经典RM调度算法在无人机发动机试车台软件开发中的应用

现代无人机发动机测试项目多、实时性要求高，早期的基于非实时的片上系统不能很好地满足测试要求。本文以某型无人机发动机试车台软件系统实际开发为例，在软件开发中引入了经典RM调度算法，分析了经典RM算法的可调度性判定法则，描述了片上系统任务集设计过程，进行了RM可调度性理论判定。通过对任务集的实际可调度性测试表明：硬件利用率最大可达到93．8％，达到设计指标要求；系统运行稳定可靠，并取得预期效果。

Application of Classic RM Scheduling Algorithm in the Software Development of UAV Engine Test Bed

Modern UAV engine testing has a wide range of projects and high real-time requirements. Early non real-time based SOC （system on chip） was unable to meet the test requirements. The actual development of the software systems for an UAV engine test-stand is taken as an example in this paper. The classic RM scheduling algorithm is introduced, the schedulability decision rules of the classic RM algorithm is analyzed, the task set design procedure of the SOC is described and the schedulability theory judgment of classic RM is implemented. The testing for the real schedulability of the task set shows that the maximum hardware utilization rate can up to 93.8%, which achieves the design requirements. The system is of stable and reliable, and the desired effect has been obtained.