Improving simulation of wireless networked control systems based on WirelessHART

•We improved the available simulation models of WirelessHART devices.•We interfaced the proposed enhanced models with an existing co-simulation tool.•Control networks based on WirelessHART can be simulated with more details.•The co-simulation of coexistence issues of WirelessHART is now improved.•Comparison between WirelessHART and IEEE802.15.4 is possible.

Recently, WirelessHART (2007) and ISA100.11a (2009) have been proposed as communication standard for a wireless fieldbus. However, Wireless Networked Control Systems performances are hard to verify in the real world, since test beds are expensive and difficult to implement.This paper proposes the use of a co-simulation framework based on the interaction of TrueTime, together with a cross layer wireless network simulator based on OMNET++. In particular, OMNET++ models show accurate aspects of network and devices, for improving overall coexistence management.A sample system controlled by a WirelessHART network has been considered; the analysis of the control performance and coexistence immunity of WirelessHART with respect to the traditional IEEE802.15.4, has been done.