The latter is executed in a simulation tool, which acts as a bus device and therefore uses the actual communication networks of the automation system for communication with the actual controller.īased on this definition, the model of the system or the system components is converted to TcCOM modules and executed on a second Industrial PC, taking into account the real-time requirements. Example 2b: HiL simulation of system componentsĪccording to VDI/VDE 3693 Part 1, Hardware in the loop (HiL) is defined as an advanced testing stage, in which the actual target control code is tested on an actual controller against a system model.The system model is also compiled into a TcCOM module and executed in real-time (see example 1a).See also TE1410 Interface for MATLAB Simulink. The system model remains in Simulink ® and uses ADS to communicate with the series code, which is executed in the TwinCAT runtime. ![]() The series code can be executed in an emulated controller, for testing against a system simulation model.Īccording to this definition, there are two options for a SiL simulation of systems (components) with TwinCAT: Example 2a: SiL simulation of plant componentsĪccording to VDI/VDE 3693 Part 1, Software in the loop (SiL) is defined as a stage following MiL simulation, in which the control code is available as series code.Depending on the configuration, SiL or HiL simulations can be performed in this way. This can be used to test a PLC program in real-time, before the actual machine is connected (virtual commissioning). Example 2: Real-time simulation of a machine/Virtual commissioningĪ TcCOM module is generated from a machine model created in Simulink ®.The TcCOM module generated from this is used to perform a real-time simulation, in which a controller implemented in IEC61131-3, C++ or Simulink ® can be tested. The controlled system is also implemented as a Simulink ® model, which is integrated into the model of the closed control loop via Model Referencing. Example 1a: Real-time simulation of a controlled system.Since standard Simulink ® function blocks are used as inputs and outputs, they can be used in the higher-level Simulink ® model as well as in the module generated later in TwinCAT. Before the controller model is compiled unchanged into a TwinCAT module via mouse click, which then operates as real-time controller for an actual system. This enables the closed control loop to be designed and tested in a simulation ( Model in the Loop simulation (MiL)). The following application examples are intended to illustrate possible areas of application:ĭuring the simulation development stage in Simulink ®, a controller is implemented as a Simulink ® model, which is integrated into the simulation model of the control loop via model referencing. The areas of application of TwinCAT Target for Simulink ® can be summarized by the following keywords: Areas of application and application examples
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