CN103810043A - Energy-saving scheduling method suitable for numerical control system periodic tasks - Google Patents

Energy-saving scheduling method suitable for numerical control system periodic tasks Download PDF

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CN103810043A
CN103810043A CN201210445655.0A CN201210445655A CN103810043A CN 103810043 A CN103810043 A CN 103810043A CN 201210445655 A CN201210445655 A CN 201210445655A CN 103810043 A CN103810043 A CN 103810043A
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task
time
speed
travelling speed
slack
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张忆文
郭锐锋
王鸿亮
刘娴
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Shenyang Institute of Computing Technology of CAS
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Abstract

The invention discloses an energy-saving scheduling method suitable for numerical control system periodic tasks. The method comprises the following steps: calculating the optimal operating speed S of each task Ti under an off-line state in a numerical control system, then calculating the execution time of the task Ti at the optimal operating speed S, and sorting a task set according to an earliest deadline first principle; when a certain task is finished, recovering the slack time Slack_Time of the task Ti, and using the slack time Slack_Time to calculate the operating speed S of the task under a specified continuous voltage of a processor; finally determining the preceding-part operating speed SL and the later-part operating speed SH of each task according to the operating speed S, so as to calculate the execution time ex.L of each task at the preceding-part operating speed SL and the execution time ex.H at the later-part operating speed SL, and scheduling the execution tasks according to the calculated real execution time, i.e. the ex.L and the ex.H. In such a way, the slack time Slack_Time of a system is fully utilized, the operating speed of the processor is reduced, and the aim of energy consumption reduction is achieved.

Description

A kind of energy-saving scheduling method that is applicable to digital control system periodic duty
Technical field
The present invention relates to the Real-Time Scheduling of real-time system field task, specifically a kind of energy-saving scheduling method that is applicable to digital control system periodic duty.
Background technology
Real-time system is more and more extensive in the application of fields of numeric control technique and embedded product, especially in the huge application of function complexity, system, seems more and more important.This will ask real-time system that more efficient computing power can be provided, and to meet the requirement of radio communication, multimedia application, but high performance cost is exactly high energy consumption.Meanwhile, along with the precision day by day of manufacturing process, the develop rapidly of integrated circuit scale, has caused the sharply rising of system power dissipation, and the high temperature that high power consumption is brought can cause the possibility that system breaks down to increase, and reduces the reliability of whole system; Therefore, energy consumption has become the bottleneck of real-time system design.
It is a kind of effectively low-power consumption and energy optimization technology that dynamic electric voltage regulates (DVS) technology.Its main thought is for different system loads, under the prerequisite that meets system real time, reduces operating voltage and the clock frequency of CPU.
Existing low-power consumption scheduling algorithm adopts DVS technology, under the prerequisite that meets system real time, by the free time of recovery system, utilizes working voltage and the clock frequency of free time reduction processor, to reduce system energy consumption; But its hypothesis processor provides continuous frequency and voltage, and actual commercial processor only provides discrete frequency and voltage, do not miss deadline in order to ensure task, the actual motion speed of its selection is larger than the ideal velocity calculating in cline frequency situation, can cause like this waste of system resource.
Summary of the invention
For the weak point of existing low-power consumption scheduling algorithm, the present invention proposes a kind of energy-saving scheduling method that is applicable to digital control system periodic duty, this algorithm can effectively utilize the free time of system, reduces the energy consumption of system.
For realizing above-mentioned algorithm, the present invention adopts following technical scheme:
An energy-saving scheduling method that is applicable to digital control system periodic duty, is characterized in that: comprise the steps:
Before task set dispatching, calculate task T in digital control system ibest execution speed under off-line state
Figure BDA00002379188100011
Calculation task T again iin best execution speed
Figure BDA00002379188100012
under execution time, according to earliest-deadline-first principle, task-set is sorted;
In the time that certain task completes, reclaim this task free time Slack_Time, utilize this free time Slack_Time to calculate the travelling speed S under processor regulation continuous voltage of this task;
According to travelling speed S, determine the travelling speed S of each task forward part ltravelling speed S with rear section h, finally calculate the travelling speed S of task in forward part lunder, the execution time e of task x.Lwith the travelling speed S in rear section hthe execution time e of task x.H, last with required actual execution time e x.L, e x.Hcarry out scheduled for executing task.
Earliest-deadline-first principle: deadline is shorter, priority is higher, as task T ideadline when identical, early arriving of task T ipriority is high; As task T ideadline and time of arrival homogeneous phase simultaneously, task T iwhat serial subscript i was little has higher priority.
Calculate each task T ibest execution speed under off-line state
Figure BDA00002379188100021
its calculation procedure is as follows:
Utilize execution time C iwith cycle P iratio sum formula calculate the utilization factor U of system tot, then by utilization factor U totminimum speed S with processor mincompare, the greater is the best execution speed under off-line state
In the time that certain task completes, reclaim this task free time Slack_Time, that utilizes that this free time Slack_Time calculates this task provides the travelling speed S under continuous voltage at processor, and its travelling speed S treatment step is as follows:
Set up data structure α queue and record fulfiling ahead of schedule of task, α queue is in off-line state best execution speed
Figure BDA00002379188100024
under ready queue, time of arrival, deadline and the residue execution time of logger task;
Reclaim this task free time Slack_Time, find out fulfiling ahead of schedule in α queue of task, utilize each residue execution time of fulfiling task ahead of schedule, calculate each free time Slack_Time that fulfils task ahead of schedule, utilize total free time Slack_Time to calculate travelling speed S.
According to travelling speed S, determine the travelling speed S of each task forward part ltravelling speed S with rear section h, its treatment step is as follows:
According to two adjacent speed S of the value of travelling speed S and processor regulation lowand S highcompare, when travelling speed, S is greater than S lowand S is less than or equal to S high(S low< S≤S high) time, determine and think the travelling speed S of task forward part lbe the speed S of processor regulation low, the travelling speed S of task rear section hbe the speed S of processor regulation high.
The present invention has following beneficial effect and advantage:
(1) adopt the inventive method, owing to making full use of the free time Slack_Time of system, reduce the travelling speed of processor, thereby save 30.69% energy consumption than existing low-power consumption scheduling algorithm.
(2) possibility that the system that can cause the high temperature bringing due to high power consumption breaks down increases, can reduce the reliability of whole system, and the present invention makes full use of the free time Slack_Time of system, reduce system energy consumption, therefore improve the reliability of system.
(3) reduce system in package and cooling cost.Power consumption increase can significantly improve the thermal value of system, and for product can normally be dispelled the heat, producer must increase the investment for new encapsulation and cooling technology research, therefore can improve for encapsulating with the cost of cooling device.
Accompanying drawing explanation
Fig. 1 is the inventive method treatment step process flow diagram;
Fig. 2 is the simulation experiment result figure of the present invention.
Embodiment
Below in conjunction with drawings and Examples, the present invention program is described in further detail.
Referring to accompanying drawing 1, Fig. 2, be a kind of energy-saving scheduling method that is applicable to digital control system periodic duty, it is characterized in that: comprise the steps:
Before task set dispatching, calculate task T in digital control system ibest execution speed under off-line state
Calculation task T again iin best execution speed
Figure BDA00002379188100032
under execution time, according to earliest-deadline-first principle, task-set is sorted;
In the time that certain task completes, reclaim this task free time Slack_Time, that utilizes that this free time calculates this task provides the travelling speed S under continuous voltage at processor;
According to travelling speed S, determine the travelling speed S of each task forward part ltravelling speed S with rear section h, finally calculate the travelling speed S of task in forward part lunder execution time e x.Lwith the travelling speed S in rear section hunder execution time e x.H, last with required actual execution time e x.L, e x.Hcarry out scheduled for executing task.
The inventive method is further illustrated:
Calculate task T iin the best execution speed of off-line state task
Figure BDA00002379188100033
Calculated the utilization factor U of system by formula (1) tot
U tot = &Sigma; i = 1 n C i P i - - - ( 1 )
In formula, C i, P i, i is respectively periodic duty T ithe identifier of execution time under worst case, cycle, task; N is the number of task.
Calculate task T by formula (2) iin the best execution speed of off-line state task
Figure BDA00002379188100035
S = max { S min , U tot } - - - ( 2 )
Wherein S minit is the minimum speed of processor regulation.
In the time having new task to arrive, according to earliest-deadline-first principle, new task is inserted in the relevant position in α queue.
Earliest-deadline-first principle: deadline is shorter, priority is higher, as task T ideadline when identical, early arriving of task T ipriority is high; As task T ideadline and time of arrival homogeneous phase simultaneously, task T iwhat serial subscript i was little has higher priority.
In the time that certain task completes, reclaim the idle Slack_Time time of this task, that utilizes that this free time Slack_Time calculates this task provides the travelling speed S under continuous voltage at processor, and its travelling speed S treatment step is as follows:
Set up data structure α queue and record fulfiling ahead of schedule of task, α queue is in off-line state best execution speed
Figure BDA00002379188100041
under ready queue, time of arrival, deadline and the residue execution time of logger task;
Reclaim this task free time Slack_Time, find out fulfiling ahead of schedule in α queue of task, utilize each residue execution time of fulfiling task ahead of schedule, calculate each free time Slack_Time that fulfils task ahead of schedule, utilize total free time Slack_Time to calculate travelling speed S.
Calculate each free time Slack_Time that fulfils task ahead of schedule by formula (3):
Slack _ Time = &Sigma; i | d i &le; d x rem i ( t ) - w x S x ( t ) - - - ( 3 )
The identifier that in formula, i is task, d i, d xbe respectively task T i, T xdeadline; rem i(t) be task T iin the residue execution time of moment t, the residue execution time of task is along with the execution of task reduces gradually; In the time that task completes, be 0 the excess time of task.
Figure BDA00002379188100043
for task T xat moment t with speed S xthe residue execution time under the worst case of operation. can find out that by formula (3) free time Slack_Time is that the difference of the residue execution time under summation and the worst case of the residue execution time by fulfiling task ahead of schedule calculates.
Utilize free time Slack_Time to calculate the travelling speed S of task:
Calculated the travelling speed S of task by formula (4)
S = w x S x ( t ) rem x ( t ) + Slack _ Time - - - ( 4 )
In formula, rem x(t) be task T xin the residue execution time of moment t, the free time that Slack_Time is task.When the travelling speed S of task is than the minimum speed S of processor regulation minvalue hour, travelling speed S equals the minimum speed S of processor regulation min.
According to travelling speed S, determine the travelling speed S of each task forward part ltravelling speed S with rear section h, finally calculate the travelling speed S of task in forward part lunder execution time e x.Lwith the travelling speed S in rear section hexecution time e x.H, its treatment step is as follows:
According to two adjacent speed S of the value of travelling speed S and processor regulation lowand S highcompare, when travelling speed, S is greater than S lowand S is less than or equal to S high(S low< S≤S high) time, determine and think the travelling speed S of task forward part lbe the speed S of processor regulation low, the travelling speed S of task rear section hbe the speed S of processor regulation high.
At the travelling speed S of forward part lunder, task T xexecution time be execution time e x.L; At the travelling speed S of rear section hunder, task T xexecution time be execution time e x.H.
Task T xexecution time meet (5) formula:
e x＝e x.L+e x.H （5）
Task T xexecution time while just arrival meets (6) formula:
S·e x＝S L·e x.L+S H·e x.H （6）
Learn execution time e by formula (5) x, by execution time e xthe travelling speed S that substitution formula (6) calculates in forward part lunder, task T xexecution time e x.L:
e x . L = e x &CenterDot; S H - S S H - S L - - - ( 7 )
Learn execution time e by formula (7) x.L, by execution time e x.Lsubstitution formula (5) calculates the S in the travelling speed of rear section hunder, task T xexecution time e x.H, last with required actual execution time e x.L, e x.Hcarry out scheduled for executing task.

Claims (5)

1. an energy-saving scheduling method that is applicable to digital control system periodic duty, is characterized in that: comprise the steps:
Before task set dispatching, calculate task T in digital control system ibest execution speed under off-line state
Figure FDA00002379188000011
Calculation task T again iin best execution speed
Figure FDA00002379188000012
under execution time, according to earliest-deadline-first principle, task-set is sorted;
In the time that certain task completes, reclaim this task free time Slack_Time, that utilizes that this free time Slack_Time calculates this task provides the travelling speed S under continuous voltage at processor;
According to travelling speed S, determine the travelling speed S of each task forward part ltravelling speed S with rear section h; Calculate the travelling speed S of task in forward part lunder actual execution time e x.Lwith the travelling speed S in rear section hexecution time e x.H, last with required actual execution time e x.L, e x.Hcarry out scheduled for executing task.
2. according to a kind of energy-saving scheduling method that is applicable to digital control system periodic duty described in right 1, it is characterized in that: earliest-deadline-first principle: deadline is shorter, priority is higher, as task T ideadline when identical, early arriving of task T ipriority is high; As task T ideadline and time of arrival homogeneous phase simultaneously, task T iwhat serial subscript i was little has higher priority.
3. according to a kind of energy-saving scheduling method that is applicable to digital control system periodic duty described in right 1, it is characterized in that: calculate each task T ibest execution speed under off-line state
Figure FDA00002379188000013
its calculation procedure is as follows:
Utilize execution time C iwith cycle P iratio sum formula calculate the utilization factor U of system tot, then by utilization factor U totminimum speed S with processor mincompare, the greater is the best execution speed under off-line state
Figure 20121044565501000011
.
4. according to a kind of energy-saving scheduling method that is applicable to digital control system periodic duty described in right 1, it is characterized in that: in the time that certain task completes, reclaim the idle Slack_Time time of this task, that utilizes that this free time Slack_Time calculates this task provides the travelling speed S under continuous voltage at processor, and its travelling speed S treatment step is as follows:
Set up data structure α queue and record fulfiling ahead of schedule of task, α queue is the ready queue under off-line state best execution speed, time of arrival, deadline and the residue execution time of logger task;
Reclaim this task free time Slack_Time, find out fulfiling ahead of schedule in α queue of task, utilize each residue execution time of fulfiling task ahead of schedule, calculate each free time Slack_Time that fulfils task ahead of schedule, utilize total free time Slack_Time to calculate travelling speed S.
5. according to a kind of energy-saving scheduling method that is applicable to digital control system periodic duty described in right 1 or 4, it is characterized in that: according to travelling speed S, determine the travelling speed S of each task forward part ltravelling speed S with rear section h, its treatment step is as follows:
According to two adjacent speed S of the value of travelling speed S and processor regulation lowand S highcompare, when travelling speed, S is greater than S lowand S is less than or equal to S hightime, determine and think the travelling speed S of task forward part lbe the speed S of processor regulation low, the travelling speed S of task rear section hbe the speed S of processor regulation high.
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CN105629873B (en) * 2014-11-07 2018-08-24 中国科学院沈阳计算技术研究所有限公司 A kind of hybrid tasks scheduling method suitable for digital control system
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CN105677449A (en) * 2014-11-17 2016-06-15 中国科学院沈阳计算技术研究所有限公司 Low power consumption dispatching method for numerical control system
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CN106569884B (en) * 2015-10-12 2020-03-10 沈阳高精数控智能技术股份有限公司 Reliable low-power-consumption scheduling method based on dynamic voltage regulation technology
CN106569884A (en) * 2015-10-12 2017-04-19 沈阳高精数控智能技术股份有限公司 Reliability low-power consumption scheduling method based on dynamic voltage regulation technology
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CN109613971A (en) * 2018-12-04 2019-04-12 华侨大学 A kind of minimum utilization rate free time distribution low energy consumption method
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CN111324197A (en) * 2020-02-07 2020-06-23 华侨大学 Method for reducing system energy consumption based on three-speed periodic task
CN111324197B (en) * 2020-02-07 2023-03-07 华侨大学 Method for reducing system energy consumption based on three-speed periodic task
CN112541121A (en) * 2020-12-21 2021-03-23 深圳市彬讯科技有限公司 Page data pushing method and device, computer equipment and storage medium

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