FIGURE H-3 Simulation.

FIGURE H-3 Simulation.

FIGURE H-4 Rapid control prototyping

FIGURE H-4 Rapid control prototyping

FIGURE H-5 On-target rapid prototyping.

FIGURE H-5 On-target rapid prototyping.

For the on-target rapid prototyping case (see Figure H-5), new or modified functionality is added to the production code in the controller-embedded target processor to verify the additions/changes.

Once all the functions have been developed and tested, the production code is finally implemented (see Figure H-6).

In the software-in-the-loop (SIL) phase (see Figure H-7), the actual production software code is incorporated into the mathematical simulation that contains the models of the physical system. This is done to permit inclusion of software functionality for which no model(s) exists or to enable faster simulation runs.

During the processor-in-the-loop phase (see Figure H-8), the control is compiled and downloaded into an embedded target processor and communicates directly with the plant model via standard communications such as Ether

FIGURE H-6 Production code generation.

FIGURE H-6 Production code generation.

FIGURE H-7 Software-in-the-loop.

FIGURE H-7 Software-in-the-loop.

FIGURE H-8 Processor-in-the-loop

FIGURE H-8 Processor-in-the-loop

net. In this case, no input/output devices are used for the communication.

HIL (see Figure H-9) is a technique for combining a mathematical simulation model of a system with actual physical hardware, such that the hardware performs as though it were integrated into the real system. For testing and development of embedded electronic controllers, the hardware controller and associated software are connected to a mathematical simulation of the system plant, which is executed on a computer in real time. To connect the real-time model to the hardware controller, the real-time computer receives electrical signals from the controller as actuator commands



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