无人直升机等效仿真平台开发

摘要

依据“等效飞控”的开发思想,利用μC/OS-Ⅱ实时内核在windows环境下的可移植性,保证等效仿真平台与机载实时内核具有相同的任务调度功能,设计了无人直升机等效飞控软件,实现PC机环境下的实时仿真,并对FlightGear视景软件进行二次开发,实现无人直升机全过程飞行仿真演示;在PC机环境下快速验证制导控制策略的合理性和鲁棒性,不受限于硬件条件的诸多限制,提高飞控软件的开发效率.%According to the idea of "equivalent flight control",the paper has achieved the unmanned helicopter equivalent simulation verification software based on the μC/OS-Ⅱ possessed the same function of task scheduling in the Windows XP,and has the secondary development above FlightGear software to realize the simulation demonstration.The equivalent simulation platform can enhance the develop efficiency without hardware limitation,and verify the rationality and robustness of control and guide strategy under the PC environment.