A multi-disciplinary distributed simulation environment for mechatronic system design enabling hardware-in-the-loop simulation based on HLA

This paper proposes a high-level architecture-based multi-disciplinary distributed simulation environment for designing mechatronic systems. In the system, commercial off-the-shelf simulators can communicate each other via real-time-infrastructure to realize software-in-the-loop simulation. Moreover, hardware prototypes can also participate in a part of the distributed simulation environment which enable us hardware-in-the-loop simulation. Effectiveness was verified by applying the environment to mechatronic system design of an automotive power-window and an omni-directional electric wheel chair.