基于RTX的建模与实时仿真软件YH-RTSIM的设计

Design of modeling and real-time simulating software YH-RTSIM based on RTX

为了满足新型飞行器半实物仿真更高的实时性要求,基于Windows的实时扩展包RTX开发建模与实时仿真软件YH-RTSIM,设计了由仿真建模集成环境、Windows进程和RTSS进程组成的软件结构,不仅可提高实时性,而且原有用户的仿真程序只需很小的修改就可编译运行。设计了基于共享内存的进程间通信算法来实现实时数据存储和显示,设计了帧时间控制算法保证精确的帧时间。测试和应用表明:YH-RTSIM运行正确,仿真帧时间的误差为-0.0004ms～0.0004ms,小于1μs(0.001ms),能满足飞行器半实物仿真的需要。

In order to meet the higher real-time requirements of hardware-in-loop simulation of new flight vehicles,this paper developed the modeling and real-time simulating software YH-RTSIM based on Real-Time eXtension （RTX）,and designed the architecture of software YH-RTSIM that consisted of integration environment of modeling,Windows process and RTSS process,can not only enhance performance of real-time,but also run old simulation programs of user after little change,and designed the communication algorithm between processes based on share memory to carry out real-time data storing and displaying,and designed the control algorithm of frame time to ensure precise frame time.The tests and applications demonstrate that YH-RTSIM can run correctly,difference of frame time of simulation is from-0.000 4 ms to 0.000 4 ms during simulating,less than 1 μs （0.001 ms）,which can meet the requirements of hardware-in-loop simulation of new flight vehicles.