实时控制系统中固定优先级调度的延迟与抖动控制

Latency and Jitter Control in Real-time Control Systems Based on Fixed Priority Scheduling

在基于固定优先级调度实时控制系统中,任务的延迟与抖动是影响系统稳定性的重要因素.提出一种基于可抢占时间阈值的延迟与抖动控制策略,给出一种保证系统可调度的最优阈值分配算法,并通过对任务延迟和抖动的分析量化出阈值分配后的最大可能IO延迟及抖动.最后通过仿真实验验证了该策略的有效性.

In real-time control systems based on fixed priority scheduling, the latency and jitter of task are important factors which will impact the stability of the system. In this paper, a preemptable segment threthhold based policy is put forward to reduce the latency and jitter of control systems, and an optimal threthhold assignment algorithm is also presented while the schedulability of the system is preserved. Moreover, the algorithm alse produces a quantified maximum possible IO latency and jitter after an excaet threthhold is assigned. Finally, simulation results show that the policy can effectively reduce the IO latency and jitter of control systems.