近年來，無人自主飛行載具蓬勃的發展，從最初的軍事用途，到現在發展應用於廣泛的民生，各式各樣的工作及任務能交由無人飛行載具(以下簡稱UAV)執行已成為一股趨勢。在RMRL具備現有的技術與以往的經驗下，無論是更新、研發或改善現行的UAV運算系統，若非經過試飛前的模擬飛行測試，做妥善的控制律以及計算邏輯的驗證，將UAV直接置於真實環境中測試，不安定的因素造成實驗的危險性激增。再者成功與失敗的飛行實驗，均需消耗大量的時間、人力以及物力。因此，試飛前的模擬工作扮演著重要的角色。本論文目的在發展一套適用於RMRL現行發展UAV運算系統之即時硬體迴路模擬測試平台。此平台能加入基本簡單的風場，即時模擬UAV運算系統對環境因素的飛行動態控制行為，並且提供具有參考價值的模擬結果，作為UAV運算系統的參考依據。利用即時硬體迴路模擬方法規劃此模擬平台的基本功能與架構，並且透過實際飛行測試數據驗證飛機模型的準確性，以及本系統測試結果的可靠度。此外，以SWAN為本模擬平台之飛行載具來參與模糊控制的發展過程，可展現此即時硬體迴路模擬測試平台的實用性與可靠度。

　　In recent years, the applications of Unmanned Aerial Vehicle (UAV) have grown drastically around the world. The tasks in military or people's livelihood are executed by UAV instead of human beings days by days. If demonstrates the control law or algorithm without pre-flight simulation whatever update, research or improve the current UAV computation system under the techniques and experiences of RMRL, the unstable factors will cause the highly growing dangers of experiment while directly lay the UAV flight test in the environment. Furthermore, it consumes a lot of time, costs and efforts in every experiment. Hence, the pre-flight simulation plays an important role indeed. This thesis emphasizes on building a real-time hardware-in-the-loop simulation platform for UAV computation system in RMRL. The platform has the capability of simulating the response of the UAV computation system under simple wind effects and it can provide the valuable simulation results as the reference for UAV computation system. The architecture and basic functions of the platform is planned by using the real-time hardware-in-the-loop simulation method and the accuracy of the aircraft model has been validated by comparing the simulation data with the actual flight data for the reliability of the system computation results. Moreover, using SWAN as the aircraft in the simulation platform to participate in the procedure of developing fuzzy control can show the practicability and reliability of this real-time HIL simulation platform.

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