文档介绍：南京航空航天大学
硕士学位论文
基于VxWorks的实时仿真系统软件设计与开发
姓名:刘小军
申请学位级别:硕士
专业:控制理论与控制工程
指导教师:李秀娟
20080101
南京航空航天大学硕士学位论文
摘要
实时仿真试验是验证无人机飞行控制系统必不可少的重要手段。本文采用
高实时性和高可靠性的 VxWorks 实时操作系统,完成了仿真系统软件的设计与
开发,并以某小型无人机为例实现了其实时仿真试验。
本文首先介绍了无人机飞行控制系统仿真的系统结构,分析和设计了仿真
计算机的软硬件结构,同时从系统内核着手对 VxWorks 的实时性能作了详细的
研究。
其次分析了 VxWorks 系统 BSP(Board Support Package)的基本概念、功能、
结构以及开发思想,并在此基础上开发了基于 PC/104 总线下嵌入式 X86 CPU 的
BSP,同时给出了系统开发环境的配置情况以及应用程序自启动的实现方法。
再次从 VxWorks 下 I/O 系统和驱动程序的关系入手,分析了 VxWorks 中 I/O
系统调用和驱动程序的实现过程,在此基础上实现了 VxWorks 下 PC/104 板卡驱
动程序的移植开发。
接着建立了 C 语言下样例无人机的六自由度非线性数学模型与仿真;根据
真实传感器的接口特性实现了传感器的仿真设计;并根据仿真设备的主—从式
结构特点,设计了实时通信协议,完成了数据通信模块的开发。
最后通过样例无人机的实时仿真实验,对基于 VxWorks 操作系统开发的实
时仿真系统软件进行了验证。试验结果表明该软件系统运行可靠、实时性好,
满足集成化仿真系统的设计要求。

关键词:无人机,仿真计算机,VxWorks,BSP,PC/104,驱动程序,建模与仿
真

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基于 VxWorks 的实时仿真系统开发
ABSTRACT
The real-time simulation of UAV(Unmanned Aircraft Vehicle) plays an
important role in the validation of the flight control system. The simulation system
software based on VxWorks Real-Time Operating System(RTOS) is designed and
developed, and is verified by the real-time simulation experiment for a certain
Mini-UAV in this paper.
Firstly, this paper discusses the structure of the simulation system of UAV flight
control system, the structure of software and hardware of puter, and
makes detailed analysis of the reliability starting with the VxWorks kernel.
Secondly, the basic conception, function, structure, and development theory of
the BSP are briefly analyzed, and on this base the BSP for embedded X86 under
PC/104 bus is developed and realized. Subsequently, the develop environment and
self-starting function are built and realized in this part.
Thirdly, beginning with the relation between I/O system and drivers, the
realizing process of their calling is analyzed. On this base, the transplanting and
development of PC/104 module drivers based on VxWorks are realized.
Then, this paper relizes 6-DOF non