无人机故障注入与故障诊断实时仿真平台研制

摘要

对无人机故障注入与故障诊断实时仿真平台的功能模块进行划分和描述,构建仿真系统的框架.在VxWorks环境下建立无人机故障注入与故障诊断半物理实时仿真平台.利用该平台可以进行飞行控制、故障注入与故障诊断等不同的仿真任务,同时各模块相对独立,有较好的移植性和工程应用性,系统测试结果表明了该平台设计的合理性,为无人机故障注入与故障诊断通用仿真平台设计提供了有益参考.%We divide and describe the functional modules of simulation platform for UAV (unmanned aerial vehicle) fault injection and diagnosis,and built the framework of the simulation system.We also establish a real-time half physical simulation platform for UAV fault injection and diagnosis in VxWorks/Windows environment.The platform can be used for various simulation tasks such as the flight control,fault injection and diagnosis,etc.Meanwhile,these modules are independent each other and have preferably good portability and engineering applicability.System test results prove the rationality of the platform design,it provides a beneficial reference for designing the general simulation platform of UAV fault injection and diagnosis.