Real-time simulation system for UAV based on Matlab/Simulink

Aiming at finding an effective way to design and test the control law for the UAV flight system, a real-time flight simulation system of Hardware-in-loop (HIL) is constructed. With the principles of hierarchy and modularity, the UAV nonlinear model, which is built based on the UAV mathematical model, has been established under the Matlab/Simulink environment. The whole HIL simulation system is completed with xPC Target system, and is configured with the data of the UAV. Compared with flight test, the result of the simulation validates the rationality and validity of the modeling theories and method. This simulation system plays an importance role in designing and testing the control law, and has made good effect on validating the control law of the UAV.