FMI for Co-Simulation of Embedded Control Software

Nicolai Pedersen, Tom Bojsen, Jan Madsen, Morten Vejlgaard-Laursen

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review

971 Downloads (Pure)


Increased complexity of cyber-physical systems within the maritime industry demands closer cooperation be-tween engineering disciplines. The functional mockup interface (FMI) is an initiative aiding cross-discipline in-teraction by providing, a widely accepted, standard for model exchange and co-simulation. The standard is sup-ported by a number of modelling tools. However, to im-plement it on an existing platform requires adaptation. This paper investigates how to adapt the software of an embedded control system to comply with the FMI for co-simulation standard. In particular, we suggest a way of advancing the clock of a real time operating system (RTOS), by overwriting the idle thread and waiting for a signal to start execution until return to idle. This ap-proach ensures a deterministic and temporal execution of the simulation across multiple nodes. As proof of concept, a co-simulation is conducted, showing that the control system of an SCR (selective catalyst reduction) emission reduction system can be packed in a functional mockup unit (FMU) and co-simulated with a physical model, built in Ptolemy II. Results show that FMI can be used for co-simulation of an embedded SCR control soft-ware and for control software development.
Original languageEnglish
Title of host publicationProceedings of the 1st Japanese Modelica Conference 2016
Number of pages8
PublisherLinköping University Electronic Press
Publication date2016
ISBN (Print)978-91-7685-749-6
Publication statusPublished - 2016
Event1st Japanese Modelica Conference 2016 - Tokyo, Japan
Duration: 23 May 201623 May 2016
Conference number: 1


Conference1st Japanese Modelica Conference 2016
Internet address
SeriesLinköping Electronic Conference Proceedings


  • Co-Simulation
  • RTOS
  • FMI
  • FMU
  • Embedded Systems

Fingerprint Dive into the research topics of 'FMI for Co-Simulation of Embedded Control Software'. Together they form a unique fingerprint.

Cite this