Abstract: For the sake of normal operation of the anti-twisting mechanism in a high attitude ballooned nacelle with large inertial loading, application of VxWorks real-time operating system in the anti-twisting mechanism’s controller is verified from the engineering practice point of view. In this study, the customized VxWorks real-time operating system is applied to improve safety and reliability of the system; the binary signal is used to synchronize user tasks with external timer interruptions and the control program of the system is designed with the PI incremental algorithm. In the experiment, the operation condition of the anti-twisting mechanism is simulated under balloon disturbance and load disturbance. The actual decoupling result is stated as follows：the average angular deformation of the distortion slice is 0.002 0°and the mean square error is 0.0015°; the average deviation at the azimuth angle is －0.2773°and the mean square error is 0.0953°. The experiment shows that the controller proposed in this study based on the VxWorks operating system has a high sampling rate, strong computing capability and stability, high flexibility, and it can be applicable to requirements of the anti-twisting system.

Key words: balloon’s nacelle, anti-twisting mechanism, VxWorks real time operating system

摘要： 为保证加挂大惯量负载情况下高空气球吊篮反捻机构能够正常工作，对VxWorks实时操作系统在反捻机构控制器中的应用进行了工程实践验证。对VxWorks实时操作系统进行剪裁以提高系统的安全性和可靠性，采用二进制信号量保证用户任务与外部定时中断的同步，采用PI增量式算法设计系统的控制程序。实验中分别模拟气球扰动和负载扰动情况下的反捻机构工作情况，实际解耦效果：扭变片形变角均值0.002 0°，均方差0.001 5°，方位角平均偏差－0.277 3°，均方差0.095 3°，实验证明：提出的基于VxWorks操作系统的控制器采样率高、运算能力强、稳定性强、灵活性高能够适应反捻系统工作要求。

关键词: 气球吊篮, 反捻机构, VxWorks实时操作系统