Design And Development Of Real-Time Simulation System Software Based On VxWorks

The real-time simulation of UAV(Unmanned Aircraft Vehicle) plays an important role in the validation of the flight control system. The simulation system software based on VxWorks Real-Time Operating System(RTOS) is designed and developed, and is verified by the real-time simulation experiment for a certain Mini-UAV in this paper.Firstly, this paper discusses the structure of the simulation system of UAV flight control system, the structure of software and hardware of simulation computer, and makes detailed analysis of the reliability starting with the VxWorks kernel. Secondly, the basic conception, function, structure, and development theory of the BSP are briefly analyzed, and on this base the BSP for embedded X86 under PC/104 bus is developed and realized. Subsequently, the develop environment and self-starting function are built and realized in this part.Thirdly, beginning with the relation between I/O system and drivers, the realizing process of their calling is analyzed. On this base, the transplanting and development of PC/104 module drivers based on VxWorks are realized.Then, this paper relizes 6-DOF non-linear mathematical model and simulation of with C language, the simulation of all onboard sensors according to their interface properties, and designs the real-time communication protocol according to master-slave structure characteristic of the simulation device and realizes the design of data communication module.Finally, the real-time simulation system software based on VxWorks RTOS is veridated by the real-time simulation of the sample UAV. The experiment result indicates that the software for the system works reliably, and has good real-time property and can meet the requirements of the integrated simulation system.