针对无人机仿真系统对高实时性、多任务的需求以及传统手工代码开发设计难度大、开发周期长等问题，提出了一种使用RTW结合C代码进行VxWorks平台的多任务设计方法。使用Simulink仿真环境开发无人机仿真系统；将系统任务划分为系统管理任务、模型解算任务、调度管理任务、接口任务并分别进行详细设计；最后使用RTW将Simulink模型文件及C代码文件统一编译生成为可执行文件，完成无人机仿真系统构建。半物理仿真结果表明：该无人机仿真系统仿真功能正确并满足实时性要求，与传统的手工代码开发方式相比，RTW与C代码联合开发方式降低了系统设计难度、加速了半物理仿真平台的研制。

In view of the high real-time and multi-task design requirements to UAV simulation system and the problems of complicated manual code development and long design cycle, a design method using RTW and C code on VxWorks platform is proposed.First, Simulink tool is used for developing the UAV simulation system.Then missions of the simulation system are divided into system administration, model solving, scheduling management and interfacing task, which are designed respectively.Then, Real Time Workshop (RTW) is used to compile the Simulink and C code files into an executable file, and thus to implement the construction of the UAV simulation system.Semi-physical simulation results show that:1) The UAV simulation system has proper simulating function and can meet the real-time requirements; and 2) Compared with the traditional manual code development mode, the method based on RTW together with C code reduces system design complexity and accelerates the simulation platform development.