Design And Development Of UAV Simulation System Based On Rapid Prototyping

The high-speed development of UAV industry has put forward higher and higher performance requirements for the rapid development,real-time,reliability and expansibility of the simulation system,and there are increasingly rich functional requirements.Traditional system development methods are difficult to meet the above requirements effectively.The real-time UAV simulation system based on model and rapid prototyping code generation technology can greatly shorten the research and development cycle,save developers,ensure the software quality and reuse the model.Firstly,the mathematical model of the sample UAV was established,including the kinematics and dynamics model of the UAV,the various sensor models,the electromechanical actuator model,the wind disturbance model and the fault injection characteristic simulation,which provides the theoretical basis for the subsequent rapid prototyping model.Then,starting from the functional requirements,performance requirements and operating environment of the sample UAV,the dissertation carried out hierarchical design and top-down development of the simulation system software.In the application layer model development,a sample UAV model was established by using the rapid prototype technology in the environment of MATLAB/Simulink.Then,the management software development based on priority task scheduling combined with simulation state management and time management synchronization was completed,in which the sample UAV model was invoked in it.Then,a new driving graphical encapsulation mechanism was used to complete the development of interface service layer software.Then,this dissertation compiled the above model and the user code into executable files that conformed to the VxWorks operating system by rapid prototyping code generation and runs in PowerPC target machine.Through the analysis of the operating mechanism,the possible problems of the generated code running,multi-task running and the interaction between modules were proposed and improved to ensure the performance of the system.Finally,the dissertation constructed the hardware in the loop simulation test platform of UAV by the target machine and the simulation console,and conducted the closed-loop simulation flight test of UAV by combining the external flight control computer to verify the function and performance of the sample UAV rapid prototyping simulation system.