半物理仿真作为飞行控制系统有效性测试的重要手段,在无人机系统设计过程中必不可少。文中采用xPC目标环境下硬件在回路实时仿真测试的构建途径,基于无人机仿真系统架构建立了无人机六自由度运动特性、传感器动态特性及I/O接口特性等环节的Simulink仿真框图,并利用RTW将Simulink仿真框图生成目标应用程序运行于xPC仿真平台,实现了无人机半物理仿真与测试。该仿真系统已用于某型无人机飞行控制系统设计和测试,经实际应用表明该仿真系统实用有效、易于维护。

As an important means to test the effectiveness of flight control system, semi-physical simulation is essential in the design of UAV system. Hardware in loop real-time simulation test approach under xPC target environment is used to construct the UAV semi-physical simulation in this paper. Based on the architecture of UAV simulation system, the Simulink simulation block diagrams of the UAV's with 6-DOF motion characteristics, sensor dynamic characteristics and the I/O interface characteristics are established. The Simulink simulation block diagram is used to generate the target application program. In the xPC simulation platform, UAV Simulation and testing is realized. The simulation system has been applied to the design and test of a UAV flight control system. Practical application shows that the simulation system is practical, effective and easy to maintain.