Geographically distributed real-time co-simulation of electric vehicle

The present paper shows the capabilities of a distributed real-time co-simulation environment merging simulation models and testing facilities for developing and verifying electric vehicles. This environment has been developed in the framework of the XILforEV project and the presented case is focused on a ride control with a real suspension installed on a test bench in Spain, which uses real-time information from a complete vehicle model in Germany. Given the long distance between both sites, it has been necessary to develop a specific delay compensation algorithm. This algorithm is general enough to be used in other real-time co-simulation frameworks. In the present work, the system architecture including the communication compensation is described and successfully experimentally validated.