Tutorial on dSPACE
Hardware-in-the-Loop
(HiL) Testing
dSPACE HiL testing is a
powerful method used to
validate and verify
embedded control systems in
real-time before deploying
them in actual hardware.
dSPACE Hardware-in-the-Loop (HiL)
01. Introduction to dSPACE HiL Testing
HiL testing allows the simulation of a virtual environment
for embedded systems. It is used extensively in industries like
automotive, aerospace, and robotics to validate:
Control algorithms
System behaviors under various conditions
Fault scenarios
Advantages of HiL Testing:
Reduces development time and costs.
Detects bugs early in the development cycle.
Simulates complex, real-world scenarios safely.
02. Components of a dSPACE HiL Setup
A typical dSPACE HiL setup includes the following
components:
Real-Time Processor: Executes the simulation models in
real time.
I/O Modules: Interface with the device under test (DUT).
Failure Insertion Unit (FIU): Introduces faults into the
system.
ControlDesk: dSPACE’s user interface software for real-
time monitoring and control.
Model-in-the-Loop (MiL)/Software-in-the-Loop (SiL)
models**: Plant models created in MATLAB Simulink
or other tools.
Power Supplies and DUT: Provides input to the
hardware.
dSPACE Hardware-in-the-Loop (HiL)
03. Key Features of dSPACE Tools
Scalable platforms: Modular hardware for different
applications.
Customizable I/O: Analog, digital, CAN, LIN, and
FlexRay support.
Fault Injection: Simulates real-world failures in
controlled environments.
High integration: Seamless link with MATLAB Simulink.
04. Steps to Perform HiL Testing Using dSPACE
Step 1: Prepare the Plant Model
01. Design the Model:
Use MATLAB Simulink to create the plant model.
Include subsystems for sensors, actuators, and
environmental conditions.
02. Parameterize the Model:
Adjust model parameters to match real-world
conditions (e.g., vehicle dynamics, engine models).
03. Real-Time Constraints:
Ensure the model meets real-time simulation
requirements.
Step 2: Compile the Model
01. Code Generation:
Use Simulink Coder or dSPACE TargetLink to
generate real-time code from the Simulink model.
Verify that the model is compatible with the dSPACE
system.
02. Load into dSPACE:
Upload the generated code onto the dSPACE real-time
hardware.
dSPACE Hardware-in-the-Loop (HiL)
Step 3: Connect the Hardware
01. Setup the DUT:
Connect the Device Under Test (DUT) to the dSPACE
I/O interface.
02. Interface Configuration:
Configure analog, digital, and communication
interfaces (e.g., CAN, LIN, FlexRay).
Step 4: Use ControlDesk
01. Create a Layout:
Set up a user interface in dSPACE ControlDesk for
real-time monitoring and parameter tuning.
02. Monitor Real-Time Variables:
Observe system responses and adjust parameters as
needed.
03. Data Logging:
Use ControlDesk to log data for further analysis.
dSPACE Hardware-in-the-Loop (HiL)
Step 5: Perform Fault Injection
01. Use the FIU:
Simulate faults like sensor disconnections or short
circuits.
02. Monitor Responses:
Validate the system’s behavior under failure
conditions.
Step 6: Test Automation
01. AutomationDesk:
Use dSPACE AutomationDesk for automating test
sequences.
02. Test Cases:
Develop and execute multiple test scenarios, including
edge cases.
05. Common Applications of dSPACE HiL Testing
Powertrain Testing:
Simulate engines, transmissions, and electric drives.
ADAS and Autonomous Systems:
Test Advanced Driver-Assistance Systems (ADAS) like
lane-keeping and collision avoidance.
Battery Management Systems:
Validate battery behavior under varying loads.
Chassis and Suspension:
Analyze vehicle dynamics and control.
06. Advanced Features
XIL API Integration: Allows interaction with third-party
testing tools.
Multicore Support: Execute complex models using
parallel processing.
Scenario Simulation: Use pre-built or custom traffic
scenarios for ADAS testing.
Custom Scripts: Python or MATLAB scripts to
automate and analyze tests
07. Example: HiL Test for a Vehicle’s ABS System
Model Creation: Build a Simulink model for vehicle dynamics and
ABS logic.
Hardware Integration: Connect the ECU to the dSPACE HiL
simulator via CAN.
Scenario Testing: Simulate different road conditions (wet, dry,
icy).
Analyze Results: Log braking distance, wheel speed, and slip ratio
data.
08. Challenges in HiL Testing
Model Complexity: High-fidelity models require more
processing power.
Real-Time Constraints: Simulations must run without delays to
match physical systems.
Integration: Ensuring seamless communication between DUT
and HiL setup.
09. Tips for Beginners
Start Small: Begin with simple models and gradually increase
complexity.
Understand Tools: Familiarize yourself with MATLAB
Simulink and ControlDesk.
Use Documentation: Leverage dSPACE’s official guides and
online resources.
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Chetan Shidling
@chetan_shidling_ Save
www.cselectricalandelectronics.com
