Design of real-time and multi-task UAV simulation system based on rapid prototyping

In the process of designing a hard real-time and multitask requirements of UAV Simulation System, a design method based on RTW and VxWorks real-time operating system is proposed in this paper. First, in mathematic simulation period, the simulation model of UAV system can be designed with MATLAB/Simulink tool, and then the Simulink model is transformed into C code files directly, which avoids the difficult development process of hand-written code. Then the simulation system is divided into system management task, model calculation task, scheduling management task and interface task. After detailed design, a unified real-time code is compiled by RTW, and the construction of UAV Simulation system is accomplished. Semi-physical simulation results show that the UAV simulation system can meet the accuracy and real-time requirements. Compared with the traditional hand-written code development mode, the simulation system developed with RTW and C code jointly has reduced the development difficulty and accelerated the development of the hardware-in-the-loop (HIL) simulation system platform.