多核处理器数控系统的全局调度算法

摘要/Abstract

摘要：

提出了面向多核处理器系统的限制抢占调度算法，通过在任务的末尾设置高优先级(抢占阈值)的限制抢占区，减少任务运行过程中被抢占的次数，提高调度效率。建立了限制抢占调度的可调度性判定条件和限制抢占区设计方法。仿真结果表明，限制抢占调度的调度性能较抢占调度和延迟抢占调度的调度性能有明显提高。

关键词: 多核处理器, 数控系统, 全局调度, 限制抢占

Abstract:

A multicore global limited preemption scheduling algorithm was proposed to take advantages of preemption while reducing the unnecessary preemptions herein.A limited preemption region was set up at the end of each task which had higher priority,i.e. preemption threshold.By decreasing unnecessary preemptions,the schedulability of the whole system increased.The schedulability test was established as well as a heuristic limited preemption region assignment algorithm.It is shown by simulation that limited preemption scheduling has better performance than that of preemptive global scheduling and deferred preemption global scheduling.

Key words: multicore processor;numerical , control system;global scheduling;limited preemption

中图分类号:

TP316

彭浩, 张建军, 韩江洪, 杨帆. 多核处理器数控系统的全局调度算法[J]. 中国机械工程, 2015, 26(20): 2771-2777.

Peng Hao, Zhang Jianjun, Han Jianghong, Yang Fan. Global Scheduling for Multicore Processor-Based Numerical Control Systems[J]. China Mechanical Engineering, 2015, 26(20): 2771-2777.

参考文献

[1]Adyanthaya S,Geilen M,Basten T,et al.Fast Multiprocessor Scheduling with Fixed Task Binding of Large Scale Industrial Cyber Physical Systems[C]//Proceedings of Euromicro Conference on Digital System Design.Los Alamitos,2013:979-988.
[2]张利,张本宏,王跃飞,等.基于总线占用率的FlexRay消息时隙分配方法研究[J].中国机械工程, 2012, 23(6): 699-702.
Zhang Li,Zhang Benhong, Wang Yuefei, et al. Research on FlexRay Message Slot Distribution Methods Based on Bus Occupancy Rate [J]. China Mechanical Engineering, 2012, 23(6): 699-702.
[3]Selicean D T,Pop P,Steiner W.Design Optimization of TTEthernet-based Distributed Real-time Systems[J].Real-Time Systems,2014,51(1):1-35.
[4]李迪,万家富,叶峰,等.软数控系统混合任务两级调度策略[J].机械工程学报, 2008, 44(12): 157-162.
Li Di,Wan Jiafu,Ye Feng,et al.Two-level Hierarchical Scheduling Scheme of Hybrid Tasks for Software CNC System[J].Chinese Journal of Mechanical Engineering,2008,44(12):157-162.
[5]姚鑫骅, 傅建中, 陈子辰, 等. 面向数控系统的优化调度算法及容错策略研究[J].计算机集成制造系统, 2007, 13(4): 768-776.
Yao Xinhua, Fu Jianzhong, Chen Zichen, et al. Optimazed Scheduling Algorithm Oriented to Numerical Control System [J]. Computer Integrated Manufacturing Systems, 2007, 13(4): 768-776.
[6]丁万夫,郭锐锋,秦承刚.面向数控系统的容错实时调度算法研究[J].中国机械工程,2010,21(15):1809-1815.
Ding Wanfu,Guo Ruifeng,Qin Chenggang.Real-time Scheduling Algorithm with Fault-tolerance in Numerical Control Systems[J].China Mechanical Engineering,2010,21(15):1809-1815.
[7]陆小虎,于东,胡毅,等.基于异构多核处理器的嵌入式数控系统研究[J].中国机械工程,2013,24(19):2623-2628.
Lu Xiaohu,Yu Dong,Hu Yi,et al.Study on Embedded NC System Based on Heterogeneous Multi-core Processors[J].China Mechanical Engineering,2013,24(19):2623-2628.
[8]谷传才, 关楠, 于金铭, 等. 多处理器混合关键性系统中的划分调度策略[J].软件学报, 2014, 25(2): 284-297.
Gu Chuancai, Guan Nan, Yu Jinming, et al. Partitioned Scheduling Polocies on Multi-processor Mixed-criticality Systems [J]. Journal of Software, 2014, 25(2): 284-297.
[9]Andersson B,Jonsson J.Fixed-priority Preemptive Multiprocessor Scheduling:to Partition or not to Partition[C]//Proceedings of 7th International Conference on Real-time Computing Systems and Applications.Cheju Island:IEEE,2000:337-346.
[10]Davis R I,Burns A,Marinho J,et al.Global Fixed Priority Scheduling with Deferred Pre-emption[C]//Proceedings of IEEE 19th International Conference on Embedded and Real-Time Computing Systems and Applications.Taipei:IEEE,2013:1-11.
[11]Lee J,Shin I.Limited Carry-in Technique for Real-time Multi-core Scheduling[J].Journal of Systems Architecture, 2013, 59(7):372-375.
[12]Davis R I,Burns A.Improved Priority Assignment for Global Fixed Priority Pre-emptive Scheduling in Multiprocessor Real-time Systems[J].Real-Time Systems,2011,47(1):1-40.
[13]Guan N,Wang Y.Fixed-priority Multiprocessor Scheduling:Critical Instant,Response Time and Utilization Bound [C]//Proceedings of Parallel and Distributed Processing Symposium Workshops & PhD Forum.Shanghai,2012:2470-2473.
[14]Guan N, Stigge M, Yi W, et al. New Response Time Bounds for Fixed Priority Multiprocessor Scheduling[C]//Proceedings of 30th IEEE Real-Time Systems Symposium.Washington,D C,2009:387-397.
[15]Chen H M,Luo W,Wang W,et al.A Novel Real-Time Fault-Tolerant Scheduling Algorithm Based on Distributed Control Systems[C]//Proceedings of 2011 International Conference on Computer Science and Service System.Nanjing,2011:80-83.