基于Xenomai的实时测控系统的研究与实现

RESEARCH AND IMPLEMENTATION OF REAL-TIME MEASURING AND CONTROL SYSTEM BASED ON XENOMAI

介绍实时操作系统仿真框架Xenomai和操作系统自适应域环境Adeos(Adaptive Domain Environment for Operating System)的基本原理。分析带有中断屏蔽功能的Adeos中断管道机制,以及用户态下混合执行模式的实时任务被抢占和"优先级反转"问题。应用Xenomai的实时核构建了Xenomai/Linux双内核实时机制;通过Xenomai提供的可插式接口仿真模块实现了基于RTAI API的应用程序编程;结合IPC等具体硬件实现了一套模拟小型电站任务的实时测控系统。运行结果显示系统满足电力系统硬实时的时限要求且运行稳定。

The principles of Real-time Operating System emulation framework-Xenomai and adaptive domain environment for Operating System Adeos are briefly introduced. Adeos interrupt pipeline mechanism which has Xenomai interrupt shields is studied and so are the problems of a real-time task being preempted and a priority inversion, which occurs in mixable execution modes for tasks embodied in User-Space. The Xenomai real-time kernel is used to establish Xenomai-Linux dual-kernel real-time mechanism,and by using pluggable interface emulation module which Xenomai offers,the application programming based on RTAI API is realized. Meanwhile, a real-time measuring and control system which simulates the environment of a small electric substation has also been made on an IPC with some necessary hardware modules. The obtained results show that the system runs sound and meets hard real-time performance for electrical power systems.