基于VxWorks的无人机半物理仿真研究

Research on UAV Semi-Physical Simulation Based on VxWorks

为满足无人机飞控/导航控制律参数调节的需要,提出了新的基于MATLAB/Simulink/RTW和嵌入式实时操作系统VxWorks的无人机半物理仿真方法。建立无人机仿真模型,给出了仿真模型配置的关键技术。该系统的硬件平台采用PC/104总线的体系结构,利用RTW接口下载飞机数学模型到VxWorks操作系统。仿真结果表明,系统具有良好的性能和稳定性。

To meet the requirement of UAV （ unmanned aerial vehicle） flight and navigation control laws parameters adjustment, a new method of UAV semi-physical simulation is put forward, which is based on MATLAB/Simulink/RTW（ real-time workshop） and embedded real-time operating system VxWorks. The simulating model of UAV is established, the key technique of the simulation model configuration is presented. The hardware architecture is based on PC/104 bus, the mathematical model of aircraft by adopting the RTW interface is downloaded to VxWorks. The results of the simulation show that the system has good performance and stability.