摘要
应用RTW自动代码生成技术,设计开发了基于VxWorks的无人机嵌入式实时仿真系统;首先,在给出仿真系统结构及功能需求的基础之上,建立了系统的Simulink模型,增加了人机交互功能;然后,使用RTW代码自动生成技术生成实时仿真程序,通过以太网下载到Pentium4目标机中,并实时运行;最后,将半物理实时仿真与全数字仿真进行对比分析,验证了该仿真系统的正确性;系统以1kHz解算时CPU占用率小于35%,说明其具有良好的实时性。
An embedded real--time UAV simulation system based on VxWorks is designed and developed using RTW automatic code generation technology. First, the Simulink model is established, and the human--computer interaction is added based on the general struc- ture and functional requirements of the UAV simulation system. Then, real--time simulation program is automatically generated using RTW code generation technology, downloaded via Ethernet to a Pentinm4 target machine, and run in real--time. Finally, the semi--physical simu- lation and all digital simulation are compared and analyzed to verify the correctness of the simulation system. CPU usage is less than 35 when system calculated in 1 kHz, which proves its good real--time performance.
出处
《计算机测量与控制》
北大核心
2014年第4期1291-1293,1306,共4页
Computer Measurement &Control
