Real-time scheduling method for networked discrete control systems

This paper proposes a new scheduling method to obtain a maximum allowable delay bound for a scheduling of networked discrete control systems. The proposed method is formulated in terms of linear matrix inequalities (LMI) and can give a much less conservative delay bound than the existing methods. An event based network scheduling method is presented based on the delay bound obtained through the proposed method, and it can adjust the sampling period to allocate identical utilization to each control loop. The presented method can handle sporadic emergency data, periodic data, and non-real-time data.     

多回路网络化控制系统中采样周期的优化算法研究

研究了具有多个控制回路的网络化控制系统中采样周期的优化确定算法．采用将基本周期划分为时间段的方法，取各控制回路的采样周期为基本周期的2的阶次方倍且不大于相应回路的最大允许网络时延．通过对系统的可调度性进行分析，能够优化确定出各控制回路的采样周期，并且保证实时性周期数据和实时性非周期数据的实时传输以及非实时数据的最小利用率．基于CAN总线控制网络的仿真结果表明了本算法的有效性．     

主从交换式以太网中跨多Switch传输消息实时调度研究

针对FTT-SE协议在单Master多交换机的网络扩展结构中存在的消息跨多Switch传输调度问题,给出了消息在每个基本调度周期内到达各交换机输出端口时间的计算方法,提出了单EC内的消息可调度性判定算法,并对算法的可行性进行了证明。在此基础上,设计了基于EDF的消息实时调度算法和准入控制算法。通过确定消息在每个基本调度周期内到达各交换机输出端口时间,所提出的调度算法能针对COTS交换机输出端口的FCFS消息传输机制,实现对单EC内消息传输的精确控制和调度。相对已有的调度算法,仿真实验表明,所提出的算法能更有效地利用网络带宽,提高了主从交换式以太网通信的实时性。     

COTS Switch工业以太网实时调度算法

针对基于商用现成组件技术（Commercial Off-The-Shelf,COTS）的交换式以太网不能满足工业数据通信的实时性要求问题,给出了改进的FTT（Flexible Time-Triggered communication paradigm）网络调度模型,提出了新的周期性实时消息链路可调度性优化判定方法,在此基础上设计了一种基于EDF（Earliest Deadline First）的实时调度算法。算法通过对网络消息流量进行有效控制防止交换机缓冲区溢出,同时充分发挥网络在同一时间存在多个并行传输链路的优势,提高了网络实时性。仿真实验表明该算法在提高网络的聚合带宽、减小消息的平均等待延时和丢失率方面均有明显的优势。     

主从结构交换式以太网中实时消息调度研究

为使交换式以太网能满足实时通信的要求,针对FTT SE网络调度模型,提出了一种同时适用于周期性和非周期性实时消息的链路可调度性判定方法。在证明了消息链路调度优化问题MLSOP为NP complete的同时,针对周期性实时消息的链路调度优化给出了启发式算法LSHA。最后,对于周期性和非周期性实时消息分别设计了基于EDF的调度算法。仿真实验表明,在提高网络链路带宽利用率和减小消息平均延时方面,该算法均较FTT SE有明显的优势。     

Message scheduling for real-time interprocessor communication

In this paper an efficient algorithm is proposed which optimizes periodic message scheduling in a real-time multiprocessor system. The system is based on a many-core single-chip computer architecture and uses a multistage baseline network for inter-core communication. Due to its basic architecture, internal blockings can occur during data transfers, i.e. the baseline network is not real-time capable by itself. Therefore, we propose a scheduling algorithm that may be performed before the execution of an application in order to compute a non-blocking schedule of periodic message transfers. Additionally, we optimize the clock rate of the network subject to the constraint that all data transfers can be performed in a non-blocking way. Our solution algorithm is based on a generalized graph coloring model and a randomized greedy approach. The algorithm was tested on some realistic communication scenarios as they appear in modern electronic car units. Computational results show the effectiveness of the proposed algorithm.     

控制系统中实时任务的动态优化调度算法

提出一种新的调度算法——带有非周期服务器的EDF调度算法.分析了所有任务的可调度性,给出了可调度条件,并给出一种新的周期性任务模型以及主优先级和辅助优先级的概念.它们在保证任务可调度的前提下,对周期性任务的采样频率和控制延时进行优化.仿真结果表明,该算法可以提高周期性任务的采样频率,并降低控制延时,即能优化系统的性能.     

Reliability improvement of the dual-priority protocol under unreliable transmission

The dual-priority is a scheduling policy providing the guarantees needed by periodic or sporadic hard real-time tasks while decreasing the response time for aperiodic soft real-time tasks. This scheduling policy can be applied to message scheduling and its performance on controller area network (CAN) will be assessed. Nevertheless, when used in an electromagnetic stressed environment (e.g. automotive communication) leading to transmission errors, this scheduling strategy could lead to serious disappointments. It will be explained why the hard real-time traffic is highly sensitive to transmission errors. The risks of deadline failure will be quantified and a simple mechanism that provides probabilistic guarantees to prevent hard real-time frames from missing their deadlines, will be proposed. This mechanism is compared in terms of performance to the original dual-priority strategy. The chosen performance metrics are the deadline failure probability for hard real-time traffic, the average response time and the variance in response time for soft real-time traffic.     

Joint Algorithm of Message Fragmentation and No-Wait Scheduling for Time-Sensitive Networks

Time-sensitive networks(TSNs)support not only traditional best-effort communications but also deterministic communications,which send each packet at a deterministic time so that the data transmissions of networked control systems can be precisely scheduled to guarantee hard real-time constraints.No-wait scheduling is suitable for such TSNs and generates the schedules of deterministic communications with the minimal network resources so that all of the remaining resources can be used to improve the throughput of best-effort communications.However,due to inappropriate message fragmentation,the realtime performance of no-wait scheduling algorithms is reduced.Therefore,in this paper,joint algorithms of message fragmentation and no-wait scheduling are proposed.First,a specification for the joint problem based on optimization modulo theories is proposed so that off-the-shelf solvers can be used to find optimal solutions.Second,to improve the scalability of our algorithm,the worst-case delay of messages is analyzed,and then,based on the analysis,a heuristic algorithm is proposed to construct low-delay schedules.Finally,we conduct extensive test cases to evaluate our proposed algorithms.The evaluation results indicate that,compared to existing algorithms,the proposed joint algorithm improves schedulability by up to 50%.     

Schemes for scheduling control messages by hierarchical protocols

The paper addresses the problem of designing efficient scheduling policies for the transmission of control messages by hierarchical network protocols. Such protocols encounter a tradeoff between the desire to forward a control message across the tree as soon as it is received, and the desire to reduce control traffic. Scheduling problems that arise in this context are defined and discussed. The paper mainly concentrates on minimizing the average extra delay encountered by the control messages under an upper bound on the number of outgoing messages a node can send during a fixed period of time. A polynomial-time algorithm is presented for the off-line version of the problem, and then several efficient on-line heuristics are presented and compared.     

层次传感器网络的交错同步休眠调度方法研究

结合层次传感器网络中基础层的多跳分簇结构、周期性短数据为主、有明显方向性的数据流特点,提出了一种交错的周期倍增同步休眠调度方案。该方案通过让不同层节点运行不同频率的激活/休眠周期可以达到降低时延和降低能耗的目的。将该机制应用到基础层MAC协议中,仿真证明可以保证簇中上下行两个方向的数据都有较低的时延,并且在节能和降低时延的同时拥有较大的吞吐量,能够较好的满足基础层的要求。     

无线网状网络的多路径路由与调度算法

提出了一种保障服务质量的多路径路由算法,数据分组可通过多条不同的路径进行传输,以提升网络总吞吐量性能.进一步提出了一种多路径调度策略.通过使用调度策略,基于当前可用带宽信息和路径所引入的时延信息,数据分组在传输前可被分成多段并通过不同的路径发送,根据路径时延调整优化调度策略,从而使得数据可通过在不同的路径上进行更高效地传输.仿真实验进一步验证了本文提出的路由机制和调度策略在不同网络负载下的优越性.     

时间触发光纤通道调度算法确定性分析

光纤通道以其优良性能,成为下一代航电系统的必然选择。但是基于事件触发的消息调度形式限制了对航电系统性能的分析,为提高消息在网络中传输时间确定性,在时间触发协议的基础上,针对光纤通道提出一种时间触发的消息调度算法。通过对交换式网络建模,采用理论和仿真相结合的方法,对先来先服务调度策略和时间触发调度策略进行分析,结果表明时间触发调度算法可以很好地提高网络消息传输的确定性,满足航电系统安全关键消息的传输要求。     

分布实时系统中的点到点通信

本文给出了一种由点到点互连网络连接的实时系统通信方法,分析了通道建立过程,消息调度算法,缓冲预留方案,以及消息传递时间的计算模型,可提供确定性的消息传递延迟。     

数据中心差异化时延满足率优化调度

光交换网络数据传输时根据数据性质不同,用户对时延要求也有所不同,如何在保证光交换调度效率的同时满足差异化时延需求,是决定网络性能的一个重要因素.目前针对光网络调度的研究主要基于逐个时隙或基于分组进行调度.前者没有考虑重配置开销的问题,无法处理大规模数据交换,后者忽略了不同延迟以及QoS保证的需要.为了解决数据中心光交换数据时延需求不同的问题,本文提出两种新的调度算法SDF (stringent delay first)和m-SDF (m-order stringent delay first),将不同数据包的差异化时延需求、配置顺序、重配置开销和加速比作为考虑因素,在流量调度时采用贪心策略,每次选择对时延最为敏感的数据包进行优先调度以满足时延需求.所提算法在保证投递率的前提下,能最大程度满足更多数据包的传输时延.仿真实验表明两个算法具有较高的时延满足率,证明了调度算法的有效性.     

Real-time message scheduling for ISA100.11a networks

This paper proposes two new message scheduling methods on shared timeslots of the ISA100.11a standard to enhance real-time performance, namely, traffic-aware message scheduling (TAMS) and contention window size adjustment (CWSA). In TAMS, instead of competing to transmit sporadic messages in consecutive cycles, end-nodes are divided into groups, which then access the channel in specific cycles when the probability of timeslots getting involved in collisions exceeds a specified threshold. Conversely, in CWSA, the contention window is adjusted when the probability of timeslots getting involved in collisions exceeds the threshold. The results of simulations conducted indicate that these two proposed methods provide performance improvements in terms of success probability and end-to-end delay.     

Optimal wake-up scheduling of data gathering trees for wireless sensor networks

In order to gather sensor data, a data gathering tree is commonly created as a subnetwork of a wireless sensor network. Power conservation is of paramount importance in such networks, and using periodic sleep–wake cycles for sensor nodes is one of the most effective methods for power conservation. This paper addresses the problem of scheduling the sleep–wake cycles of nodes in a data gathering tree under deadline constraints. After formally modeling the problem being addressed, an optimal wake-up frequency assignment (OWFA) algorithm, which takes into account the data rate at each node and the total permitted delay, is proposed. The results of simulations under various conditions showed that OWFA consumed about 8.6%∼24.3% less average power, and thus resulted in a 7.4%∼26.0% longer network lifetime, than a previously proposed method that did not consider individual data rates.     

CAN数据传送的实时性研究及其应用

设计了一个新的基于时分的主从式和基于优先级的分布式信息调度子系统来处理周期性和猝发性的数据传输, 解决CAN现场总线在网络带宽利用率高时，数据传输的实时性和确定性存在的问题，以及不同优先级的信息帧不能同等地共享总线带宽的问题． 这种方法参考了数据通信中的时分原理，并考虑到CAN基本协议的特点． 在网络带宽利用率达到83％时，保证了信息的实时传送． 这种方法已经应用在实际的陶瓷辊道窑监控系统中，它的有效性得到了证实．     

CAN报文实时性分析及在线评估

结合CAN总线的位填充机制和最坏情况下的报文延迟时间的数学模型,针对周期性报文,提出基于主节点的报文调度方式,给出了该调度方式下的报文响应时间数学模型．通过CAN总线系统实验平台,对CAN报文的实际长度进行检测和分析,并对符合SAE标准的报文实时性进行了分析和评估．实验表明,基于主节点的调度方式保证了CAN报文的实时性,使得系统具有可调度性．