Real-time simulator of component models based on Functional Mock-up Interface 2.0

This paper deals with a real-time simulator of component models. The simulator imports models compatible with Functional Mock-up Interface for Model Exchange and Co-Simulation 2.0 standard (FMI 2.0) which can be generated from various versions of Modelica (e.g. OpenModelica, Dymola, SimulationX) or from several other tools. The present version of the simulator works with FMI 2.0 Co-Simulation models in which the solver is a part of the exported executable model. The simulator is integrated into RexCore — the real-time control runtime, which allows to simulate the model itself, the model and the control algorithm on the same computer (Software in the Loop, SIL) and also the model on a single computer with physical inputs and outputs connected to outputs and inputs of the second computer for control (Hardware in the Loop, HIL).