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ID:36746045
大小:769.93 KB
页数:98页
时间:2019-05-14
《基于VxWorks的实时仿真系统软件设计与开发》由会员上传分享,免费在线阅读,更多相关内容在学术论文-天天文库。
1、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(BoardSupportPackage)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X86CPU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
2、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,
3、BSP,PC/104,驱动程序,建模与仿真i基于VxWorks的实时仿真系统开发ABSTRACTThereal-timesimulationofUAV(UnmannedAircraftVehicle)playsanimportantroleinthevalidationoftheflightcontrolsystem.ThesimulationsystemsoftwarebasedonVxWorksReal-TimeOperatingSystem(RTOS)isdesignedanddeveloped,andisverifiedbythereal-timesimulationexper
4、imentforacertainMini-UAVinthispaper.Firstly,thispaperdiscussesthestructureofthesimulationsystemofUAVflightcontrolsystem,thestructureofsoftwareandhardwareofsimulationcomputer,andmakesdetailedanalysisofthereliabilitystartingwiththeVxWorkskernel.Secondly,thebasicconception,function,structure,anddev
5、elopmenttheoryoftheBSParebrieflyanalyzed,andonthisbasetheBSPforembeddedX86underPC/104busisdevelopedandrealized.Subsequently,thedevelopenvironmentandself-startingfunctionarebuiltandrealizedinthispart.Thirdly,beginningwiththerelationbetweenI/Osystemanddrivers,therealizingprocessoftheircallingisana
6、lyzed.Onthisbase,thetransplantinganddevelopmentofPC/104moduledriversbasedonVxWorksarerealized.Then,thispaperrelizes6-DOFnon-linearmathematicalmodelandsimulationofwithClanguage,thesimulationofallonboardsensorsaccordingtotheirinterfaceproperties,anddesignsthereal-timecommunicationprotocolaccording
7、tomaster-slavestructurecharacteristicofthesimulationdeviceandrealizesthedesignofdatacommunicationmodule.Finally,thereal-timesimulationsystemsoftwarebasedonVxWorksRTOSisveridatedbythereal-timesimulationofthesampleUAV.Theexper
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