分布式网络化运动控制系统协同调度方法研究

Research on Cooperative Methods for Task Scheduling in Distributed Networked Motion Control Systems

提出一种分布并行结构下运动控制系统跨层次通信任务协同调度方法。首先,通过构建分布式时钟系统生成一类基于保障性时隙序列的跨层次任务调度表,将协同调度问题分解为时钟和时隙释放时间两个同步问题;然后,采用卡尔曼估计器预测分布式时钟偏差及偏差的变化,并采用比例积分控制器跟随控制各网络节点时隙序列释放时间设定值的输出。基于分布式时钟的通信时隙释放同步实验结果表明:四跳链路下同步总误差的峰峰值仅为2.167μs,验证了所提方法的有效性。

A cooperative method is proposed for scheduling cross-layer communication tasks in a distributed networked motion control system.Firstly,by constructing a distributed clock,a class of guaranteed time slot(GTS)sequence based scheduler is generated to decompose the coordinated scheduling problem into two problems of the clock synchronization and GTS releasing time synchronization;and then,Kalman filter estimators(KFEs)are used to predict the clock deviation and the variation of the deviation,and proportional-integral(PI)controllers are employed to track and control the output values of the set-points of the GTS releasing time.The experimental results of the GTS sequences releasing time synchroni-zation based on distributed clocks show that the peak-to-peak value of the total synchronization error on a four-hop link is only 2.167μs,which verifies the effectiveness of the proposed method.