基于VxWoks的直升机飞控系统半物理仿真软件技术

Simulation Software Technique of Helicopter Flight Control System Hardware-in-the-loop Based on VxWorks

开发高性能可靠的飞控计算机是直升机研制的重要一步,在试飞之前,需要对飞控系统进行全面的仿真测试。结合控制律软件设计,提出一种基于嵌入式VxWorks操作系统,结合RTW工具箱进行飞控系统半物理仿真研究的方案。详细说明了使用RTW生成实时目标代码的过程和外部模式的配置。开发了半物理仿真平台的软件,并与控制律软件、飞机模型、飞控操纵台进行联合调试。解决了RTW生成模块中信号量访问、仿真软件各功能模块优先级划分、串口数据读写等问题。最后给出了联合调试的实际仿真结果,并验证了该方案的软硬件的可靠性。可以应用到进一步的试飞工作中。

Flight control computer is one important step of helicopter development. Before the flight test, it is necessary to make the comprehensive simulation test. A project of Hardware - in - the - loop Simulation for flight control system is brought forward combining the control law software, which is based on embedded VxWorks Operation system and Maflab RTW toolbox. The simulation rea-time code generation by use of RTW and the configuration of Extern Mode are detailed explicated. Develop the software of simulation platform and make the joint modulation with the control law software,helicopter model and flight control operation console. The signal access in RTW-generated module ,the priorities of function modules in simulation software and data read-write in serial ports are all solved. At the end, actual simulation results are given which prove the feasibilities of the software and hardware in the project. It can be applied to further flight test.