A Deterministic Real-Time Hardware-in-the-Loop Simulation System with Multi-Core Task Scheduling and Automated Deployment

Hardware-in-the-Loop (HIL) simulation technology plays a crucial role in validating safety-critical systems by enabling real-time coupling between digital models and physical devices under test. However, traditional HIL simulation systems on embedded platforms face challenges such as complex model deployment processes, insufficient real-time performance, and low resource utilization. To address these issues, this paper proposes an HIL simulation solution based on the VxWorks real-time operating system and Simulink model-driven development. By leveraging a hierarchical architecture design and multi-core collaborative optimization strategies, we construct a real-time HIL simulation system with automated deployment capabilities. In the Simulink environment, we develop Digital-Physical Interface Modules that automatically generate hardware interaction code via standardized interface protocols, eliminating the need for manual code modifications in traditional workflows. The system automates model deployment and real-time simulation parameter monitoring, significantly reducing deployment complexity. Additionally, the VxWorks-based simulation system employs heterogeneous quad-core task scheduling, where the system management layer, model computation layer, simulation monitoring layer, and hardware interface layer are assigned to dedicated CPU cores. Combined with register-level GPIO programming, this approach enhances both simulation timeliness and result accuracy. Experimental results demonstrate that the proposed system achieves full automation from model development to deployment, improving simulation efficiency while ensuring precision. This work provides a scalable technical framework for embedded real-time simulation applications.