Distributed HIL-Simulation for the Design of Decentralised Control Structures

The mechatronic design cycle is characterized by taking into account and integrating mechanics, electronics, and information processing in the design process. For complex mechatronic systems a promising procedure is the decomposition of the entire system according to physically reasonable criteria. To describe the function of such combined subsystems we use the expression "mechatronic function" (Lückel 1997). Each discipline contributes its own specific function to the mechatronic function. Many technical systems boast an inherent physical parallelism, their setup showing parallel structures. Maintenance of the inherent physical parallelism in the design process means the design of parallelized mechatronic functions. Therefore, such subsystems can be called Mechatronic Function Modules (in short: MFMs) (Honekamp 1997). An MFM consists of actuators, sensors, continuous and discrete information processing, and interfaces for mechanical coupling and information exchange. For the hybrid vehicle two subsystems are obvious: one subsystem for the generation of electric energy, the MFM "generate energy", and another for driving the vehicle wheels, the MFM "drive wheels". The mechatronic functions "generate energy" and "drive wheels" and their assigned subsystems of the hybrid vehicle are Abstract: In technical systems of the future the combination of local components from different technical disciplines with local information processing will increase. One example is a series hybrid vehicle. It consists of an auxiliary power unit, e.g,. an internal combustion engine, and a generator coupled to the crank shaft of the combustion engine, a battery and a drive unit with two electric motors. Each of these vehicle units has its own electronic control unit. Design and interplay of distributed intelligent aggregates in future technical systems will gain ever more importance. Parallelisation will be used not only for the purpose of reaching real time, but also for structuring purposes. The aim of mechatronics is the overall design of those systems. A toolset which supports the distributed HIL simulation as part of the mechatronic design cycle will be presented.