Based On The Pc104 + Vxworks Uav Simulation System Design, Implementation,

To validate the raliability and the performance index of the flight control software, the two phrases including full digital simulation and semi-physical simulation are necessary. Full digital simulation focuses on the algorithmic and parameter regulation of control law in order to satisfy the design requirement of flight control system. Semi-physical simulation is to simulate every tache of flight control system in the subaerial experimental environment as veritably as possible. Through connected with the real flight controller, the validity and reliability of software design of the control law can be verified more, and the reliability and fault-shooting ability of the control software are verified when the mode is changed.In these validations, these problems such as heavy code development, how to assure reliability and real-time of the whole system will be faced when the system is transferred from complete digital simulation to semi-physical simulation.Aimed at the above problems, this paper developed the simulation system of the unmanned airplane assisted with RTW in Simulink and the popular real-time multitask OS VxWorks. Thus, it is possible to make use of the speciality of flexibility and real-time in VxWorks as well as transformation functionality of RTW to setup the optimized simulation model module which can be used in real-time applications. Then, download the module to VxWorks through its flexible cross develop-debug system and run it. Based on that, the variable storage scheme is studied deeply in order to solve the problem of data interaction between the module generated by RTW and the external module developed manually. Finally, Combined with related modules of external flight control law, the simulation platform is validated experimentally, the arisen error in which is analyzed deeply and the corresponding effective solutions are proposed.Mainly aimed at configuration of VxWorks, model transformation using RTW, data interacton and error mending, a lot of work is done to study and analyzed these problems deeply in this paper.Based on this,the transformation of simulatin model is completed by using popular Matlab/Simulink/RTW method and seldom used S-Function in C-MEX. Then the problem of data access to each other between RTW generation module and outside module is solved well by a new schedule designed independently. So the development...