基于Matlab和VxWorks的无人机飞控系统半物理仿真平台研究

介绍了一种新的基于Matlab／RTW(Real-Time Workshop)和VxWorks实时操作系统的仿真方法，构建了基于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。与传统的手工编写和修改仿真模型代码的方法相比，加速了半物理仿真平台的研制。通过使用该平台对某型无人机飞控系统进行了大量的实时半物理仿真，优化了控制律。

A Rapidly Constructed HIL Simulation Platform Including Non-Manual Real-Time Simulation Software for UAV Flight Control Research

To our best knowledge, there does not exist a real-time HIL (Hardware-In-Loop) simulation platform for UAV (Uninhabited Aerial Vehicle) flight control research that can be rapidly constructed and includes non-manual real-time simulation software. We aim to provide such a platform, because manual production of real-time simulation software is time-consuming and costly. A new real-time simulation method based on Matlab/RTW (Real-Time Workshop) and VxWorks real-time operation system is introduced. Using this method, simulation models are constructed rapidly and model parameters are adjusted on-line. In the full paper, we explain in much detail the rapid construction of a simulation hardware platform and how the optimal embedded codes of real-time simulation software are automatically generated. Here we give only a briefing. The key technology is developing simulation hardware driver, correctly configuring simulation parameters in RTW, and wrapping control algorithm by using S-function. Compared with conventional method that requires writing simulation codes manually, this method can accelerate building real-time HIL simulation platform. Using this platform, we completed HIL simulation for a certain type of small UAV, modified its control law, and tested its flight control system. By comparing simulation data with real flight data, we demonstrated that this platform has good reliability.