Fast multi-core co-simulation of Cyber-Physical Systems : application to internal combustion engines

Abir Ben Khaled (1) , Mohamed El Mongi Ben Gaïd (1) , Nicolas Pernet (1) , Daniel Simon (2, 3)

1 IFPEN - IFP Energies nouvelles
2 DEMAR - Artificial movement and gait restoration
3 LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier

The design process of complex Cyber-Physical Systems often relies on co-simulations of the system, involving the interaction of several simulated models of sub-systems. However, reaching real-time simulations is currently prevented by prohibitive CPU times using the single-threaded existing simulation tools. This paper investigates the problem of the e cient parallel co-simulation of hybrid dynamical systems. It introduces a finely-grained co-simulation method enabling numerical integration speed-ups. It is obtained using a partition across the model into loosely coupled sub-systems with sparse communication between modules. The proposed scheme leads to schedule a large number of operations with a wide range of execution times. A suitable o -line scheduling algorithm, based on the input/output dynamics of the models, is proposed to minimize the simulation errors induced by the parallel execution. This scheme is finally tested using the phenomenological model of a combustion engine issued from the Functional Mockup Interface framework. Compared with the sequential case, it shows significant speed-ups while keeping the numerical integration accuracy under control.

Keywords: Hybrid dynamical system; Distributed simulation; Cyber-Physical System; Numerical integration; Model decomposition; Multi-core scheduling

Domains: Modeling and Simulation; Other

Abir Ben Khaled, Mohamed El Mongi Ben Gaïd, Nicolas Pernet, Daniel Simon. Fast multi-core co-simulation of Cyber-Physical Systems : application to internal combustion engines. Simulation Modelling Practice and Theory, 2014, 47 (September), pp.79-91. ⟨10.1016/j.simpat.2014.05.002⟩. ⟨hal-01018348v2⟩