基于RTLinux的半物理实时仿真平台研究

Study of Semi-physical Simulation for UAV Flight Control System Based on RTLinux

在飞控计算机应用到无人机上之前,需要对其进行较为全面的仿真测试。文中开发了用于对飞控计算机进行全面测试的基于嵌入式操作系统RTLinux及仿真工具软件Matlab的半物理仿真系统,并进行了调试。建立了基于Simulink的某型无人机飞控系统仿真模型,可自动生成优化的嵌入式实时仿真代码,在线调整模型参数并监视仿真数据。最后的仿真结果表明此半物理仿真系统可真实可靠地反映无人机的飞行过程。

Before the flight control computer is used in UAV, it is necessary to make a comprehensive test. In this paper, a hardware-in-the-loop simulation system was developed,the main simulation System based on embedded operation system RTLinux and simulation tool software Matlab was developed and debugged. The Simulink toolbox of matlab was used to establish a plane simulation system model. The code generation toolbox was used to translate it to C code. The simulation models were constructed rapidly and model parameters were adjusted on-line. The hardware-in-the-loop sim- ulation results can satisfy flight quality standards and really and reliably display flight process of UAV.