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无人机一般由飞行控制系统控制其在全自主状态下飞行,因此进行无人机的飞行剖面实时仿真变得越来越重要。通过利用matlab/simulink工具搭建无人机飞行控制仿真模型,将预先制订好的飞行剖面任务加载进无人机模型中,运用RTW模块将该飞行控制仿真模型转化成实时环境下的代码。同时针对无人机飞行过程中实时控制的要求,讨论了基于RTX的实时控制方法的设计和实现,并给出了无人机飞行剖面实时仿真曲线。仿真结果验证了仿真的准确性以及良好的实时性。
UAVs are generally controlled by flight control systems to fly in full autonomy. Therefore, real-time flight simulation of UAVs becomes more and more important. By using matlab / simulink tool to build the UAV flight control simulation model, the pre-programmed flight profile task is loaded into the UAV model, and the RTW module is used to convert the flight control simulation model into the real-time environment code. At the same time, according to the requirements of real-time control during UAV flight, the design and implementation of real-time control method based on RTX are discussed, and the real-time simulation curve of UAV flight profile is given. Simulation results verify the accuracy of simulation and good real-time performance.