Deterministic Co-Simulation of Open RISC-V-Based Cyber-Physical Systems: A Regenerative Suspension Case Study

Active suspension systems improve ride comfort but traditionally rely on energy-intensive actuators. Recent advances in regenerative technologies motivate the co-design of control strategies and energy-aware actuation mechanisms within tightly coupled cyber-physical architectures. This paper presents an open and deterministic HW/SW co-simulation framework for RISC-V-based cyber-physical systems. The framework integrates open-source heterogeneous modeling and execution environments, including Modelica for physical dynamics, IEEE-standard SystemC AMS for power modeling, the open-source GVSoC RISC-V instruction-set simulator for firmware execution, and the Lingua Franca coordination language for logical-time orchestration. By enforcing globally synchronized logical-time semantics across subsystems, the approach enables reproducible evaluation of mechanical, electrical, and RISC-V software components within a unified open hardware research infrastructure. A regenerative suspension case study demonstrates how co-simulation supports energy-aware control design, safety supervision, and early validation of software on open platforms.