Virtual Hardware in the Loop: Hybrid Simulation of Dynamic Systems with a Virtualization Platform

This paper demonstrates the feasibility of co-simulation with virtual hardware as an alternative to Hardware in the Loop (HiL) simulation. Without real-time constraints, Virtual Hardware in the Loop (VHiL) simulation can be performed on general purpose hardware and software. Specific challenges to this kind of simulation, like data exchange and synchronization, are addressed. An exemplary implementation coupling the virtualization platform QEMU and the simulation framework VEROSIM is presented and used in a case study simulating a self balancing robot controlled by a virtual ATmega328p. The virtual hardware’s properties are systematically varied. Results show that the effects of peripheral resolution and the processor’s clock speed on the overall system behavior can be observed in a VHiL simulation. It is concluded that VHiL can be a viable alternative to HiL simulation, but the applicability of this approach depends on the availability and accuracy of emulators for specific target platforms.