An implementation towards integrated simulation of cyber-physical systems

Cyber-Physical Systems (CPS) involve communication, computation, and control through heterogeneous and widely distributed physical devices and computational components. The close interactions of these systems with the physical world make it difficult to model and simulate using traditional embedded system modeling and simulation technology. In this paper we address the main technical challenges on system simulation taking into account by the heterogeneity and integration of computation and physical processes characters of CPS, and provide a new interface based simulation modeling method and its corresponding co-simulation framework. We use Simulink to establish the physical continuous dynamic model, use UML to establish the discrete event-driven model, and then integrate the Simulink model into UML model by code fusion technology to implement co-simulation. A lunar rover example is implemented to validate the proposed method.