Design of Hardware-in-the-loop Simulation System based on RTX and FlightSim™

Hardware-in-the-loop (HIL) real-time simulation system is the one that puts the critical hardware in the mathematical simulation loop. FlightSim is a mathematical simulation platform developed by Beihang University, which has excellent performance and can develop large amounts of mathematical simulation programs. RTX (Real-Time eXtension) is the real-time expansion module that upgrades the Windows operation system to a strong real-time operation system. Therefore, with the aid of RTX, FlightSim can be used to develop HIL real-time simulation programs. In other words, FlightSim is used for building the mathematical simulation model, and RTX is utilized for creating the real-time simulation environment. In this paper, the real-time simulation of the mathematical engagement model under the RTX is performed, which indicates the correctness of the real-time simulation results compared with non-real-time simulation based on MATLAB. Secondly, the PID motor driver and controller arc designed and tested. Finally, several types of encoder velocity estimation methods are compared. The simulation results show that FlightSim can perform HIL simulation with the extension of RTX.