基于总线的开放式控制系统调度策略

提出“基于改进EDF的模糊反馈调度策略”，并应用于基于总线的开放式控制系统。设计了一个适用于此类总线控制架构的任务调度方案，由任务截止期、任务重要性以及传输误差和响应时间的综合影响来动态调节任务优先级，用以解决由引入总线而导致的响应速度慢、总线阻塞时的丢包问题。通过对机器人的控制实验验证了所提出调度策略的可行性。实验结果表明，加入调度模块后控制系统的响应时间和丢包率都有显著改善，系统的实时性得到了提高。

Strategy of scheduling in open control systems over bus

In order to solve the problem of slow response and packet loss which are caused by the introduction of the bus in the robot control system, a task scheduling scheme is designed, and the scheduling policy based on improved fuzzy feedback EDF is proposed, which adjusts dynamically the task priority according to the combined effects of the response time and transmission errors. The feasibility of scheduling strategy is valideted through the robot control experiments. The results show that the performance of system response time and packet loss ratio can be improved significantly after adding scheduling module, and the real time performance of the system is also improved.