1. Embedded Control Systems
Validation of Control Software
Hardware-in-the-loop testing
Closing Remarks
Methods for Hardware-in-the-loop testing for UAV
Ehsan Peymani
Norwegian University of Science and Technology
1 August, 2013 Trondheim, Norway
Ehsan Peymani Validation of Embedded Control Systems

2. Embedded Control Systems
Validation of Control Software
Hardware-in-the-loop testing
Closing Remarks
Main Statement
Systematic testing of functionality, performance, and failure
handling of embedded control systems is increasingly important
due to the growing complexity of the software and hardware of
systems.
Ehsan Peymani Validation of Embedded Control Systems

3. Embedded Control Systems
Validation of Control Software
Hardware-in-the-loop testing
Closing Remarks
Main Statement
Systematic testing of functionality, performance, and failure
handling of embedded control systems is increasingly important
due to the growing complexity of the software and hardware of
systems.
Ehsan Peymani Validation of Embedded Control Systems

4. Embedded Control Systems
Validation of Control Software
Hardware-in-the-loop testing
Closing Remarks
Main Statement
Systematic testing of functionality, performance, and failure
handling of embedded control systems is increasingly important
due to the growing complexity of the software and hardware of
systems.
Ehsan Peymani Validation of Embedded Control Systems

5. Embedded Control Systems
Validation of Control Software
Hardware-in-the-loop testing
Closing Remarks
Main Statement
Systematic testing of functionality, performance, and failure
handling of embedded control systems is increasingly important
due to the growing complexity of the software and hardware of
systems.
Ehsan Peymani Validation of Embedded Control Systems

6. Embedded Control Systems
Validation of Control Software
Hardware-in-the-loop testing
Closing Remarks
Main Statement
Systematic testing of functionality, performance, and failure
handling of embedded control systems is increasingly important
due to the growing complexity of the software and hardware of
systems.
Ehsan Peymani Validation of Embedded Control Systems

7. Embedded Control Systems
Validation of Control Software
Hardware-in-the-loop testing
Closing Remarks
Main Statement
Systematic testing of functionality, performance, and failure
handling of embedded control systems is increasingly important
due to the growing complexity of the software and hardware of
systems.
Ehsan Peymani Validation of Embedded Control Systems

8. Embedded Control Systems
Validation of Control Software
Hardware-in-the-loop testing
Closing Remarks
Main Statement
Systematic testing of functionality, performance, and failure
handling of embedded control systems is increasingly important
due to the growing complexity of the software and hardware of
systems.
Ehsan Peymani Validation of Embedded Control Systems

9. Embedded Control Systems
Validation of Control Software
Hardware-in-the-loop testing
Closing Remarks
Outline
1 Embedded Control Systems
2 Validation of Control Software
3 Hardware-in-the-loop testing
4 Closing Remarks
Ehsan Peymani Validation of Embedded Control Systems

10. Embedded Control Systems
Validation of Control Software
Hardware-in-the-loop testing
Closing Remarks
Definitions
Complexity
Outline
1 Embedded Control Systems
Definitions
Complexity
2 Validation of Control Software
3 Hardware-in-the-loop testing
4 Closing Remarks
Ehsan Peymani Validation of Embedded Control Systems

11. Embedded Control Systems
Validation of Control Software
Hardware-in-the-loop testing
Closing Remarks
Definitions
Complexity
Control Systems
Control System: all systems and components, hardware, software,
and user interfaces, necessary to perform the required
control action
Actuator systems
Sensor systems
Power systems
Control computer system
processor, I/O interface, user interface, operator stations, network
& communication (cabling, ...), and SW/HW platforms
Ehsan Peymani Validation of Embedded Control Systems

12. Embedded Control Systems
Validation of Control Software
Hardware-in-the-loop testing
Closing Remarks
Definitions
Complexity
Control Systems
Control System: all systems and components, hardware, software,
and user interfaces, necessary to perform the required
control action
Actuator systems
Sensor systems
Power systems
Control computer system
processor, I/O interface, user interface, operator stations, network
& communication (cabling, ...), and SW/HW platforms
Ehsan Peymani Validation of Embedded Control Systems

13. Embedded Control Systems
Validation of Control Software
Hardware-in-the-loop testing
Closing Remarks
Definitions
Complexity
Embedded Control Systems
Embedded System: a microprocessor used as a component in
another piece of technology
According to a report (2000),
150 million microprocessors used in traditional computers
8 billion microprocessors used in embedded applications
General Types of Embedded Systems
1 General (PDA’s, portable games)
2 Communications (cell phones)
3 Signal processing (video and audio)
4 Control
real time feedback control
automotive
aerospace
appliances
Ehsan Peymani Validation of Embedded Control Systems

14. Embedded Control Systems
Validation of Control Software
Hardware-in-the-loop testing
Closing Remarks
Definitions
Complexity
Embedded Control Systems
Embedded System: a microprocessor used as a component in
another piece of technology
According to a report (2000),
150 million microprocessors used in traditional computers
8 billion microprocessors used in embedded applications
General Types of Embedded Systems
1 General (PDA’s, portable games)
2 Communications (cell phones)
3 Signal processing (video and audio)
4 Control
real time feedback control
automotive
aerospace
appliances
Ehsan Peymani Validation of Embedded Control Systems

15. Embedded Control Systems
Validation of Control Software
Hardware-in-the-loop testing
Closing Remarks
Definitions
Complexity
Embedded Control Systems
Embedded System: a microprocessor used as a component in
another piece of technology
According to a report (2000),
150 million microprocessors used in traditional computers
8 billion microprocessors used in embedded applications
General Types of Embedded Systems
1 General (PDA’s, portable games)
2 Communications (cell phones)
3 Signal processing (video and audio)
4 Control
real time feedback control
automotive
aerospace
appliances
Ehsan Peymani Validation of Embedded Control Systems

16. Embedded Control Systems
Validation of Control Software
Hardware-in-the-loop testing
Closing Remarks
Definitions
Complexity
Embedded Control Systems
Embedded System: a microprocessor used as a component in
another piece of technology
According to a report (2000),
150 million microprocessors used in traditional computers
8 billion microprocessors used in embedded applications
General Types of Embedded Systems
1 General (PDA’s, portable games)
2 Communications (cell phones)
3 Signal processing (video and audio)
4 Control
real time feedback control
automotive
aerospace
appliances
Ehsan Peymani Validation of Embedded Control Systems

17. Embedded Control Systems
Validation of Control Software
Hardware-in-the-loop testing
Closing Remarks
Definitions
Complexity
Embedded Control Systems: Complexity
Embedded control systems are ubiquitous.
The complexity of embedded control systems is amazingly
growing.
Complexity: how hard something is to understand or verify.
The main consequence of complexity is risk.
Humans role: understandability can be enhanced through
education and training;
thus, the level of complexity can be reduced.
Ehsan Peymani Validation of Embedded Control Systems

18. Embedded Control Systems
Validation of Control Software
Hardware-in-the-loop testing
Closing Remarks
Definitions
Complexity
Embedded Control Systems: Complexity
Embedded control systems are ubiquitous.
The complexity of embedded control systems is amazingly
growing.
Complexity: how hard something is to understand or verify.
The main consequence of complexity is risk.
Humans role: understandability can be enhanced through
education and training;
thus, the level of complexity can be reduced.
Ehsan Peymani Validation of Embedded Control Systems

19. Embedded Control Systems
Validation of Control Software
Hardware-in-the-loop testing
Closing Remarks
Definitions
Complexity
Embedded Control Systems: Complexity
Embedded control systems are ubiquitous.
The complexity of embedded control systems is amazingly
growing.
Complexity: how hard something is to understand or verify.
The main consequence of complexity is risk.
Humans role: understandability can be enhanced through
education and training;
thus, the level of complexity can be reduced.
Ehsan Peymani Validation of Embedded Control Systems

20. Embedded Control Systems
Validation of Control Software
Hardware-in-the-loop testing
Closing Remarks
Definitions
Complexity
Embedded Control Systems: Complexity
Embedded control systems are ubiquitous.
The complexity of embedded control systems is amazingly
growing.
Complexity: how hard something is to understand or verify.
The main consequence of complexity is risk.
Humans role: understandability can be enhanced through
education and training;
thus, the level of complexity can be reduced.
Ehsan Peymani Validation of Embedded Control Systems

21. Embedded Control Systems
Validation of Control Software
Hardware-in-the-loop testing
Closing Remarks
Definitions
Complexity
Embedded Control Systems: Complexity
Embedded control systems are ubiquitous.
The complexity of embedded control systems is amazingly
growing.
Complexity: how hard something is to understand or verify.
The main consequence of complexity is risk.
Humans role: understandability can be enhanced through
education and training;
thus, the level of complexity can be reduced.
Ehsan Peymani Validation of Embedded Control Systems

22. Embedded Control Systems
Validation of Control Software
Hardware-in-the-loop testing
Closing Remarks
Definitions
Complexity
Embedded Control Systems: Complexity
Complexity means how hard something is to understand or verify. The
main consequence of complexity is risk.
Types of complexity:
essential functionality which comes from vetted requirements and
is unavoidable.
incidental complexity which arises from decisions about
architecture, design, and implementation.
This part can be reduced by making wise
decisions.
Ehsan Peymani Validation of Embedded Control Systems

23. Embedded Control Systems
Validation of Control Software
Hardware-in-the-loop testing
Closing Remarks
Definitions
Complexity
Embedded Control Systems: Complexity
Complexity means how hard something is to understand or verify. The
main consequence of complexity is risk.
Source of [unnecessary] complexity:
1 requirements and design (advanced control algorithms)
2 software development
3 testing and operations
Requirements
Analysis &
Design
Software Testing Operations
N
O
W
!
nge
ack.c
o
m
w
w
Figure: The scope of this talk is on software complexity included both
upstream and downstream activities in the engineering lifecycle.
Ehsan Peymani Validation of Embedded Control Systems

24. Embedded Control Systems
Validation of Control Software
Hardware-in-the-loop testing
Closing Remarks
Definitions
Complexity
Embedded Control Systems: Complexity
Complexity means how hard something is to understand or verify. The
main consequence of complexity is risk.
Source of [unnecessary] complexity:
1 requirements and design (advanced control algorithms)
2 software development
3 testing and operations
Requirements
Analysis &
Design
Software Testing Operations
N
O
W
!
nge
ack.c
o
m
w
w
Figure: The scope of this talk is on software complexity included both
upstream and downstream activities in the engineering lifecycle.
Ehsan Peymani Validation of Embedded Control Systems

25. Embedded Control Systems
Validation of Control Software
Hardware-in-the-loop testing
Closing Remarks
Definitions
Complexity
Embedded Control Systems: Complexity
Complexity means how hard something is to understand or verify. The
main consequence of complexity is risk.
Source of [unnecessary] complexity:
1 requirements and design (advanced control algorithms)
2 software development
3 testing and operations
Requirements
Analysis &
Design
Software Testing Operations
N
O
W
!
nge
ack.c
o
m
w
w
Figure: The scope of this talk is on software complexity included both
upstream and downstream activities in the engineering lifecycle.
Ehsan Peymani Validation of Embedded Control Systems

26. Embedded Control Systems
Validation of Control Software
Hardware-in-the-loop testing
Closing Remarks
Definitions
Complexity
Embedded Control Systems: Software Complexity
NASA report on Flight Software Complexity (2009)
Flight software executes onboard a spacecraft/aircraft.
◦ mission-level capabilities:
◦ platform/framework/infrastructure
Ehsan Peymani Validation of Embedded Control Systems

27. Embedded Control Systems
Validation of Control Software
Hardware-in-the-loop testing
Closing Remarks
Definitions
Complexity
Embedded Control Systems: Software Complexity
NASA report on Flight Software Complexity (2009)
Flight software executes onboard a spacecraft/aircraft.
◦ mission-level capabilities:
guidance, navigation, and control
entry, descent, and landing
surface mobility
environmental control
instrument control
communications
◦ platform/framework/infrastructure
Ehsan Peymani Validation of Embedded Control Systems

28. Embedded Control Systems
Validation of Control Software
Hardware-in-the-loop testing
Closing Remarks
Definitions
Complexity
Embedded Control Systems: Software Complexity
NASA report on Flight Software Complexity (2009)
Flight software executes onboard a spacecraft/aircraft.
◦ mission-level capabilities:
◦ platform/framework/infrastructure
computer boot-up and initialization
time management
hardware interface control
command processing
telemetry processing
data storage management
flight software patch and load
fault protection
Ehsan Peymani Validation of Embedded Control Systems

29. Embedded Control Systems
Validation of Control Software
Hardware-in-the-loop testing
Closing Remarks
Definitions
Complexity
Embedded Control Systems: Software Complexity
NASA report on Flight Software Complexity (2009)
Exponential growth rate of a factor of 10 approximately every
10 years.
Flight Software Complexity
Growth in Code Size for Human and Robotic Missions
1
10
100
1000
10000
100000
1000000
10000000
1968
1970
1972
1974
1976
1978
1980
1982
1984
1986
1988
1990
1992
1994
1996
1998
2000
2002
2004
Year of Mission
NCSL(logscale)
unmanned
manned
Expon. (unmanned)
Expon. (manned)
Non-CommentSourceLines(logscale)
1969 Mariner-6 (30)
1975 Viking (5K)
1977 Voyager (3K)
1989 Galileo (8K)
1990 Cassini (120K)
1997 Pathfinder (175K)
1999 DS1 (349K)
2003 SIRTF/Spitzer (554K)
2004 MER (555K)
2005 MRO (545K)
1968 Apollo (8.5K)
1980 Shuttle(470K)
1989 ISS (1.5M)
Robotic
Human
Figure 3. History of flight software growth in human and robotic missions.
In the realm of human spaceflight, there are only three NASA data points (Apollo, Space Shuttle,
Figure: Growth in flight software size for human missions (in red) and
robotic missions (in blue)
Ehsan Peymani Validation of Embedded Control Systems

30. Embedded Control Systems
Validation of Control Software
Hardware-in-the-loop testing
Closing Remarks
Definitions
Complexity
Embedded Control Systems: Software Complexity
NASA report on Flight Software Complexity (2009)
Exponential growth rate of a factor of 10 approximately every
10 years.
Flight Software Complexity
Growth in Code Size for Human and Robotic Missions
1
10
100
1000
10000
100000
1000000
10000000
1968
1970
1972
1974
1976
1978
1980
1982
1984
1986
1988
1990
1992
1994
1996
1998
2000
2002
2004
Year of Mission
NCSL(logscale)
unmanned
manned
Expon. (unmanned)
Expon. (manned)
Non-CommentSourceLines(logscale)
1969 Mariner-6 (30)
1975 Viking (5K)
1977 Voyager (3K)
1989 Galileo (8K)
1990 Cassini (120K)
1997 Pathfinder (175K)
1999 DS1 (349K)
2003 SIRTF/Spitzer (554K)
2004 MER (555K)
2005 MRO (545K)
1968 Apollo (8.5K)
1980 Shuttle(470K)
1989 ISS (1.5M)
Robotic
Human
Figure 3. History of flight software growth in human and robotic missions.
In the realm of human spaceflight, there are only three NASA data points (Apollo, Space Shuttle,
Figure: Growth in flight software size for human missions (in red) and
robotic missions (in blue)
Ehsan Peymani Validation of Embedded Control Systems

31. Embedded Control Systems
Validation of Control Software
Hardware-in-the-loop testing
Closing Remarks
Definitions
Complexity
Embedded Control Systems: Software Complexity
NASA report on Flight Software Complexity (2009)
The F-22A is reported to have
2.5 million lines of code.
The F-35 Joint Strike Fighter,
will, according to one source,
have 5.7 M lines of code.
Spacecraft, aircraft, and automobiles are all examples of embedded real-time
and all have witnessed major growth in software size and complexity over the
The closely related aeronautics industry has reported exponential growth in bo
signals to be processed and source lines of code (SLOC) required for civil air
year period [Gillette 1998]. In a period of forty years, the percent of function
pilots of military aircraft has risen from 8% in 1960 (F-4 Phantom) to 80
Raptor), as shown in Figure 7. The F-22A is reported to have 2.5 million lines o
Software in Military Aircraft
0
10
20
30
40
50
60
70
80
90
1960
(F-4)
1964
(A-7)
1970
(F-
111)
1975
(F-15)
1982
(F-16)
1990
(B-2)
2000
(F-22)
Year of Introduction
PercentofFunctionalityProvided
bySoftware
Figure 7. Growth in functionality provided by software to pilots of military aircr
The reasons for such growth are easy to understand. The exponentially increa
microprocessors (Moore’s Law) along with their decreasing mass and power r
made them the tool of choice for adding functionality in the most cost-effective
An exponential growth in both the number of signals to be
processed and source lines of code (SLOC) required for civil
aircraft is observed over a thirty year period.
Ehsan Peymani Validation of Embedded Control Systems

32. Embedded Control Systems
Validation of Control Software
Hardware-in-the-loop testing
Closing Remarks
Definitions
Complexity
Embedded Control Systems: Software Complexity
NASA report on Flight Software Complexity (2009)
The F-22A is reported to have
2.5 million lines of code.
The F-35 Joint Strike Fighter,
will, according to one source,
have 5.7 M lines of code.
Spacecraft, aircraft, and automobiles are all examples of embedded real-time
and all have witnessed major growth in software size and complexity over the
The closely related aeronautics industry has reported exponential growth in bo
signals to be processed and source lines of code (SLOC) required for civil air
year period [Gillette 1998]. In a period of forty years, the percent of function
pilots of military aircraft has risen from 8% in 1960 (F-4 Phantom) to 80
Raptor), as shown in Figure 7. The F-22A is reported to have 2.5 million lines o
Software in Military Aircraft
0
10
20
30
40
50
60
70
80
90
1960
(F-4)
1964
(A-7)
1970
(F-
111)
1975
(F-15)
1982
(F-16)
1990
(B-2)
2000
(F-22)
Year of Introduction
PercentofFunctionalityProvided
bySoftware
Figure 7. Growth in functionality provided by software to pilots of military aircr
The reasons for such growth are easy to understand. The exponentially increa
microprocessors (Moore’s Law) along with their decreasing mass and power r
made them the tool of choice for adding functionality in the most cost-effective
An exponential growth in both the number of signals to be
processed and source lines of code (SLOC) required for civil
aircraft is observed over a thirty year period.
Ehsan Peymani Validation of Embedded Control Systems

33. Embedded Control Systems
Validation of Control Software
Hardware-in-the-loop testing
Closing Remarks
Definitions
Complexity
Embedded Control Systems: Software Complexity
NASA report on Flight Software Complexity (2009)
In 1990 the typical GM car had one million lines of code,
growing to 100M by 2010.
Flight Software Complexity
shows, the average General Motors automobile had a million lines of code in 1
projected to have 100 million lines of code by the year 2010; while all of the code is
to the car’s operation, it is indicative of the continuing trend with embedded systems.
Lines of Code in Typical GM Car
1
10
100
1000
10000
100000
1970 1990 2010
Model Year
KLOC
Figure 8. In 1990 the typical GM car had one million lines of code, growing to 100M by 201
Ehsan Peymani Validation of Embedded Control Systems

34. Embedded Control Systems
Validation of Control Software
Hardware-in-the-loop testing
Closing Remarks
Definitions
Complexity
Embedded Control Systems: Software Complexity
National Institute of Standards and Technology (NIST) Report (2002)
Software bugs cost the U.S. economy $59.5 billion annually.
More than a third of this cost could be avoided if a better
testing was performed.
◦ The earlier a defect/error/bug is found, the cheaper it is to fix.
Fixing a bug during operation may cost 20-100 times more than
cost to correct during the requirement definition phase.
Ehsan Peymani Validation of Embedded Control Systems

35. Embedded Control Systems
Validation of Control Software
Hardware-in-the-loop testing
Closing Remarks
Definition and Objective
Methods of Testing
Development Stages
Outline
1 Embedded Control Systems
2 Validation of Control Software
Definition and Objective
Methods of Testing
Development Stages
3 Hardware-in-the-loop testing
4 Closing Remarks
Ehsan Peymani Validation of Embedded Control Systems

36. Embedded Control Systems
Validation of Control Software
Hardware-in-the-loop testing
Closing Remarks
Definition and Objective
Methods of Testing
Development Stages
Software Testing
Software testing is an investigation to provide stakeholders with
information about the ::::::
quality of the product;
an independent view to appreciate and understand the ::::
risks of
software implementation.
According to Miller (1981),
“The general aim of testing is to affirm the
quality of software systems by
systematically exercising the software in
::::::::
carefully :::::::::
controlled::::::::::::::
circumstances.”
Dijkstras criticism: “Program testing can be used to show the
presence of bugs, but never to show their absence”.
Ehsan Peymani Validation of Embedded Control Systems

37. Embedded Control Systems
Validation of Control Software
Hardware-in-the-loop testing
Closing Remarks
Definition and Objective
Methods of Testing
Development Stages
Practical Issues
Testing intends to find errors.
a good test is one that has a high probability of finding an
undiscovered error.
a successful test is one that uncovers an undiscovered error.
How to test a product?
Testing under all combinations of inputs and initial states is
not feasible.
infrequent errors are difficult to find.
non-functional requirements (such as quality, performance,
scalability, usability, compatibility, reliability) are subjective.
How to validate control software?
Ehsan Peymani Validation of Embedded Control Systems

38. Embedded Control Systems
Validation of Control Software
Hardware-in-the-loop testing
Closing Remarks
Definition and Objective
Methods of Testing
Development Stages
Methods of Software Testing
Static testing vs. Dynamic testing
Functional testing vs. Structural testing
Ehsan Peymani Validation of Embedded Control Systems

39. Embedded Control Systems
Validation of Control Software
Hardware-in-the-loop testing
Closing Remarks
Definition and Objective
Methods of Testing
Development Stages
Static testing and Dynamic testing
Based on whether the actual execution of software is needed or
not, there are two major categories of quality assurance activities:
Static testing: (without reference to actual execution)
methods: code inspection, program analysis, symbolic analysis,
and model checking
verification: (to test compliance of the system to the
requirements)
Dynamic testing: (with actual execution)
methods: boundary value analysis, state transition tables,
decision table testing, model-based testing, specification-based
testing
validation: (additionally questions the correctness and
feasibility of requirements with respect to philosophy and
intended use, rules and regulations, · · · .
Ehsan Peymani Validation of Embedded Control Systems

40. Embedded Control Systems
Validation of Control Software
Hardware-in-the-loop testing
Closing Remarks
Definition and Objective
Methods of Testing
Development Stages
Static testing and Dynamic testing
Based on whether the actual execution of software is needed or
not, there are two major categories of quality assurance activities:
Static testing: (without reference to actual execution)
methods: code inspection, program analysis, symbolic analysis,
and model checking
verification: (to test compliance of the system to the
requirements)
Dynamic testing: (with actual execution)
methods: boundary value analysis, state transition tables,
decision table testing, model-based testing, specification-based
testing
validation: (additionally questions the correctness and
feasibility of requirements with respect to philosophy and
intended use, rules and regulations, · · · .
Ehsan Peymani Validation of Embedded Control Systems

41. Embedded Control Systems
Validation of Control Software
Hardware-in-the-loop testing
Closing Remarks
Definition and Objective
Methods of Testing
Development Stages
Static testing and Dynamic testing
Based on whether the actual execution of software is needed or
not, there are two major categories of quality assurance activities:
Static testing: (without reference to actual execution)
methods: code inspection, program analysis, symbolic analysis,
and model checking
verification: (to test compliance of the system to the
requirements)
Dynamic testing: (with actual execution)
methods: boundary value analysis, state transition tables,
decision table testing, model-based testing, specification-based
testing
validation: (additionally questions the correctness and
feasibility of requirements with respect to philosophy and
intended use, rules and regulations, · · · .
Ehsan Peymani Validation of Embedded Control Systems

42. Embedded Control Systems
Validation of Control Software
Hardware-in-the-loop testing
Closing Remarks
Definition and Objective
Methods of Testing
Development Stages
Functional testing and Structural testing
According to the point of view that the test engineer takes when
setting objectives for test cases, there are two major categories for
quality assurance activities:
Functional testing (to test the functionality exposed to the
end-user without any knowledge of internal implementation)
∗ emphasizes on the external behavior of the software entity.
∗ the system is viewed as a black box.
∗ the selection of test cases is based on the::::::::::
requirement or
:::::
design:::::::::::
specification.
Structural testing (to test internal structures or workings; the
aim is to cause execution of a specific spot)
∗ emphasizes on the internal structure of the software entity.
∗ the system is viewed as a white box.
∗ the selection of test cases is based on the:::::::::::::
implementation.
Ehsan Peymani Validation of Embedded Control Systems

43. Embedded Control Systems
Validation of Control Software
Hardware-in-the-loop testing
Closing Remarks
Definition and Objective
Methods of Testing
Development Stages
Functional testing and Structural testing
According to the point of view that the test engineer takes when
setting objectives for test cases, there are two major categories for
quality assurance activities:
Functional testing (to test the functionality exposed to the
end-user without any knowledge of internal implementation)
∗ emphasizes on the external behavior of the software entity.
∗ the system is viewed as a black box.
∗ the selection of test cases is based on the::::::::::
requirement or
:::::
design:::::::::::
specification.
Structural testing (to test internal structures or workings; the
aim is to cause execution of a specific spot)
∗ emphasizes on the internal structure of the software entity.
∗ the system is viewed as a white box.
∗ the selection of test cases is based on the:::::::::::::
implementation.
Ehsan Peymani Validation of Embedded Control Systems

44. Embedded Control Systems
Validation of Control Software
Hardware-in-the-loop testing
Closing Remarks
Definition and Objective
Methods of Testing
Development Stages
Functional testing and Structural testing
According to the point of view that the test engineer takes when
setting objectives for test cases, there are two major categories for
quality assurance activities:
Functional testing (to test the functionality exposed to the
end-user without any knowledge of internal implementation)
∗ emphasizes on the external behavior of the software entity.
∗ the system is viewed as a black box.
∗ the selection of test cases is based on the::::::::::
requirement or
:::::
design:::::::::::
specification.
Structural testing (to test internal structures or workings; the
aim is to cause execution of a specific spot)
∗ emphasizes on the internal structure of the software entity.
∗ the system is viewed as a white box.
∗ the selection of test cases is based on the:::::::::::::
implementation.
Ehsan Peymani Validation of Embedded Control Systems

45. Embedded Control Systems
Validation of Control Software
Hardware-in-the-loop testing
Closing Remarks
Definition and Objective
Methods of Testing
Development Stages
Functional testing and Structural testing
According to the point of view that the test engineer takes when
setting objectives for test cases, there are two major categories for
quality assurance activities:
Functional testing (to test the functionality exposed to the
end-user without any knowledge of internal implementation)
∗ emphasizes on the external behavior of the software entity.
∗ the system is viewed as a black box.
∗ the selection of test cases is based on the::::::::::
requirement or
:::::
design:::::::::::
specification.
Structural testing (to test internal structures or workings; the
aim is to cause execution of a specific spot)
∗ emphasizes on the internal structure of the software entity.
∗ the system is viewed as a white box.
∗ the selection of test cases is based on the:::::::::::::
implementation.
Ehsan Peymani Validation of Embedded Control Systems

46. Embedded Control Systems
Validation of Control Software
Hardware-in-the-loop testing
Closing Remarks
Definition and Objective
Methods of Testing
Development Stages
V-model for control system development
R. Skjetne and O. Egeland246
Figure 5. V-model for control system development and installation
Ehsan Peymani Validation of Embedded Control Systems

47. Embedded Control Systems
Validation of Control Software
Hardware-in-the-loop testing
Closing Remarks
Definition and Objective
Methods of Testing
Development Stages
Typical Stages in Software Testing
as part of the static testing effort.9
Once the code ● Belief in the malleabili
Figure 3 Typical stages of testing within IBM
UNIT TEST/CODE
INSPECTION
FUNCTION/
COMPONENT
TEST
M = MODULE F = FUNCTION P = PRODUCT
MODULE
M2
M3 M1
F2
F1
SYSTEM/
INTEGRATION OR
PRODUCT TEST
F4
F3
Unit Testing Component Testing Software Integration
Module Testing Module Integration Testing Testing
Ehsan Peymani Validation of Embedded Control Systems

48. Embedded Control Systems
Validation of Control Software
Hardware-in-the-loop testing
Closing Remarks
Definition and Objective
Methods of Testing
Development Stages
Typical Stages in Software Development
Figure 2 The activities that involve debugging, testing, and verification in a typical software development process
DEBUGGING
VERIFICATION
Ehsan Peymani Validation of Embedded Control Systems

49. Embedded Control Systems
Validation of Control Software
Hardware-in-the-loop testing
Closing Remarks
Definition and Objective
Methods of Testing
Development Stages
Testing vs. Debugging
Testing Debugging
to discover a defect to find and remove the cause of the defect
carried out by testing team carried out by development team
to find as many defects as possible to remove those defects
Ehsan Peymani Validation of Embedded Control Systems

50. Embedded Control Systems
Validation of Control Software
Hardware-in-the-loop testing
Closing Remarks
Definition and Objective
Methods of Testing
Development Stages
Development and Validation Efficiency
1 Cost
2 Duration (time-to-market)
3 Safety
4 Feasibility
Ehsan Peymani Validation of Embedded Control Systems

51. Embedded Control Systems
Validation of Control Software
Hardware-in-the-loop testing
Closing Remarks
Motivation and Concept
Components
Benefits
Recent Issues
Outline
1 Embedded Control Systems
2 Validation of Control Software
3 Hardware-in-the-loop testing
Motivation and Concept
Components
Benefits
Recent Issues
4 Closing Remarks
Ehsan Peymani Validation of Embedded Control Systems

52. Embedded Control Systems
Validation of Control Software
Hardware-in-the-loop testing
Closing Remarks
Motivation and Concept
Components
Benefits
Recent Issues
Control System Design
Mechanical
System
Actuators Sensors
Disturbances Noise
Control System implemented on software and hardware platforms
functions to achieve the intended purpose and characteristic
action;
safety-related functions
1 to ensure system integrity, failure detection, failure handling,
fail safe actions, ...
Ehsan Peymani Validation of Embedded Control Systems

53. Embedded Control Systems
Validation of Control Software
Hardware-in-the-loop testing
Closing Remarks
Motivation and Concept
Components
Benefits
Recent Issues
Control System Design
Mechanical
System
Actuators Sensors
Disturbances Noise
Process
Variable
Controller
SW/HW
Control
Signal
Reference
Control System implemented on software and hardware platforms
functions to achieve the intended purpose and characteristic
action;
safety-related functions
1 to ensure system integrity, failure detection, failure handling,
fail safe actions, ...
Ehsan Peymani Validation of Embedded Control Systems

54. Embedded Control Systems
Validation of Control Software
Hardware-in-the-loop testing
Closing Remarks
Motivation and Concept
Components
Benefits
Recent Issues
Control System Design
Mechanical
System
Actuators Sensors
Disturbances Noise
Process
Variable
Controller
SW/HW
Control
Signal
Reference
Control System implemented on software and hardware platforms
functions to achieve the intended purpose and characteristic
action;
safety-related functions
1 to ensure system integrity, failure detection, failure handling,
fail safe actions, ...
Ehsan Peymani Validation of Embedded Control Systems

55. Embedded Control Systems
Validation of Control Software
Hardware-in-the-loop testing
Closing Remarks
Motivation and Concept
Components
Benefits
Recent Issues
Control System Validation
Approach 1: System-level testing
Process
Variable
Mechanical
System
Actuators Sensors
Disturbances Noise
Controller
SW/HW
Control
Signal
Reference
N
O
W
!
ange
ack.c
o
m
Ehsan Peymani Validation of Embedded Control Systems

56. Embedded Control Systems
Validation of Control Software
Hardware-in-the-loop testing
Closing Remarks
Motivation and Concept
Components
Benefits
Recent Issues
Control System Validation
Approach 1: System-level testing
Process
Variable
Mechanical
System
Actuators Sensors
Disturbances Noise
Controller
SW/HW
Control
Signal
Reference
N
O
W
!
ange
ack.c
o
m
Ehsan Peymani Validation of Embedded Control Systems

57. Embedded Control Systems
Validation of Control Software
Hardware-in-the-loop testing
Closing Remarks
Motivation and Concept
Components
Benefits
Recent Issues
Control System Validation
Approach 1: System-level testing
Process
Variable
Mechanical
System
Actuators Sensors
Disturbances Noise
Controller
SW/HW
Control
Signal
Reference
Test Program
Test Profile Logging/Analysis
N
O
W
!
ange
ack.c
o
m
Ehsan Peymani Validation of Embedded Control Systems

58. Embedded Control Systems
Validation of Control Software
Hardware-in-the-loop testing
Closing Remarks
Motivation and Concept
Components
Benefits
Recent Issues
Control System Validation
Approach 1: System-level testing - Challenges
1 Cost to test
2 Cost of failure
3 Availability
4 System variations
5 Repeatability
Ehsan Peymani Validation of Embedded Control Systems

59. Embedded Control Systems
Validation of Control Software
Hardware-in-the-loop testing
Closing Remarks
Motivation and Concept
Components
Benefits
Recent Issues
Control System Validation
Approach 1: System-level testing - Challenges
1 Cost to test
2 Cost of failure
3 Availability
4 System variations
5 Repeatability
Ehsan Peymani Validation of Embedded Control Systems

60. Embedded Control Systems
Validation of Control Software
Hardware-in-the-loop testing
Closing Remarks
Motivation and Concept
Components
Benefits
Recent Issues
Control System Validation
Approach 1: System-level testing - Challenges
1 Cost to test
2 Cost of failure
3 Availability
4 System variations
5 Repeatability
Ehsan Peymani Validation of Embedded Control Systems

61. Embedded Control Systems
Validation of Control Software
Hardware-in-the-loop testing
Closing Remarks
Motivation and Concept
Components
Benefits
Recent Issues
Control System Validation
Approach 1: System-level testing - Challenges
1 Cost to test
2 Cost of failure
3 Availability
4 System variations
5 Repeatability
Ehsan Peymani Validation of Embedded Control Systems

62. Embedded Control Systems
Validation of Control Software
Hardware-in-the-loop testing
Closing Remarks
Motivation and Concept
Components
Benefits
Recent Issues
Control System Validation
Approach 1: System-level testing - Challenges
1 Cost to test
2 Cost of failure
3 Availability
4 System variations
5 Repeatability
Ehsan Peymani Validation of Embedded Control Systems

63. Embedded Control Systems
Validation of Control Software
Hardware-in-the-loop testing
Closing Remarks
Motivation and Concept
Components
Benefits
Recent Issues
Control System Validation
Approach 2: Component-level testing
Process
Variable
Mechanical
System
Actuators Sensors
Disturbances Noise
Controller
SW/HW
Control
Signal
Reference
System
c
o
m
Ehsan Peymani Validation of Embedded Control Systems

64. Embedded Control Systems
Validation of Control Software
Hardware-in-the-loop testing
Closing Remarks
Motivation and Concept
Components
Benefits
Recent Issues
Control System Validation
Approach 2: Component-level testing
Simulated Process Variable
Controller
SW/HW
Control SignalReference
Test Program
Test Profile Logging/Analysis
c
o
m
Ehsan Peymani Validation of Embedded Control Systems

65. Embedded Control Systems
Validation of Control Software
Hardware-in-the-loop testing
Closing Remarks
Motivation and Concept
Components
Benefits
Recent Issues
Control System Validation
Approach 2: Component-level testing - Challenges
Simulated Process Variable
Controller
SW/HW
Control SignalReference
Test Program
Test Profile Logging/Analysis
c
o
m
Ehsan Peymani Validation of Embedded Control Systems

66. Embedded Control Systems
Validation of Control Software
Hardware-in-the-loop testing
Closing Remarks
Motivation and Concept
Components
Benefits
Recent Issues
Control System Validation
Approach 2: Component-level testing - Challenges
Simulated Process Variable
Controller
SW/HW
Control SignalReference
Test Program
Test Profile Logging/Analysis
c
o
m
Ehsan Peymani Validation of Embedded Control Systems

67. Embedded Control Systems
Validation of Control Software
Hardware-in-the-loop testing
Closing Remarks
Motivation and Concept
Components
Benefits
Recent Issues
Control System Validation
Approach 2: Component-level testing - Challenges
Simulated Process Variable
Controller
SW/HW
Control SignalReference
Test Program
Test Profile Logging/Analysis
Disturbance
c
o
m
Ehsan Peymani Validation of Embedded Control Systems

68. Embedded Control Systems
Validation of Control Software
Hardware-in-the-loop testing
Closing Remarks
Motivation and Concept
Components
Benefits
Recent Issues
Hardware-in-the-loop testing: Concept
An effective approach for Validation of Embedded Control Systems
As a result,
We need to create a system-level testing to include the
complexity of the plant under control.
We want to do testing with only the embedded control system.
Mechanical
Actuators Sensors
Disturbances Noise
ProcessController ControlReference
Real-Time Simulator
Mechanical
System
Actuators Sensors
Disturbances Noise
Process
Variable
Controller
SW/HW
Control
Signal
Reference
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lick
to
bu
w
w
w
.docu-track.c
o
m
◦ This real-time simulator is called “hardware-in-the-loop
simulator”.
Ehsan Peymani Validation of Embedded Control Systems

69. Embedded Control Systems
Validation of Control Software
Hardware-in-the-loop testing
Closing Remarks
Motivation and Concept
Components
Benefits
Recent Issues
Hardware-in-the-loop testing: Concept
An effective approach for Validation of Embedded Control Systems
As a result,
We need to create a system-level testing to include the
complexity of the plant under control.
We want to do testing with only the embedded control system.
Mechanical
System
Actuators Sensors
Disturbances Noise
Process
Variable
Controller
SW/HW
Control
Signal
Reference
Real-Time Simulator
Mechanical
System
Actuators Sensors
Disturbances Noise
Process
Variable
Controller
SW/HW
Control
Signal
Reference
◦ This real-time simulator is called “hardware-in-the-loop
simulator”.
Ehsan Peymani Validation of Embedded Control Systems

70. Embedded Control Systems
Validation of Control Software
Hardware-in-the-loop testing
Closing Remarks
Motivation and Concept
Components
Benefits
Recent Issues
Hardware-in-the-loop testing: Concept
An effective approach for Validation of Embedded Control Systems
Test Program
Mechanical
System
Actuators Sensors
Disturbances Noise
Process
Variable
Controller
SW/HW
Control
Signal
Reference
Real-time Simulator
Test Plan
Test Requirements
Test Analysis
Test Documentation
Test Signals
Result (simulated signals)Stimuli
Hardware-in-the-loop testing is a system-level testing, with only
the embedded control system, by creating a system model.
Hardware-in-the-loop testing: virtual system-level testingEhsan Peymani Validation of Embedded Control Systems

71. Embedded Control Systems
Validation of Control Software
Hardware-in-the-loop testing
Closing Remarks
Motivation and Concept
Components
Benefits
Recent Issues
Hardware-in-the-loop testing: Components
The hardware-in-the-loop testing has two main components:
1 Hardware-in-the-loop simulator
2 Hardware-in-the-loop test program
Ehsan Peymani Validation of Embedded Control Systems

72. Embedded Control Systems
Validation of Control Software
Hardware-in-the-loop testing
Closing Remarks
Motivation and Concept
Components
Benefits
Recent Issues
Hardware-in-the-loop simulator
HIL simulator is a mathematical representation of the plant.
+ the mechatronic system
+ actuators and sensors
+ environment
HIL Simulator
HIL testing concept
Simulated
actuators
Simulated
sensors
Simulated
environment
Process Under Control
Actuators
Dynamic
systems
Sensors
Environment
Control signals
Control signals
Measurements
Simulated
Measurements
Control
system
I/O
MMI
Man
Simulated
dynamic
systems
Control
system
I/O
MMI
Man
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lick
to
buy
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C
lick
to
buy
N
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PDF-XChange
w
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Ehsan Peymani Validation of Embedded Control Systems

73. Embedded Control Systems
Validation of Control Software
Hardware-in-the-loop testing
Closing Remarks
Motivation and Concept
Components
Benefits
Recent Issues
Hardware-in-the-loop simulator
HIL simulator is a mathematical representation of the plant.
+ the mechatronic system
+ actuators and sensors
+ environment
The simulator should be capable of simulating the necessary
range of failures.
Interfacing to the embedded control system through
1 the normal I/O interface
2 a dedicated (HIL) test I/O interface
! The communication delay in the interface should be less than
1/10 of the main sampling time in the control system.
Fault insertion unit to create signal faults
Ehsan Peymani Validation of Embedded Control Systems

74. Embedded Control Systems
Validation of Control Software
Hardware-in-the-loop testing
Closing Remarks
Motivation and Concept
Components
Benefits
Recent Issues
Hardware-in-the-loop simulator
HIL simulator is a mathematical representation of the plant.
+ the mechatronic system
+ actuators and sensors
+ environment
The simulator should be capable of simulating the necessary
range of failures.
Interfacing to the embedded control system through
1 the normal I/O interface
2 a dedicated (HIL) test I/O interface
! The communication delay in the interface should be less than
1/10 of the main sampling time in the control system.
Fault insertion unit to create signal faults
Ehsan Peymani Validation of Embedded Control Systems

75. Embedded Control Systems
Validation of Control Software
Hardware-in-the-loop testing
Closing Remarks
Motivation and Concept
Components
Benefits
Recent Issues
Hardware-in-the-loop simulator
HIL simulator is a mathematical representation of the plant.
+ the mechatronic system
+ actuators and sensors
+ environment
The simulator should be capable of simulating the necessary
range of failures.
Interfacing to the embedded control system through
1 the normal I/O interface
2 a dedicated (HIL) test I/O interface
! The communication delay in the interface should be less than
1/10 of the main sampling time in the control system.
Fault insertion unit to create signal faults
Figure 1. An HIL test system consists of three primarycomponents: an operator interface, a real-time process
Hardware Fault Insertion
Many HIL test systems use hardware fault insertion to create signal faults between the ECU and the rest of the system to test, ch
device under these conditions. To accomplish this, you can insert fault insertion units (FIUs) between the I/O interfaces and the E
switch the interface signals between normal operation and fault conditions such as a short-to-ground or open circuit.
Figure 2. You can use hardware fault insertion to test the behavior of the ECU during signal fa
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lick
to
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PDF-XChange
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Ehsan Peymani Validation of Embedded Control Systems

76. Embedded Control Systems
Validation of Control Software
Hardware-in-the-loop testing
Closing Remarks
Motivation and Concept
Components
Benefits
Recent Issues
Hardware-in-the-loop simulator
Simulator dilemma:
sufficiently accurate simulator
sufficiently small time step
synchronization between simulated part and physical part
data must be exchanged at every time that hardware is
sampled.
The HIL simulator must find the state at the next time step in
less time than it takes the step to occur in reality.
Ehsan Peymani Validation of Embedded Control Systems

77. Embedded Control Systems
Validation of Control Software
Hardware-in-the-loop testing
Closing Remarks
Motivation and Concept
Components
Benefits
Recent Issues
Hardware-in-the-loop simulator
Real-time simulator
consistent amount of computations at every time step
Ehsan Peymani Validation of Embedded Control Systems

78. Embedded Control Systems
Validation of Control Software
Hardware-in-the-loop testing
Closing Remarks
Motivation and Concept
Components
Benefits
Recent Issues
Hardware-in-the-loop simulator
Real-time simulator
consistent amount of computations at every time step
Ehsan Peymani Validation of Embedded Control Systems

79. Embedded Control Systems
Validation of Control Software
Hardware-in-the-loop testing
Closing Remarks
Motivation and Concept
Components
Benefits
Recent Issues
Hardware-in-the-loop simulator
Real-time simulator
inconsistent amount of computations time steps
Figure 2.3: Simulation Requirements for Hardware-in-the-Loop ApplicationsEhsan Peymani Validation of Embedded Control Systems

80. Embedded Control Systems
Validation of Control Software
Hardware-in-the-loop testing
Closing Remarks
Motivation and Concept
Components
Benefits
Recent Issues
Hardware-in-the-loop test program
The HIL test program includes:
1 test requirements
2 test plan
3 test profile
4 user interface
5 test assessment and analysis
6 test documentation
Ehsan Peymani Validation of Embedded Control Systems

81. Embedded Control Systems
Validation of Control Software
Hardware-in-the-loop testing
Closing Remarks
Motivation and Concept
Components
Benefits
Recent Issues
Hardware-in-the-loop test program
The HIL test plan should consider these test scenarios:
1 Functional testing: to test a function to verify that the
specified functional requirements are met.
2 Failure testing: to test the functionality of the ECS for failure
handling.
3 Performance testing: to test and quantify the performance
(how good) of the ECS under all feasible operating conditions.
Ehsan Peymani Validation of Embedded Control Systems

82. Embedded Control Systems
Validation of Control Software
Hardware-in-the-loop testing
Closing Remarks
Motivation and Concept
Components
Benefits
Recent Issues
Software-to-Hardware ratio
Simulator
Control Software
Embedded
Control System
Simulator
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lick
to
buy
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O
W
!
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lick
to
PDF-XC
w
w
w
.docu
Figure: These are not hardware-in-the-loop simulators.
The HIL simulator and the embedded control system under
test are implemented in two separate platforms.
Ehsan Peymani Validation of Embedded Control Systems

83. Embedded Control Systems
Validation of Control Software
Hardware-in-the-loop testing
Closing Remarks
Motivation and Concept
Components
Benefits
Recent Issues
Hardware-in-the-loop testing: Benefits
1 Enhancing the quality of testing by increasing test coverage.
2 Tight development schedules by testing the control system in
parallel with the development of the plant.
3 High-burden-rate plant: Simulators are much cheaper than
actual systems (e.g. jet engines).
4 Early process human factors development by providing
human-in-the-loop testing to evaluate ::::::::
usability::::
and:::::::
system
::::::::::
consistency.
− Optimal selection of parameters in fly-by-wire flight controls.
− If HIL testing is not used, field trials should be performed for
parameter selection.
Not good: cost, duration, safety, feasibility.
Ehsan Peymani Validation of Embedded Control Systems

84. Embedded Control Systems
Validation of Control Software
Hardware-in-the-loop testing
Closing Remarks
Motivation and Concept
Components
Benefits
Recent Issues
Hardware-in-the-loop testing: Benefits
1 Enhancing the quality of testing by increasing test coverage.
2 Tight development schedules by testing the control system in
parallel with the development of the plant.
3 High-burden-rate plant: Simulators are much cheaper than
actual systems (e.g. jet engines).
4 Early process human factors development by providing
human-in-the-loop testing to evaluate ::::::::
usability::::
and:::::::
system
::::::::::
consistency.
− Optimal selection of parameters in fly-by-wire flight controls.
− If HIL testing is not used, field trials should be performed for
parameter selection.
Not good: cost, duration, safety, feasibility.
Ehsan Peymani Validation of Embedded Control Systems

85. Embedded Control Systems
Validation of Control Software
Hardware-in-the-loop testing
Closing Remarks
Motivation and Concept
Components
Benefits
Recent Issues
Hardware-in-the-loop testing: Benefits
1 Enhancing the quality of testing by increasing test coverage.
2 Tight development schedules by testing the control system in
parallel with the development of the plant.
3 High-burden-rate plant: Simulators are much cheaper than
actual systems (e.g. jet engines).
4 Early process human factors development by providing
human-in-the-loop testing to evaluate ::::::::
usability::::
and:::::::
system
::::::::::
consistency.
− Optimal selection of parameters in fly-by-wire flight controls.
− If HIL testing is not used, field trials should be performed for
parameter selection.
Not good: cost, duration, safety, feasibility.
Ehsan Peymani Validation of Embedded Control Systems

86. Embedded Control Systems
Validation of Control Software
Hardware-in-the-loop testing
Closing Remarks
Motivation and Concept
Components
Benefits
Recent Issues
Hardware-in-the-loop testing: Benefits
1 Enhancing the quality of testing by increasing test coverage.
2 Tight development schedules by testing the control system in
parallel with the development of the plant.
3 High-burden-rate plant: Simulators are much cheaper than
actual systems (e.g. jet engines).
4 Early process human factors development by providing
human-in-the-loop testing to evaluate ::::::::
usability::::
and:::::::
system
::::::::::
consistency.
− Optimal selection of parameters in fly-by-wire flight controls.
− If HIL testing is not used, field trials should be performed for
parameter selection.
Not good: cost, duration, safety, feasibility.
Ehsan Peymani Validation of Embedded Control Systems

87. Embedded Control Systems
Validation of Control Software
Hardware-in-the-loop testing
Closing Remarks
Motivation and Concept
Components
Benefits
Recent Issues
Hardware-in-the-loop testing: Benefits
5 Reducing the validity process time
6 Achieving much greater test repeatability
7 Reducing the number of actual system-level testings
Ehsan Peymani Validation of Embedded Control Systems

88. Embedded Control Systems
Validation of Control Software
Hardware-in-the-loop testing
Closing Remarks
Motivation and Concept
Components
Benefits
Recent Issues
Hardware-in-the-loop testing: Benefits
5 Reducing the validity process time
6 Achieving much greater test repeatability
7 Reducing the number of actual system-level testings
Ehsan Peymani Validation of Embedded Control Systems

89. Embedded Control Systems
Validation of Control Software
Hardware-in-the-loop testing
Closing Remarks
Motivation and Concept
Components
Benefits
Recent Issues
Hardware-in-the-loop testing: Benefits
5 Reducing the validity process time
6 Achieving much greater test repeatability
7 Reducing the number of actual system-level testings
Figure: Aircraft Arrestor Control System
Ehsan Peymani Validation of Embedded Control Systems

90. Embedded Control Systems
Validation of Control Software
Hardware-in-the-loop testing
Closing Remarks
Motivation and Concept
Components
Benefits
Recent Issues
Hardware-in-the-loop testing in the V-model
R. Skjetne and O. Egeland246
Figure 5. V-model for control system development and installation
Ehsan Peymani Validation of Embedded Control Systems

91. Embedded Control Systems
Validation of Control Software
Hardware-in-the-loop testing
Closing Remarks
Motivation and Concept
Components
Benefits
Recent Issues
Recent Issues: Test Automation
There are four major parts to any testing effort:
1 test case design
2 test case creation
3 test case execution
4 test case analysis and debugging
+ test documentation
+ test assessment
+ requirement tracing
Ehsan Peymani Validation of Embedded Control Systems

92. Embedded Control Systems
Validation of Control Software
Hardware-in-the-loop testing
Closing Remarks
Motivation and Concept
Components
Benefits
Recent Issues
Recent Issues: Test Automation
There are four major parts to any testing effort:
1 test case design
2 test case creation
3 test case execution
4 test case analysis and debugging
+ test documentation
+ test assessment
+ requirement tracing
Ehsan Peymani Validation of Embedded Control Systems

93. Embedded Control Systems
Validation of Control Software
Hardware-in-the-loop testing
Closing Remarks
Outline
1 Embedded Control Systems
2 Validation of Control Software
3 Hardware-in-the-loop testing
4 Closing Remarks
Ehsan Peymani Validation of Embedded Control Systems

94. Embedded Control Systems
Validation of Control Software
Hardware-in-the-loop testing
Closing Remarks
Closing Remarks
The software growth trend is expected to continue because of
increasingly ambitious requirements and because of the
advantages of situating new functionality in software or
firmware rather than hardware.
“Engineers and scientists often do not realize the downstream
complexity and cost entailed by their local decisions. [· · · ] A
lack of consideration for testability can complicate verification
efforts”, NASA report.
Ehsan Peymani Validation of Embedded Control Systems

95. Embedded Control Systems
Validation of Control Software
Hardware-in-the-loop testing
Closing Remarks
Closing Remarks
Hardware-in-the-loop testing is a fundamental part of the
development of a plant, especially at aviation industry.
Hardware-in-the-loop testing is useful, but it never replaces
actual system testing (field trials are inevitable).
A hardware-in-the-loop simulator, not only, can be used for
testing an embedded control system, but also it can be used
for
control system design and tuning
system design revisions and optimization
quality monitoring
training of personnel (pilots, operators)
The simulator can be made a multi-purpose simulator,
specially by adding 3D visualization capability.
Ehsan Peymani Validation of Embedded Control Systems

96. Embedded Control Systems
Validation of Control Software
Hardware-in-the-loop testing
Closing Remarks
Closing Remarks
Hardware-in-the-loop testing is a fundamental part of the
development of a plant, especially at aviation industry.
Hardware-in-the-loop testing is useful, but it never replaces
actual system testing (field trials are inevitable).
A hardware-in-the-loop simulator, not only, can be used for
testing an embedded control system, but also it can be used
for
control system design and tuning
system design revisions and optimization
quality monitoring
training of personnel (pilots, operators)
The simulator can be made a multi-purpose simulator,
specially by adding 3D visualization capability.
Ehsan Peymani Validation of Embedded Control Systems

97. Embedded Control Systems
Validation of Control Software
Hardware-in-the-loop testing
Closing Remarks
Thank you for your participation!
Ehsan Peymani Validation of Embedded Control Systems