera lens and image sensor when
become more evident. In addition, conventional HIL setups generating images. The data stream is then transmitted
with stereo or multi-camera system often reach the limits via HDMI to an Environment Sensor Interface Unit, where
of economic efficiency or technical feasibility. A very effec- it can be preprocessed in real time, i.e., provided with pixel
tive and space-saving alternative is feeding raw image data errors or soiled, until it is finally fed to the camera via a
directly into the camera’s image processing unit. long-range (e.g., GMSL) or short-range interface of the
image processing unit. For short-range connection (e.g.,
CSI2), the ESI-POD is also used. The device is connected to
the ESI unit via an optical fibre cable and via a short data
line to the camera.

ModelDesk "One-box" image processing ECU

Image Object data

Lens Imager
processing

ECU-specific
Environment Sensor POD
Interface Unit
ASM PC with HDMI Fiber-optic cable
graphics
card and
MotionDesk

Restbus simulation Vehicle network

For a test setup with a stereo front, four surround view, and an in-cabin (driver) camera, a single ESI unit
is sufficient; it can be conveniently placed in the 19“rack of the HIL.

dSPACE Solution
 HIL system with Automotive Simulation Models (ASM)  dSPACE Environment Sensor Interface Unit to insert raw
and ModelDesk for the real-time simulation of the vehicle data into the image processing unit
and traffic  Plug-on device (POD) to adjust to specific interfaces
 GPU-based camera sensor models in MotionDesk and connectors with sensor ECUs featuring imager and
for generating image raw data taking camera-specific processing unit in one housing (one-box)
effects such as lens, pincushion, and barrel distortions,
vignetting, and chromatic aberration into account.

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 HIL Testing / Use Case

Advanced Driver Assistance Systems –

Euro NCAP Crash Tests with HIL Simulation
Application Area
The European New Car Assessment Program (NCAP) uses safety systems in the automobile is a prerequisite for achiev-
a 5-star rating system to evaluate the safety of new cars ing the maximum possible 5-star safety rating.
through crash tests and other investigations. This safety Since 2014, the safety ratings include assessments of lane
rating covers four areas: adult protection, child protection, keeping assistants and autonomous emergency braking
pedestrian protection and safety assist. systems (AEB) in urban driving (AEB City) and interurban
In the past, NCAP tests traditionally focused on evaluating driving (AEB Inter-Urban). As of 2016, emergency brake
passive safety systems, but now active safety systems are assistants with pedestrian detection (AEB VRU/Pedestrian,
playing an ever-increasing role. This means that using active VRU = vulnerable road users) will follow.

Important Aspects dSPACE Solution

The recommended procedure is to perform these NCAP test dSPACE provides an extensive test environment and all
scenarios virtually on a hardware-in-the-loop (HIL) simula- the test systems necessary for performing Euro NCAP tests
tor long before the vehicle and the ECUs are complete, and validating the relevant assistance systems through
in order to correct possible errors at an early stage. Since HIL simulation. The dSPACE HIL simulator, together with
costly verification scenarios and test scenarios are neces- the dSPACE Automotive Simulation Models (ASM), which
sary throughout the entire ECU development process, the can be parameterized for the various NCAP tests via
convenient and practical method is to use the NCAP test ModelDesk, provides the test components that are neces-
scenarios for verification, too. First of all, the ECU tests can sary for performing NCAP tests in an early phase of ECU
be reproduced during the HIL simulation. Secondly, it is pos- verification. The ASMs are based on open Simulink models
sible to make an early prediction of the completed vehicle’s and have an accuracy that is optimal for HIL tests. If there
later NCAP rating. Finally, by using existing NCAP tests, it is are components that are not available yet during the early
not necessary to create self-made, complex test scenarios. stages of ECU development, these can also be replaced
by ASMs. This makes it possible to carry
out NCAP tests throughout the entire
ECU validation process and to use them
Model and
environment as standard test scenarios.
parameterization EURO NCAP Test Scenario

CCRs*:
Approach to
stationary target v0 = 10 km/h ... 50 km/h v= 0 km/h
v0 = 30 km/h ... 80 km/h

CCRm*:
Simulation model Approach to slower
target v0 = 30 km/h ... 80 km/h v= 20 km/h

CCRb*: d0
Approach to braking
target v0 = 50 km/h d0 = 12 m v0 = 50 km/h, a= -2 m/s2
v0 = 50 km/h d0 = 40 m v0 = 50 km/h, a= -2 m/s2
* CCR: Car-To-Car Rear; v0 = 50 km/h d0 = 12 m v0 = 50 km/h, a= -6 m/s2
s: standing; m: moving; b: braking v0 = 50 km/h, a= -6 m/s2
v0 = 50 km/h d0 = 40 m

Visualization and
animation

Test automation
and reporting

The dSPACE tool chain provides all the

necessary test scenarios and model parameters
out-of-the-box and lets you combine the
HIL Simulator
various test tools for the NCAP tests.

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 HIL Testing / Use Case

Electromobility –
Testing Electric Motor ECUs
Application Area Important Aspects
Electric motors are increasingly used across a wide range The main difference between electric motors and combus-
of applications – automotive, aerospace, automation, and tion engines in the motors’ highly dynamic behavior, which
more. They are compact enough to be installed almost requires an ECU clock rate of 10-20 KHz. To test electric
anywhere, have great energy-saving potential, and pro- motor ECUs at these high sampling rates, dSPACE sup-
vide power on demand, direct controllability, and easier plies special FPGA boards for HIL simulation. They enable
maintenance. PWM measurement, position sensor simulation, and the
You can test ECUs for different kinds of electric motors simulation of encoders and resolvers at a high clock rate.
with dSPACE HIL simulation systems. Depending on the use case and customer requirements, the
model of the electric
motor is calculated
PWM-synchronously
Motor on the processor or
shaft
10 to 100 times faster
on the FPGA.
Application Motion Power stage Motor Transmission
controller controller

Current Rotational speed

Position

Rotational speed
Torque
Position

Simulation at Simulation at Simulation at Simulation at

communication level signal level power level mechanical level

HIL tests of ECUs for electric motors can be performed at different test levels, depending on the use case.

Possible Interaction Between ECU and HIL Simulator Application Fields (Excerpt)
At the signal level n Powertrain systems, such as starter-generator systems and
n Simulating the power electronics, the electric motor, mild/full hybrid systems, and electric vehicles
and the mechanical environment n Electric steering systems
At the electric power level n Brake boosters
n Simulating the electric motor and the mechanical n Electric window lifters
vehicle environment n Wind energy converters
n Simulating electric motor current using electric loads n Electric locomotives/trains
At the mechanical level n Printing machines
n Simulating the mechanical vehicle environment n Production machinery, e.g., rollers for hot and cold
n Considering the effects of the real motor and additional forming
mechanical parts on the controller n Headway and motor controls for zinc coating plant
n Testing on a mechanical test bench n Artificial respirators
n Magnetic resonance tomography

14
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 HIL Testing / Use Case

Electromobility –
HIL Tests for Battery Management Systems
Application Areas Important Aspects
Vehicle traction battery
„„ Scalable, compact system supporting up to 32 cells
„„
Stationary storage systems
„„ in one 19’’ 3 U subrack
HIL test for battery management systems (BMS)
„„ Emulation range from 0 to 6 V
„„
Simulation of high-voltage batteries at cell level
„„ Accuracy of ±1.5 mV across the entire working
„„
Real-time multicell battery simulation
„„ temperature range
Failure simulation for battery management systems
„„ Short refresh rate of more than 1 kHz
„„
Lead-acid (Pb), nickel-cadmium (NiCd), nickel-metal
„„ Temperature simulation by means of isolated analog
„„
hydride (NiMH), and lithium-ion (Li-ion) batteries outputs and an advanced simulation model
Efficient computation of a large number of cells
„„
Safety compartment for the ECU
„„
1 A of current per channel, parallel operation possible
„„

HIL Test for Battery Management Systems

The main task of a BMS is to balance the voltages of each
cell in a multicell battery. Furthermore, it monitors the bat-
tery’s temperature continuously. For realistic tests of the
BMS, at least one cell module has to be integrated into the
HIL system. The cell modules measure the cell voltages and
provide the connection between the ECU and the battery.
The main task of the HIL simulator is to output the cell volt-
ages and temperatures with high precision.
The EV1077 supplies continuously adjustable voltages in
the range of 0 to 6 V. With this range, damaged cells can
be emulated as well. For example, a voltage higher than
the nominal voltage simulates a cell’s increased internal
resistance during charging. Depending on the battery type
and the test focus, several EV1077 Battery Cell Voltage
Emulation Boards are combined in the HIL system. For each
32 EV1077s, one EV1082 controller board is needed that
controls the cell emulation boards and communicates with
the real-time system. Because one EV1077 can emulate
4 battery cells, one controller board controls up to 128 cells.
All live parts of the test system are galvanically isolated,
letting you connect the modules in series up to a voltage of
1.000 V. To meet safety regulations, a safety compartment
prevents accidental contact with the ECU, protecting you A HIL test system can include multiple racks, each with up
against you harm stemming from high voltages. to 32 EV1077 modules.

15
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 HIL Testing / Use Case

ADAS and Electromobility –

Real-Time ECU Access for White-Box Testing
Application Area Important Aspects
During ECU tests, it is sometimes difficult or even impos- Existing ECUs can be connected to the dSPACE ECU Inter-
sible to reach certain electrical interfaces. To still be able face Software without thorough knowledge of the original
to execute software function tests on close-to-production implementation details. There are two different approaches:
or production software, dSPACE offers ECU Interfacing The ECU software can be prepared for connecting the ECU
Software. It gives you a convenient way to access the ECU to the SCALEXIO system or the ECU-internal signals can be
control functions directly from the real-time application made available in the real-time application. The ECU Inter-
without electrical or mechanical interfaces. For example, face Base Package lets you access ECUs that have already
you can simulate values of ECU sensors that are difficult been prepared for connection to external dSPACE real-time
to access, such as temperature, pressure and acceleration hardware. With the optional Binary Code Management
sensors, directly on the ECU. By using dSPACE ECU Interface Module, you can retroactively prepare the binary code of
Software, you can react to changes in the internal status microcontrollers for ECU integration by inserting service
of the ECU software during test runs, enabling them to calls in the code sections used to test functionalities. Access
precisely and immediately influence the test progress. In to the build environment etc. is not required.
addition, subfeatures of the ECU software can be tested
isolated from the complete ECU software on the ECU hard-
ware (white-box testing).

dSPACE Solution
In hardware-in-the-loop (HIL) white-box tests, the HIL simula- the basis of the ECU source code or automatically on the
tor has to be able to access the unit under test in real time in basis of binary code. dSPACE provides the ECU Interface
order to perform synchronous measurements and set ECU- Manager for automatic insertion, a powerful, intuitive tool
internal variables. The dSPACE HIL simulator SCALEXIO does that gives test engineers a graphical user interface to perform
this by using either the serial dSPACE DSI-GSI2 hardware or the modifications required for ECU access at any time. With
an XCP-on-Ethernet interface that is already on the ECU. a few clicks, the ECU-internal signals that were prepared for
To access the variables in the ECU code synchronously to access can then be made available in ConfigurationDesk.
the ECU, bypass or XCP service calls are needed as access Here, they can be used with the real-time application.
points. The service calls can be inserted either manually on

I/O Emulation, Isolated Funtion Tests, Failure Injection, ...

Plant

Read and write

ECU Interface ECU variables
Real-time System
Services
ECU Software
Application synchronous access to
f1(...) f2(...) f3(...) f4(...)
Input x y Output ECU internal functions and variables
ECU
enables your SCALEXIO HIL System
for White-Box Testing.

16
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 HIL Testing / Use Case

Powertrains –
Testing Engine ECUs
Application Area Important Aspects
With a dSPACE HIL simulator, you can test either a single ECU Engine ECUs contain time-based and engine-angle-based
or a network of multiple ECUs. One typical application is test- functions and subsystems, whose main task is generating in-
ing ECUs for an internal combustion engine. The ECUs are jection and ignition signals. They measure the engine angle,
connected to the simulator, which simulates the environment, i.e., they capture crankshaft and camshaft signals, as the
including the interacting components, and injects specific faults input data for the control system. A clock rate of 1 ms is usu-
for test purposes. Mean value models can be parameterized ally sufficient to present a realistic environment to the ECUs,
for specific engines and used to simulate them in real time. though crankshaft-angle-synchronous signals require much
dSPACE simulator systems have a modular setup, so they can faster sampling rates in the µs range. dSPACE’s DS2680 I/O
quickly be adapted to new requirements even in mid-project, Unit is used to capture and compute the necessary signals
for example, for system tests with modified ECU wiring. To at a high resolution. It contains an angular processing unit
adapt the HIL simulator to different engine types, you can (APU) based on FPGA technology and is easy to configure
simply add an exchangeable load rack. This makes it easy to in MATLAB®/Simulink®.
switch between different engine and vehicle configurations.

dSPACE Simulator System

 Implementation software  Processor hardware  Real-time model such

Test and experiment and I/O board as ASM, executed by
 With a wide range of I/O
software  Signal conditioning processor hardware
boards and simulation models,
 Failure insertion units
the dSPACE HIL system can
 Load cards
 Simulation of car battery easily be adapted to different
engine types.

Possible ECU Tests Typical Applications

n Function tests for validating the control strategy n Gasoline engines (manifold and direct injection, turbo-
n Diagnostic tests charger)
n Software integration tests (testing the overall function- n Diesel engines (common rail and unit injection, exhaust
ality of the ECU) system, turbocharger)
n Acceptance and release tests n In-cylinder pressure sensors, lambda probes, piezo injec-
n Communication tests and tests on distributed functions tion, etc.
(testing ECUs in the network) n Transmissions
n 12 … 48 V applications

17
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 HIL Testing / Use Case

Powertrains –
Testing ECU Networks of Hybrid Electric Powertrains
Application Area
A hybrid electric powertrain typically contains several net- available are emulated via restbus simulation. Testing usu-
worked ECUs to which the functions are distributed. The ally also covers several CAN FD or Ethernet networks. The
functions, such as overlaid hybrid control functions, can be modularity of the dSPACE hardware lets you configure
implemented on separate ECUs or combined with other the simulators for various applications. All known hybrid
functions. As these functions need to be extremely reli- vehicle versions and ECU or CAN FD or Ethernet configura-
able, the development and test requirements are high. For tions are possible. For integration testing, a hybrid electric
hardware-in-the-loop simulation, you can connect all the powertrain simulator can be extended to simulate a full
powertrain ECUs with the HIL simulator. The simulator is hybrid electric vehicle by adding further simulator racks to
equipped with at least one processor board and various cover all the other ECUs in the vehicle, such as the ESP ECU.
interface boards. Powertrain components that are not yet

Important Aspects
To set up a typical realistic hybrid powertrain, two parallel be performed on different simulators for safety reasons. The
CAN FD or Ethernet structures have to be built: A powertrain simulator racks are then connected via Gigalink. This high-
or vehicle CAN FD or Ethernet connection and a private hy- speed serial data transmission via fiber-optic cable with a bit
brid CAN FD or Ethernet connection. The powertrain CAN FD rate of 1.25 Gbit/s provides very fast information exchange.
or Ethernet connects the standard ECUs, such as the engine
and transmission ECUs, and others, such as the ESP ECU, Possible Test Areas
which can also be simulated by means of their messages. n Testing complex ECU structures with extensive commu-
The hybrid-specific ECUs are usually connected to the hybrid nication or whole virtual vehicles
CAN FD or Ethernet. If the HIL tests cover the simulation of n Extending dSPACE simulator systems to fit project
the electric motor and the battery, the HIL simulations must requirements

Powertrain Hybrid
CAN FD / Ethernet CAN FD / Ethernet

Transmission Engine Electric Motor Battery

Transmission Engine E-Motor

ECU ECU ECU
Extension
Valve Hybrid
EPS Battery by further
Drawer Powertrain
ECU Management racks and
ECU system ECUs
to full
Load FIU IOCNET IOCNET Virtual
vehicle

Node #1 Node #2 Node #3 Node #X

With a dSPACE HIL system, you can test the interaction of various ECUs as well as the communication between them.

18
2019
 HIL Testing / Use Case

Vehicle Dynamics –
Testing Vehicle Dynamics ECUs
Application Area Important Aspects
Vehicle dynamics systems like electronic stability programs The ECUs of vehicle dynamics systems perform plausibility
(ESPs) are extremely safety-relevant and require compre- and function checks after power-up. The sensor signals they
hensive HIL tests that make tough demands on the test receive are monitored very precisely. If the ECUs detect im-
system. This calls for a very realistic vehicle model. plausibilities or errors, they shut down immediately or enter
Tests are carried out both on individual ECUs and on sev- restricted limp-home mode. The test system therefore has
eral networked ECUs, for example, for integrated chassis to meet tough requirements with regard to signal quality
systems. dSPACE has many years of experience in setting and signal type. For example, for wheel speed simulations,
up HIL test systems for vehicle dynamics ECUs, and we give current interfaces with overlaid protocols have to be pro-
our customers every kind of support needed. vided, valve current signals have to be captured, and all
other sensors have to be synthesized properly to present
the ECU with a realistic environment in any situation.

Valve signal
ESP ECU 12 x Valve signals
detection unit

Brake pressure sensor

4 x wheel speed
Steering wheel angle
Rotational speed
Lateral acceleration

Handling the sensors and actuators integrated in the ECU enclosure also makes demands on the test system:
The example shows the requirements of a valve signal detection unit.

Possible ECU Testing Task Examples of Test Areas

n Function tests, control strategy validation n ESP, ABS, ASR/TCS (traction control system), ...
n Diagnostic tests n Electronic parking brake and wedge brake
n Software integration tests (the overall functionality n Electric power-assisted steering (EPAS)
of the ECU) n Active/adaptive front steering (AFS)
n Acceptance and release tests n Continuous damping control (CDC)
n Communication tests and tests on distributed functions n Interaction with mechanical test benches
(testing ECUs in the network)

19
2019
 HIL Testing / Use Case

Body Electronics –
Simulating Airbag ECU
Application Area Important Aspects
When a vehicle crashes into something, the ECU for the The airbag ECU itself has several internal acceleration sen-
airbag system responds in milliseconds. The airbag ECU sors. Access to these sensors is provided by the OEM either
evaluates the data from the vehicle’s acceleration and pres- in analog form or via the SPI protocol to enable sensor
sure sensors in the side door and, if necessary, activates simulation directly on the ECU circuit board. The external
the appropriate airbag. To test this ECU by means of HIL vehicle sensors are simulated via current-based protocols,
simulation, it has to be fed with various sensor signals that such as PSI5, PEGASUS, and PAS.
are undistinguishable from the real ones. To simulate a crash, up to 500 input signals have to be
provided. Over several hundred FlexRay signals, up to
100 CAN signals, and 12 PSI channels with up to 3 sensors
and 4 SPI interfaces are first recorded during a real crash
and then replayed time-synchronously during the HIL simu-
lation. As the airbag is a safety-critical application, its ECU
evaluates the signals. If any signal differs from what the
airbag ECU expects, the system does not deploy an airbag.

SCALEXIO
Processing Unit

Simulink model /
DS6311 S-function
Internal FlexRay Board
Safety sensor signals
.trc
computer ECU Ethernet .rta
DS6341 CAN Board .map

Signal
SPI
conditioning
DS2601 Signal
Measurement Board ControlDesk
Ethernet
PGI
External sensor
signals I/O Boards Host PC
PGI
Schematic overview of
ECU signals
SCALEXIO a test system for airbag
ECUs.

dSPACE Solution
A dSPACE HIL simulator based on SCALEXIO with numerous tablet for the airbag is simulated by using ceramic resistors.
I/O boards offers all the required input and output inter- The simulation is controlled with dSPACE ControlDesk.
faces. The airbag ECU is connected to the HIL simulator A special library based on RTT was implemented for time-
via Hypertac connectors for the external sensors and via synchronous data replay.
custom connectors for the internal sensors. The ignition

20
2019
 HIL Testing / Use Case

Infotainment –
Testing ECUs and ECU Networks
Application Area Important Aspects
With a dSPACE HIL simulator, you can test either a single dSPACE simulator systems are scalable and extendable, so
ECU or multiple networked ECUs together. The ECUs are they can quickly be adapted to new requirements even in
connected to the simulator, which simulates the environ- mid-project, for example, for system tests with modified
ment, including the interacting components, and inserts ECU wiring. This modularity of the dSPACE hardware lets
specific faults for test purposes. you configure the simulator for various applications.
The components of the ECU network that are not available
are emulated via restbus simulation or virtual ECUs. This
makes it possible to test various combinations of ECUs or
ECU networks.

HIL Simulator

With the dSPACE simulators,

Virtual and real ECUs ECU networks can include
virtual and real ECUs.

Possible Areas of ECU Network Tests Possible Areas of Single-ECU Tests

n Bus communication n ECU interaction between application software, basic
n Energy consumption software and ECU hardware
n Timing and interfaces n ECU requirements
n Arbitration of the ECU network n Electrical fault simulation (short to ground, etc.)
n Bus gateway n Diagnostic functions
n Sleep and wake-up functions

21
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 HIL Testing / Use Case

Virtual Vehicles –
Simulating Hybrid Control Units
Application Area Important Aspects
n„Testing communication between networked ECUs Modular network of two or more SCALEXIO simulators
n„
n„Integration testing Extension to full virtual vehicle by adding further
n„
n„Testing distributed functions in the ECU network SCALEXIO systems
n„Testing communication between electric vehicles (EV) Automotive Simulation Models for all plant components
n„
and electric vehicle supply equipment (EVSE) according Building of two or more parallel CAN structures for
n„
to CHAdeMO, ISO 15118, GB/T 18487, etc. a typical realistic hybrid powertrain structure
Restbus simulation of unavailable components
n„
Configuration of all known hybrid and electric vehicle
n„
versions, ECUs, and CAN configurations
Decentralized setup of simulators possible
n„

Charging
control unit
Hybrid
Customer Components

CAN

DC/DC ECU

Hybrid
BMS ECU
Powertrain controller
CAN

Transmission
Engine ECU E-motor ECU
ECU
BMS CAN

Transmission Engine & hybrid ECU E-motor, BMS, DC/DC controller Further ECU

Loads CAN I/O Loads

dSPACE Components

Host PC, e.g., with

dSPACE ControlDesk,
AutomationDesk,
ConfigurationDesk

I/O I/O I/O

IOCNET IOCNET IOCNET IOCNET

SCALEXIO IOCNET SCALEXIO IOCNET SCALEXIO IOCNET dSPACE HIL simulators

Processing Processing Processing
Unit Unit Unit can easily be combined to
large test systems to cover
Ethernet
complete virtual vehicles.

Simulation of a Virtual Vehicle

The networked SCALEXIO system comes with at least one Specialized interface hardware provides functions such as
Processing Unit for computing the simulation models. Large, signal generation and measurement, failure simulation, and
complex simulation models can be distributed across three communication connections. The test scenario also cov-
or seven processor cores (depending on the version) to en- ers several CAN, FlexRay and Ethernet networks as well as
sure that they can be computed in real time. One core is restbus simulation if not all components are available. The
reserved for internal system services. If required, additional modularity and flexibility of the SCALEXIO hardware enables
Processing Units can be integrated. To distribute model parts you to add further racks to cover all the other ECUs in the
to the cores and to configure the communication behavior, vehicle, such as the ESP ECU.
simulation hardware and model connections, you can use
ConfigurationDesk.

22
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 HIL Testing / Use Case

Test Benches –
Testing Integrated Sensors and Actuators
Application Area
If an ECU has integrated sensors and actuators, you cannot any missing components. Not only purely electrical tests
connect the HIL simulator directly on the electrical level. can be performed: Mechatronic parts such as the steering
You have to provide the physical signals to stimulate the or the chassis system can also be tested. As the required
ECU’s sensors and actuators by other means, for example, stimulation signals vary for each ECU, the HIL test benches
via an ECU mounting device or a mechanical test bench, have to be designed individually.
by opening the ECU and accessing its internal pins, or by dSPACE has years of experience in stimulating integrated
stimulating the signals in the ECU software and bypassing. pressure, engine speed and temperature sensors, accel-
The dSPACE simulator then provides physical variables from eration sensors, and yaw rate sensors for integration into
the environment simulation and can additionally simulate HIL systems.

Examples of Sensor Stimulation Typical Domains with Integrated Sensors/Actuators

„„Inductive engine speed sensors stimulated by controlled coils Chassis systems and vehicle dynamics (ESP, ABS, ASR,
„„
Pressure membranes by strong lifting magnets
„„ continuous damping control)
Temperature sensors by controlled hot plates
„„ „„Integrated transmission ECUs installed inside the transmis-
Integrated switches by magnetic fields
„„ sion (continuously variable, automatic, dual clutch, and
Integrated acceleration sensors and yaw rate sensors
„„ central and rear differential)
by a 3-D motion platform „„Steering systems (active steering, electric servo steering)
Additional physical measurement equipment, e.g., for
„„
currents, torques, temperatures, positions, engine speeds

dSPACE test benches are individually designed for the individual

project requirements.

23
2019
 HIL Testing / Use Case

Test Benches –
Steering Test Bench
Application Area Important Aspects
n Validating electromechanical steering systems The dSPACE test bench allows you to create a test environ-
n Analyzing the behavior of a real steering system ment for running virtual test drives to evaluate and analyze
in a virtual vehicle the real steering system with different control and function
n Real-time simulation with mechatronic test rig, algorithms at an early stage. This means that even before
dSPACE HIL simulator and Vehicle Dynamics model vehicle integration, requirements on the steering feel and
n Reproduceability of tests with high precision the sense of safety can be evaluated objectively and sub-
jectively. Great advantages are the high reproducibility and
adaptability of tests, and the broad range of uses for the
test bench. The dSPACE portfolio for steering test benches
ranges from small and compact rotary test benches (e.g.,
for integration in a standard 19” HIL cabinet) to large high-
performance steering test benches using linear actuators for
applications that require maximum dynamics and precision.

Exemplary Technical Details

Parameter Power Pack Load Motor Steering Robot Drive Load Motor
Motor n Synchronous motor without n Synchronous motor without n Synchronous motor without
transmission transmission transmission
Motor Encoder n Absolute motor feedback system n Absolute motor feedback system n Absolute motor feedback system
(multiturn) (multiturn) (multiturn)
Servo amplifier n LTI Motion ServoOne n LTI Motion ServoOne n LTI Motion ServoOne
dSPACE Real-Time Interface n TWINsync n TWINsync n TWINsync
Control strategy torque n Forward control (motor current) n Forward control (motor current) n Forward control (motor current)
Control strategy position n Cascade control with subsidiary n Cascade control with subsidiary n Cascade control with subsidiary
speed and torque control speed and torque control speed and torque control
Maximum continuous torque [Nm] n 10 n 50 n 60
Maximum short time torque [Nm] n 14 n 60 n 120
Maximal speed [rpm] n 6000 n 500 n 1000

24
2019
 HIL Testing / Use Case

Aerospace –
Testing Embedded Components
Application Area Important Aspects
Hardware-in-the-loop simulation lets you test a large variety In this use case, the dSPACE system simulates the entire
of real components for aerospace applications. The HIL mission of a high-altitude research rocket carrying experi-
simulator has a very flexible setup and replaces the physi- mental payloads. The objective is to verify the correct be-
cal environment in which the system under test, such as a havior of the navigation computer, which is achieved in
line-replaceable unit (LRU), is embedded during operation. several test steps. First, the dSPACE SCALEXIO HIL simulator
The system under test transmits control signals to the HIL is only connected to the navigation computer. In this test
simulator, which calculates the response of the simulated phase, the navigation devices, for example, Global Posi-
environment in real time and returns the corresponding tioning Systems (GPS), inertial measurement units (IMU) or
sensor data to the LRU. This approach is commonly known star trackers (STR) are not available yet. Therefore, they are
as closed-loop simulation and makes it possible to test simulated on the HIL system, which provides the required
embedded aerospace components around the clock in a sensor data for the navigation computer during the tests.
controlled laboratory environment, thus enabling detailed, In later verification phases, real navigation devices replace
fully automated and reproducible tests in nearly all conceiv- their virtual counterparts. The dSPACE system then con-
able flight situations. tinues to simulate the physical environment depending on
the mission profile, thus enabling the navigation devices
to provide the corresponding sensor data to the naviga-
tion computer. This iterative approach lets you reproduce
complex test scenarios at every development stage in a
fully automated laboratory environment and execute entire
mission profiles based on real mission data on the ground.

Simulated signals
(GPS, IMU, STR)

Status reports

Host PC HIL Simulation Navigation Computer

 Monitoring, recording,  Simulating the flight mission  Processing all navigation
and displaying data  Simulating the sensor signals tasks on the basis of the
 Injecting faults (e.g., (GPS, IMU, and STR) simulated sensor signals
sensor malfunctions or
special environmental
conditions)
 Automating tests

The dSPACE HIL simulator lets you test ground-based navigation systems with simulated navigation devices.

25
2019
 HIL Testing / Use Case

Aerospace –
Testing Networked Aircraft Systems
Application Area Important Aspects
Hardware-in-the-loop test systems also support advanced This use case focuses on real aircraft systems that are inte-
use cases that require the real-time simulation of multiple grated into a common, spatially representative test bench
aircraft systems to interact with real parts of the aircraft. and connected with actual aircraft cable harnesses. The test
This approach lets you perform efficient and fully auto- bench usually also includes various mechanical components
mated integration tests 24 hours a day. Moreover, even of the aircraft, for example, control surface actuators, naviga-
critical flight scenarios can be fully reproduced in a safe tion sensors, and inertial measurement units. The networked
laboratory environment on the ground. The open archi- aircraft system hardware, such as the primary flight control
tecture of the HIL simulators makes the systems suitable system (PFCS), the flap actuation system (FAS) and the elec-
for a wide range of applications, from simple to complex, trical power system (EPS), is connected to multiple dSPACE
thus contributing to a flexible test environment that can SCALEXIO simulators. The HIL systems simulate missing
be used for many different test scenarios. aircraft systems in real time, such as engines and avionics
systems that are usually connected with the systems under
test in the real aircraft and are thus required for test execu-
tion. In addition, the HIL simulators also provide navigation
data, including Global Positioning System (GPS) and instru-
ment landing system (ILS) data, as well as environmental
data, for example, data related to aerodynamics during
the simulated flight scenario. This approach enables early
testing of integrated aircraft systems supported by a flex-
ible, cost-effective and fully automated test environment.

Simulated signals

Feedback

Connected SCALEXIO HIL simulators Real aircraft components

Simulation of:  Flap actuation system
 Engines  Fuel quantity system
 Environment and aerodynamics  Automatic flight control system
 Avionics systems  Nose wheel steering system
 Navigation data (GPS, ILS, etc.)  Electrical power system
 ...  ...

The combination of multiple dSPACE simulators allows for the integration tests of real embedded aircraft components.

26
2019
 SCALEXIO Hardware / Introduction

SCALEXIO
Modular real-time system

Highlights
n High-performance real-time processors for demanding
applications
n Best closed-loop performance
n Comprehensive, precise, and fast I/O capabilities based
on FPGA technology
n Scalable system with software based configuration

Application Areas Key Benefits

The dSPACE SCALEXIO product line comprises flexible and n Scalable to any required size
modular systems in various sizes for hardware-in-the-loop n Large distributed system setups
(HIL) and rapid control prototyping (RCP) projects in vari- n High-performance processor technology for fast
ous industries such as automotive, automation, aerospace, calculation of large and complex models.
medical, transportation, or research. Its powerful real-time n Comprehensive, precise, and fast I/O capabilities based
technology and comprehensive bus support are ideally suited on FPGA technology.
for the demanding applications of today and tomorrow, n High bandwidth and low jitter for best closed-loop
which include advanced driver assistance systems (ADAS), performance based on the IOCNET backbone that
autonomous driving, electromobility, and increasing net- is optimized for real-time applications
work communication. n Flexible software-based system configuration
n Support of Functional Mock-up Interface (FMI)

27
2019
 SCALEXIO Hardware / Introduction

SCALEXIO Systems

The SCALEXIO systems cover a wide range of application To address the specific project requirements, the systems
areas, such as rapid control prototyping (RCP), data acquisi- are available in different setups.
tion (DAQ) and monitoring, hardware-in-the-loop (HIL) tests,
and test benches.

Laboratory System
SCALEXIO LabBox is ideally suited for a wide range of ap-
plications, such as RCP, function testing, test bench control,
and as a base system for customized HIL setups. The compact
chassis fits on an office desk and offers space for up to 18
SCALEXIO I/O boards, which you can easily exchange in order
to adapt the real-time system to your application. As process-
ing hardware, you can install the DS6001 Processor Board
directly into SCALEXIO LabBox to profit from its small size.
If more computing power is required, you can connect the SCALEXIO LabBox
SCALEXIO processing hardware (DS6001 Processor Board
or SCALEXIO Processing Unit) to the SCALEXIO LabBox via
IOCNET. For additional I/O, memory or IOCNET bandwidth,
multiple LabBoxes can be used together.
In addition to the desktop version, SCALEXIO LabBox is
available as a rack version for installation in a SCALEXIO
customized rack system.
SCALEXIO Processing Unit

Off-the-Shelf Systems for HIL Tests

For ECU tests, the SCALEXIO off-the shelf rack systems
provide sufficient space for MultiCompact I/O units, High-
Flex boards, and SCALEXIO I/O boards.
The SCALEXIO off-the-shelf system for HIL applications
comes in variants with 9 height units (U) and 12 U and is
ideal for testing single ECUs.
In contrast to a SCALEXIO laboratory system, the SCALEXIO
off-the-shelf system for HIL testing comprises onboard fault
insertion and current measurement with comprehensive
software support.

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 SCALEXIO Hardware / Introduction

Customized Systems
For test systems tailored to customer-specific requirements,
dSPACE offers dSPACE Engineering Services (p. 38), be-
cause these systems are built and configured individually.
The customized SCALEXIO rack system provides maximum
flexibility and can be expanded easily. Its typical fields of
application include large tests of networked ECUs as well as
tests including electronic loads and complete virtual vehicles.

Test Benches
For ECUs that cannot be accessed for testing via their elec-
trical interfaces, highly dynamic test benches are needed.
dSPACE offers turn-key projects for test benches that let
you use mechanical loads and physically stimulated ECUs.
For more information about the dSPACE test benches and
application examples, please see
www.dspace.com/go/test-bench or page 23.
You can also contact dSPACE at [email protected].

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 SCALEXIO Hardware / Introduction

Overview and Technical Details for SCALEXIO Systems

Features Off-the-Shelf System Customized System

SCALEXIO LabBox Rack Version Rack Version

Application area RCP, DAQ, function and HIL tests
„„ All test domains
„„
SCALEXIO I/O hardware SCALEXIO I/O boards
„„ MultiCompact I/O units
„„
HighFlex boards
„„
SCALEXIO I/O boards
„„
I/O boards Up to 18 I/O boards (19 slots, one
„„ Up to 20 I/O and/or HighFlex boards
„„ Variable number of boards
„„
reserved for the DS6051 IOCNET Board exchange via front access
„„ Board exchange via front access
„„
Router or two for the DS6001
Processor Board)
Board exchange directly via front
„„
access
Processing hardware One of the following Integrated SCALEXIO Processing Unit
„„
Integrated DS6001 Processor Board
„„
External SCALEXIO Processing Unit
„„
Additional functions for Not applicable
„„ Failure Insertion Unit
„„ Failure Insertion Unit
„„
rack versions Lambda Genesys power supply for
„„ Electronic load modules
„„
external devices Customer-specific power supply
„„
Connectors Sub-D (majority)
„„ Hypertac
„„ Hypertac
„„
Customer-specific
„„
Communication backbone IOCNET for internal communication and coupling with other SCALEXIO systems
„„
Multiprocessor extension by coupling two or more Processing Units or processor boards
„„

dSPACE Engineering Services

You can use dSPACE Engineering Services in any project
phase. Whether you need engineering support for an entire
project or just for system installation or first use, you can
rely on our years of experience and comprehensive know-
how. We can help you make the most of your projects by
using the system's flexibility.

For more information, please see

www.dspace.com/go/engineering or page 38.
.

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 SCALEXIO Hardware / Introduction

Electromobility

The SCALEXIO product line provides a wide range of hard- to configure the simulation of up to two electric motors
ware and software products for developing, testing, and on one DS2655 FPGA Base Board from within Configura-
simulating ECU software for electromobility applications. tionDesk. The Electrical Power Systems Simulation Package
also provides processor-based SimPowerSystem simulation
FPGA-Based Development and Simulation for electric circuits.
SCALEXIO offers the DS2655 FPGA Base Board with a freely
programmable FPGA and appropriate I/O modules for control Power Hardware-in-the-Loop
development and testing ECUs for electric motors, which You can also connect electronic load modules to the
require short control or simulation cycles, fast calculations SCALEXIO system to inject real phase currents into power
and quick I/O access. When used in combination with the electronics test devices. In combination with the DS2655
XSG AC Motor Control Library or the XSG Electric Compo- FPGA Base Board, electric motors can be simulated with
nents Library, the DS2655 provides the fast reaction times real power using the electronic loads (e.g., by using the
required for controlling and simulating electric machines in XSG Electric Components Library).
closed-loop operation. Furthermore, with the Electrical Power
Systems Simulation Package, you can simulate a graphi- Simulation Models
cal representation of the electric circuit diagram based on ASM Electric Components is a library of models for the
MathWorks Simscape® PowerSystems on the FPGA. real-time simulation of a vehicle’s electrical system. It is op-
timized for hardware-in-the-loop (HIL)-based simulations
Processor-Based Simulation in real time, making it possible to simulate complex ECU
The SCALEXIO EMH Solution provides a ready-to-use FPGA networks, including their electrical behavior.
application with a comprehensive I/O library for the proces-
sor-based HIL simulation of electric motors. You can use it

Autonomous Driving
SCALEXIO provides comprehensive solutions for developing Environment Simulation
and testing functions for advanced driver assistance systems dSPACE provides realistic simulation scenarios for hardware-
(ADAS) and autonomous driving. in-the-loop testing so that the many tests drives on the
road can be complemented with virtual test drives in the
Processing Power laboratory. The HIL simulation can be based on real naviga-
Because the algorithms as well as simulation models be- tion data from a video camera integrated in the ECU under
come increasingly realistic and computation-intensive, the test, for example.
SCALEXIO processing hardware provides high computation
power. Bus and Network Support
Extensive in-vehicle bus communication is required to imple-
Traffic Scenarios ment functions for autonomous driving. With its products,
For simulating traffic at intersections with multiple vehicles, dSPACE supports the most common modern communication
complex road networks and associated traffic scenarios can standards, e.g., automotive Ethernet, Ethernet, CAN, CAN
be graphically defined with dSPACE ModelDesk. The soft- FD, LIN, and FlexRay.
ware supports scenarios such as turning, crossing, turning
oncoming traffic, and U-turns. With ASM Traffic, these sce-
narios can be simulated in real time to test driver assistance
systems, such as intersection assistants.
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 SCALEXIO Hardware / Introduction

SCALEXIO Processing Hardware

SCALEXIO provides two types of real-time processing
platforms:
„„ The SCALEXIO Processing Unit is based on an industrial Both real-time platforms provide a similar architecture. For
PC that can be used within a SCALEXIO Rack System or example, they both offer an Ethernet host interface and I/O
as a stand-alone desktop version. It is suited for applica- interfaces. They also have an angular processing unit (APU)
tions with high performance requirements. functionality for highly precise angle-based simulation to
„„ The SCALEXIO DS6001 Processor Board is a real-time measure injection and ignition signals, for example. With
platform developed by dSPACE. Thanks to its compact these real-time platforms, up to six independent APUs can
size, it can be integrated in a SCALEXIO LabBox. The be used per SCALEXIO processing hardware.
DS6001 is suited for applications that require fast closed-
loop rates or high I/O bandwidth.

Multicore Support for Large Models Multiprocessor Support for Large Systems
Depending on the processor, large, complex simulation Multiprocessor support means that all SCALEXIO systems can
models can be distributed across several processor cores to be interconnected to increase computational power. To pro-
ensure that they are computed in real time. A configuration vide large bandwidths, SCALEXIO processing hardware can
software is used to distribute model parts to the cores and be interconnected via IOCNET. You can use ConfigurationDesk
to configure the communication behavior, the simulation to conveniently model a system.
hardware, and the model connections.

Host Interface
Communication with the host PC is carried out via Giga- an Ether­net switch to ensure communication with the
bit Ethernet, so the SCALEXIO system can be used in any host PC. The IP address for the connection can be assigned
company network. When more than two processing hard- via a DHCP server or stored on the SCALEXIO system
ware components are used, they are interconnected via itself.

SCALEXIO Processing Unit DS6001 Processor Board

Design 19'' stand-alone desktop version or rack-mount version for
„„ 2-slot plug-in card for SCALEXIO LabBox
„„
the SCALEXIO off-the-shelf rack system
I/O support SCALEXIO I/O boards
„„ SCALEXIO I/O boards
„„
MultiCompact
„„
HighFlex
„„
FIU support Yes
„„ No
„„

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 SCALEXIO Hardware / Introduction

SCALEXIO I/O Hardware

SCALEXIO offers three types of I/O boards for its different Connection to the processing unit via an IOCNET interface
„„
enclosure types (SCALEXIO LabBox and SCALEXIO off-the- Fully software-configurable
„„
shelf rack system). All the SCALEXIO I/O hardware shares Similar installation and configuration processes, so very
„„
the following characteristics: little training effort is necessary
„„Local signal preprocessing on I/O boards to take some
of the load off the real-time processor to ensure highest
real-time performance of the SCALEXIO systems

SCALEXIO I/O Boards1) MultiCompact HighFlex

Large number of I/O channels with dedicated
„„ Large number of I/O channels for specific
„„ Universal input/output channels with freely
„„
channel types applications assignable channel types
Small board size
„„ Each channel has a dedicated channel type, so
„„ Specific bus channels for all bus communication
„„
Connection to I/O via Sub-D connector2)
„„ the costs per channel are low Very versatile and finely scalable with 10 channels
„„
Boards are slot-independent2) and easy
„„ Integrated signal conditioning and converters
„„ per I/O board, 4 channels per bus board
to plug in Onboard Failure Insertion Unit (FIU)
„„ Galvanic isolation for each individual channel
„„
Connection of real and substitute loads
„„ Integrated signal conditioning and converters
„„
possible Onboard Failure Insertion Unit (FIU)
„„
Connection of real and substitute loads possible
„„
Standardized connector concept for all boards
„„
Boards are slot-independent and easy to assemble.
„„
Can be used in a SCALEXIO off-the-shelf
„„ Can be used in a SCALEXIO off-the-shelf
„„ Can be used in a SCALEXIO off-the-shelf
„„
rack system or a SCALEXIO LabBox rack system rack system
DS6101 Multi-I/O Board
„„ DS2680 I/O Unit
„„ DS2601 Signal Measurement Board
„„
DS6201 Digital I/O Board
„„ DS2690 Digital I/O Board
„„ DS2621 Signal Generation Board
„„
DS6202 Digital I/O Board
„„ DS2642 FIU & Power Switch Board
„„
DS6221 A/D Board
„„ DS2671 Bus Board
„„
DS6241 D/A Board
„„
DS2655 FPGA Base Board
„„
DS6301 CAN/LIN Board
„„
DS6311 FlexRay Board
„„
DS6331-PE Ethernet Board
„„
DS6333-PE Automotive Ethernet Board
„„
DS6333-CS Automotive Ethernet Board
„„
DS6334-PE Ethernet Board
„„
DS6335-CS Ethernet Board
„„
DS6341 CAN Board
„„
DS6351 LIN Board
„„

1)
No onboard Failure Insertion Unit (FIU), no connection of real or substitute loads.
2)
Does not apply to DS633x boards.

33
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 SCALEXIO Hardware / Introduction

System Setup

Due to the standardized SCALEXIO hardware, the system retrofitted if required. Connectors at the front can be wired
is easily resizable to fit its tasks. Additional boards can be according to individual project needs. For specific project re-

HighFlex MultiCompact
DS2690 Digital DS2680 I/O Unit Exchangeable load board
DS2601 Signal Measurement Board I/O Board of the MultiCompact
I/O unit

DS2621 Signal Generation Board SCALEXIO Rack System

I/O subrack with HighFlex

boards (left) and
MultiCompact I/O unit (right)
DS2642 FIU & Power Switch Board

SCALEXIO Processing Unit

Battery simulation power

supply unit

DS2671 Bus Board

Hypertac Connector
DS6331-PE Ethernet Board

SCALEXIO I/O Boards

DS2655 FPGA Base Board with DS6101 Multi-I/O Board DS6201 Digital I/O Board
DS2655M1 I/O Module and
DS2655M2 I/O Module

34
2019
 SCALEXIO Hardware / Introduction

quirements, e.g., servo control, fieldbus support or aerospace

applications, further solutions for SCALEXIO are available.

DS6001 Processor Board DS6051 IOCNET Router

SCALEXIO LabBox

I/O slots

DS6202 Digital I/O Board DS6221 A/D Board DS6241 D/A Board DS6301 CAN/LIN Board

DS6311 FlexRay Board DS6331-PE Ethernet Board DS6333-PE Automotive DS6333-CS

Ethernet Board Automotive Ethernet Board

DS6334-PE Ethernet Board DS6335-CS Ethernet Board DS6341 CAN Board DS6351 LIN Board

35
2019
 HIL Testing / dSPACE Simulator Software

dSPACE Software for HIL Simulation

Product Description
Automotive Simulation Models (ASM) n Real-time MATLAB®/Simulink® models for vehicle development
n Open model for real-time and offline simulation of
n Combustion engines (gasoline, diesel)
n Vehicle dynamics (passenger car, truck, trailer)
n Electric components (motors, batteries, loads)
n Vehicle environment (road traffic, objects, traffic signs)
n Turn-key solutions and worldwide support
ModelDesk n User interface for parameterization and simulation
n Intuitive, graphically supported parameterization of Automotive Simulation Models
n Seamless simulation process from MIL to HIL
n Parameters changed online and offline
n Road generator and maneuver editor for defining roads and driving maneuvers
n Traffic editor for easy, flexible traffic scenario definition
n Managing parameter sets and entire projects
Real-Time n Implementation software for running models on dSPACE hardware
Interface n Automatic implementation of MATLAB®/Simulink®/ Stateflow® models on dSPACE hardware
n Automatic code generation
n Graphical I/O configuration via comprehensive Simulink block libraries
n Special bus configuration, e.g. bus matrix importer, graphical restbus simulation, automatic com task
configuration
n Support of CAN, LIN, FlexRay, and Ethernet
ConfigurationDesk n Configuration and implementation software for dSPACE SCALEXIO hardware
n Configure real-time applications graphically
n Manage signal paths between external devices and behavior model interfaces
n Implement behavior model code and I/O function code
n Change the hardware configuration independently of the MATLAB®/Simulink® behavior model
n Support of the Functional Mock-up Interface (FMI) standard
ControlDesk n Universal modular experiment and instrumentation software for electronic control unit (ECU)
development
n Integrated ECU calibration, measurement and diagnostics access (CCP, XCP, ODX)
n Synchronized data capture across ECUs, HIL platforms, and bus systems
n Powerful layouting, instrumentation, measurement and post-processing (ASAM MDF)
n Failure simulation module for controlling failure insertion units in real time
n Monitoring bus communication
MotionDesk n Visualization software for 3-D online animation of simulated mechanical systems in real time
n Supports testing of advanced driver assistance systems (ADAS)
n Tight integration to ModelDesk and ASM
n Intuitive graphical scene design
n 3-D object library with objects in VRML2 format
n Multitrack mode for synchronized replay of multiple animations
Bus Manager n Configuration tool for LIN, CAN, and CAN FD bus simulation
n Work with several communication matrices for one configuration
n Customizable restbus configuration with tool automation interface
n Easy bus configuration via drag & drop
n Modeling-tool-independent model interface
n Tool automation interface

36
2019
 HIL Testing / dSPACE Simulator Software

Product Description
SYNECT n Data management and collaboration software
n Complete traceability between requirements, models, parameters, and test cases
n Integrated variant management
n Manage signals, parameters, and parameter sets
n Manage models together with their interfaces, parameters, and related files
n Handling complex workflows including variants
n Direct connection to engineering tools
AutomationDesk n Powerful test authoring and automation tool
n Graphical description of test routines
n Advanced custom library concept
n Remote control of calibration, measurement and diagnostic tools, such as ControlDesk
n Libraries containing a large number of predefined test steps, e.g., for easy access to the simulation
model, a Failure Insertion Unit (FIU), or calibration and diagnostics software
n Flexible test planning with weekend and overnight tests
Platform API Package n Application programming interfaces for connecting to dSPACE platforms
n Package containing automation libraries for accessing dSPACE systems
n High-level libraries for convenient platform management and simulation model access
n Compliant to ASAM XIL API standard
n Support of Python or any .NET-compliant language
n Create your own test scripts and test automation applications to access parameters and signals
in your simulation
Failure Simulation n Application programming interfaces for accessing dSPACE Failure Insertion Units
API Package n Support of Python, C# and any other .NET-compliant language
n ASAM XIL API EESPort-compliant access via graphical user interface in ControlDesk
n Automated configuration and switching of XIL API error configurations
n Convenient and easy-to-use AutomationDesk library blocks for FIU automation

XSG Electric n Plant models for FPGA-based simulations

Components n Simulation of extremely time-critical applications
Models n Support of very high oversampling rates
n Direct I/O access
n Open models

SCALEXIO EMH Solution n Processor-based simulation

for Electric Drives n Predefined function blocks
Simulation n Ideal for PWM and PSS applications

For more detailed product information, please visit

www.dspace.com/go/hil-products.

37
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 Engineering / dSPACE Engineering Services

dSPACE Engineering Services

Dedicated assistance and tailor-made

Highlights
Engineering and consulting services available
„„
worldwide
Hardware and software adapted to your specifications
„„
Comprehensive know-how from small projects
„„
to complete turn-key solutions

dSPACE Services for You

Turn-Key HIL Systems Test Automation
„„From selective services to complete turn-key systems Concept design of test scenarios and test cases
„„
„„Concept design, hardware planning, project management Hands-on training
„„
„„Signal list/wiring harness specification Test process support and test automation engineering
„„
„„Development of custom hardware, e.g., lambda probe
simulation, ECU mount, gearbox mount, valve signal Test Management and Process Support
detection unit, 1-D and 3-D motion platforms, mecha- Setting up test processes from test specifications to test
„„
tronic test benches (e.g., steering/brake systems, radar), results
FPGA-based solutions, specialized I/O Setting up a SYNECT-based environment for the central
„„
„„Development of custom software (e.g., Simulink® models) management of all test data
„„Open- and closed-loop HIL system tests Integrating requirements management, test management,
„„
„„On-site commissioning and test automation
„„Hands-on training Test system maintenance
„„

Simulation Models Project-Specific Adaptation

Model parameterization, calibration, and validation
„„ Integration of the HIL system into the E/E development
„„
Model integration
„„ process
Model development and model adaptation
„„ Configuration of custom I/O functions
„„
Integration of third-party models
„„ Integration of various bus protocols, e.g., Ethernet, SPI
„„

Connection to Third-Party Tools

Implementing access to dSPACE simulator systems
„„
via XIL API

Contact dSPACE
Please contact dSPACE if you are interested in integrating third-party [email protected]
„„
models or have further questions on services for dSPACE HIL Systems

38
2019
 Engineering / dSPACE Engineering Services

Openness
Third-Party Models
Not only dSPACE’s ASM models can run on dSPACE Simula- In addition, many physical modeling tools are being used
tor hardware, but also a large number of third-party and cus- in many customer projects in all kinds of fields: powertrain,
tom models. With dSPACE Real-Time Interface and dSPACE vehicle dynamics, electrical machines, body, and others.
ConfigurationDesk, models designed with MATLAB®/Simu- We also offer services to integrate models from other
link®/Stateflow® or Functional Mock-up Units (FMUs) can sources.
be perfectly integrated in the dSPACE tool chain. dSPACE
ModelDesk provides a convenient way to parameterize your For more information about dSPACE FMI support, please visit
own models. www.dspace.com/go/FMI.

Wide Selection of Models1)2) 3)

Here is a brief list of just a few of the models and tools Dymola from Dassault Systèmes
„„
which, like the dSPACE ASMs, have also been successfully SimulationX® from ITI
„„
implemented on our HIL systems: MapleSim™ from Maplesoft™
„„
„„Customers’ own models or third-party models provided AMESim from LMS®
„„
in MATLAB®/Simulink®/Stateflow® from The MathWorks® SIMPACK from SIMPACK
„„
„„enDYNA and veDYNA from TESIS DYNAware GT-SUITE from Gamma Technologies
„„
„„CarSim, TruckSim from Mechanical Simulation Corpora- WAVE-RT from Ricardo Software
„„
tion (MSC) Models from VI-grade
„„
„„Models based on physical modeling libraries from The C/C++
„„
MathWorks® (e.g., SimPowerSystems™, SimDriveline™) Fortran
„„

Services for Real-Time Models

With years of experience in hardware-in-the-loop simulation, Model interfaces
„„
dSPACE also offers modeling services such as: Integration of different modeling tools
„„
„„Integration of models into dSPACE SCALEXIO Adaptation of customer models
„„
„„Parameterization of models using customer data

Standardized Access via XIL API

All dSPACE HIL simulation systems support the XIL API For example, you can use various software programs for
(application programming interface) standard. The interface automated (scripted) access to dSPACE SCALEXIO.
provides access to all systems by dSPACE and third-party
products that use the same standard.

1)
Brand names and product names are trademarks or registered trademarks of their respective companies or organizations.
2)
This is not a complete list, and aims solely to illustrate dSPACE SCALEXIO’s capabilities by giving examples of third-party models and tools which
can be integrated into dSPACE SCALEXIO. The list of products does not imply any endorsement or recommendation of the products concerned.
Likewise, the absence of a company or product from the list does not imply any evaluation. dSPACE is not associated with the listed companies
and/or their products.
3)
dSPACE is a registered trademark of dSPACE GmbH in the United States or other countries. See www.dspace.com/goto?trademarks
for a list of further registered trademarks.
39
2019
 www.dspace.com

© Copyright 2019 by dSPACE GmbH.

All rights reserved. Written permission is required for reproduction of all or parts of this publication. The source
must be stated in any such reproduction. dSPACE is continually improving its products and reserves the right to alter
the specifications of the products at any time without notice. "ConfigurationDesk", "ControlDesk", "dSPACE",
"Embedded Success dSPACE", "MicroAutoBox", "MicroLabBox", "ProMINT", "SCALEXIO", "SYNECT", "SystemDesk",
"TargetLink", and "VEOS" are trademarks or registered trademarks of dSPACE GmbH in the United States of America
or in other countries or both. Other brand names or product names are trademarks or registered trademarks of their
respective companies or organizations.

Germany United Kingdom France

dSPACE GmbH dSPACE Ltd. dSPACE SARL
Rathenaustraße 26 Unit B7 . Beech House 7 Parc Burospace
33102 Paderborn Melbourn Science Park Route de Gisy
Tel.: +49 5251 1638-0 Melbourn 91573 Bièvres Cedex
Fax: +49 5251 16198-0 Hertfordshire . SG8 6HB Tel.: +33 169 355 060
[email protected] Tel.: +44 1763 269 020 Fax: +33 169 355 061
Fax: +44 1763 269 021 [email protected]
[email protected]

China Japan USA and Canada

dSPACE Mechatronic Control dSPACE Japan K.K. dSPACE Inc.
Technology (Shanghai) Co., Ltd. 10F Gotenyama Trust Tower 50131 Pontiac Trail
Unit 1101-1105, 11F/L 4-7-35 Kitashinagawa Wixom . MI 48393-2020
Middle Xizang Rd. 18 Shinagawa-ku Tel.: +1 248 295 4700
Harbour Ring Plaza Tokyo 140-0001 Fax: +1 248 295 2950
200001 Shanghai Tel.: +81 3 5798 5460 [email protected]
Tel.: +86 21 6391 7666 Fax: +81 3 5798 5464
Fax: +86 21 6391 7445 [email protected]
[email protected]

01/2019