CN101807065A - Real-time task scheduling method of soft numerical control system - Google Patents

Real-time task scheduling method of soft numerical control system Download PDF

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CN101807065A
CN101807065A CN 201010136415 CN201010136415A CN101807065A CN 101807065 A CN101807065 A CN 101807065A CN 201010136415 CN201010136415 CN 201010136415 CN 201010136415 A CN201010136415 A CN 201010136415A CN 101807065 A CN101807065 A CN 101807065A
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numerical control
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万加富
蔡增禄
李迪
王巧巧
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South China University of Technology SCUT
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Abstract

The invention discloses a real-time task scheduling method of a soft numerical control system, which comprises the following steps that: (a) according to the tasks in the soft numerical control system, CPU resources are pre-reserved for non-real-time tasks and real-time tasks; (b) the jitter range of the periodic real-time tasks is determined, the output jitter feedback is calculated, and the periodic real-time tasks mainly comprises a servo task and an interpolation task; (c) the input volume, the output volume and the membership assignment table of fuzzy feedback scheduling are determined by integrating a scheduling algorithm framework according to the jitter of the periodic real-time tasks; and (d) the fuzzy feedback scheduling table is calculated, the relational table of the real-time task cycle and the jitter is further calculated and stored in the memory of the soft numerical control system, and the cycle of key periodic real-time tasks is adjusted by directly checking the dynamics of the fuzzy feedback scheduling table. The real-time task scheduling method of the soft numerical control system can solve the problem that the soft numerical control system performance is reduced caused by too large output jitter of key tasks, and improve the processing precision of the soft numerical control system.

Description

A kind of real-time task scheduling method of soft numerical control system
Technical field
The present invention relates to the task scheduling technical field in the digital control system, be specifically related to a kind of real-time task scheduling method of soft numerical control system.
Background technology
Digital control system in open type mainly contains three kinds of structures, that is: special-purpose CNC+PC, universal PC+motion controller and soft numerical control system.Wherein soft numerical control system is to adopt multiple task real-time operation system, the motion control part is integrated on the hardware platform with administrative section, mission criticals such as interpolation are realized in real time operating system, satisfy digital control system in the requirement that (mainly shows real-time) aspect function aspects and the NOT-function.The determinacy of the crudy of soft numerical control system and real-time task operation is closely related, and the rational management of its mission critical is particularly important.
At present, to real-time scheduling's research, be an important subject of real-time domain.The feature of hybrid system is to include un-real time job in the system, real-time sudden task, and types such as periodicity real-time task, soft numerical control system is exactly typical hybrid system.For the scheduling of aperiodicity task, generally be to reserve certain cpu resource for it.From the realization framework of dispatching algorithm, all dispatching algorithms can be divided into the open loop dispatching algorithm and based on the feedback the closed loop dispatching algorithm.The most classical open loop dispatching algorithm is RM (Rate-Monotonic) algorithm and EDF (Earliest Deadline First) algorithm.Wherein the realization of RM algorithm is fairly simple, but the utilization factor of CPU is not high, and dirigibility is relatively poor.The EDF algorithm embodies greater flexibility, system is in operation and determines priority according to interim task pressing degree, therefore seem more reasonable, but the scheduling of system is more complicated, under the heavier situation of system loading, task executions has bigger uncertainty.
Closed loop dispatching algorithm based on feedback is the research focus in Real-Time Scheduling field in recent years.Wherein main algorithm has neural feedback scheduling, fuzzy feedback scheduling etc., these feedback scheduling algorithms all are with the utilization factor of the CPU feedback quantity as scheduling, the task that can guarantee is all carried out before the off period, and has more intense dispatching flexibility, has utilized the resource of system to greatest extent.But these algorithm application are in soft numerical control system, can only guarantee that soft numerical control system mixes the schedulability of task, be that task is not missed the off period, but because the competition of soft numerical control system resource, easily there is bigger output jitter in some crucial real-time tasks (as servo task, interpolation task), thereby influence the machining precision of soft numerical control system.
Summary of the invention
The objective of the invention is to overcome the excessive problem of crucial real-time task shake that causes because of the soft numerical control system resource contention, a kind of real-time task scheduling method of soft numerical control system is provided.The present invention is by reserving certain cpu resource to un-real time job and real-time sudden task, jitter range according to the expectation of periodicity real-time task, use two-dimentional fuzzy feedback scheduler and dynamically adjust the cycle of crucial real-time task, the shake that guarantees mission critical descends thereby improve the soft numerical control system performance that causes because of the output jitter of mission critical is excessive in the scope of expectation.
To achieve these goals, the technical solution used in the present invention is:
A kind of real-time task scheduling method of soft numerical control system, described soft numerical control system is to adopt multiple task real-time operation system, the motion control part is integrated on the hardware platform with administrative section, mission critical realizes that in real time operating system described mission critical mainly comprises the servo task and the interpolation task of soft numerical control system; This method may further comprise the steps:
(a), be un-real time job and real-time sudden task reservation cpu resource according to the task situation in the soft numerical control system;
(b) determining of periodicity real-time task jitter range calculates the output jitter feedback quantity, and described periodicity real-time task mainly comprises servo task and interpolation task;
(c) according to the jitter conditions of periodicity real-time task,, determine input quantity, output quantity and the degree of membership assignment table of fuzzy feedback scheduling in conjunction with the dispatching algorithm framework;
(d) calculate the fuzzy feedback dispatch list, further obtain the relation table of real-time task cycle and shake, and be stored in the internal memory of soft numerical control system, adopt and directly look into the cycle that the fuzzy feedback dispatch list is dynamically adjusted key periodicity real-time task.
The real-time task scheduling method of above-mentioned soft numerical control system, the described task situation of step (a) comprise the real-time of task and mixing property.
The real-time task scheduling method of above-mentioned soft numerical control system in described step (a), is reserved cpu resource for the aperiodicity task, and wherein the utilization factor of cpu resource is:
U = Σ prt i . e prt i . T + U others
In described step (b), the computing method of described output jitter feedback quantity are:
J sf 2 = Σ k = 1 N ( J srk - J sk ) 2 ≤ J sr 2
Wherein, U represents the utilization factor of CPU, U OthersThe cpu resource that expression aperiodicity task takies, prt i.e execution time of indication cycle's property real-time task, prt i.T in the cycle of indication cycle's property real-time task, N represents the periodicity real-time task number in the system; J SrkThe actual output jitter of expression task k, J SkThe expectation jitter upper bound of expression task k, periodically the shake feedback quantity J of real-time task Sf, J SrThe jitter upper bound reference value of representing all real-time tasks.
The real-time task scheduling method of above-mentioned soft numerical control system, in described step (c), dispatching algorithm comprises two feedback loops, and interior ring is a control loop, and outer shroud is the fuzzy feedback grooming ring, and the input quantity of fuzzy feedback scheduling is described jitter upper bound reference value J SrShake feedback quantity J with all periodicity real-time tasks Sf, the output quantity of fuzzy feedback scheduling is duty cycle adjustment factor λ; In described step (d), by fuzzy feedback scheduling input quantity J SfDerive fuzzy feedback dispatching algorithm table by fuzzy reasoning,, obtain the real-time task cycle of output jitter correspondence by linear relationship according to duty cycle adjustment factor λ.
The real-time task scheduling method of above-mentioned soft numerical control system, the derivation of described real-time task cycle and output jitter relation may further comprise the steps:
1) is the un-real time job and the real-time sudden task reservation cpu resource of soft numerical control system, calculates the output jitter feedback quantity;
2) the input quantity J that dispatches according to fuzzy feedback SrAnd J SfAnd output quantity λ, adopt the two-dimensional fuzzy controller method for designing to determine degree of membership assignment table and fuzzy scheduling rule;
3) select the judgement of maximum membership degree method, derive the fuzzy feedback dispatch list;
4) described periodic adjustment coefficient lambda is obtained, determined the real-time task cycle dynamically.
The real-time task scheduling method of above-mentioned soft numerical control system, in described step (a), the cpu resource of reservation according to the importance of task in system, is determined the dispatching priority order with reference to the characteristic of task in the soft numerical control system.
The real-time task scheduling method of above-mentioned soft numerical control system, described dispatching algorithm is stored in the soft numerical control system internal memory after determining, adopts the mode of tabling look-up to dispatch.7, as the real-time task scheduling method of each described a kind of soft numerical control system of claim 1～6, it is characterized in that being stored in the soft numerical control system internal memory after described dispatching algorithm is determined, adopt the mode of tabling look-up to dispatch.
Compare with existing dispatching method, the present invention has following advantage and effect:
(1) according to the jitter range of periodicity real-time task expectation, dynamically adjust the cycle of crucial real-time task, the shake that guarantees mission critical is in the scope of expectation;
(2) this dispatching method adopts the mode of tabling look-up, and system resource overhead is little;
(3) can reduce the soft numerical control system performance that causes because of the output jitter of mission critical is excessive and descend, improve the machining precision of soft numerical control system.
Description of drawings
Fig. 1 be in the embodiment in the soft numerical control system based on the framework of the fuzzy feedback dispatching method of mission critical output jitter;
Fig. 2 is dispatching method implementing procedure figure in the present embodiment.
Embodiment
Below in conjunction with accompanying drawing the specific embodiment of the present invention is described further, but enforcement of the present invention is not limited thereto.
As described in Figure 2, the real-time task scheduling method of soft numerical control system may further comprise the steps:
Step 1 is classified to the task in the hybrid system (soft numerical control system is typical hybrid system), the definition task parameters;
Mix task-set: Ψ={ T i| i=1,2 ..., n} contains n task, i.e. un-real time job, real-time sudden task and periodicity real-time task.
For periodicity real-time task prt i, with 8 element group representations be:
prt i＝(T，E，e，r，f，d，k，p)
In the formula: T is the cycle of task; E is the following execution time of worst case; E is the task run time; R is task release time; F is the task deadline; D is the absolute time limit; K is the current periodicity of task, task prt iK cycle be designated as prt i(k); P is a task priority.
For aperiodicity real-time task art i, its execution is at random, still can be with 8 element group representations:
art i＝(M，E，e，r，f，d，k，p)
In the formula: M represents the minimum value in the time interval that task arrives.
For un-real time job nrt i, with 4 element group representations be:
nrt i＝(E，e，r，p)
Step 2 is analyzed the main task in the soft numerical control system process, and is as shown in table 1, and task type comprises un-real time job, real-time sudden task and periodicity real-time task.The cycle of wherein interpolation task and servo task and determinacy are the most obvious to the influence of system's machining precision.
Main task in the table 1 soft numerical control system process
Title Symbol Function Task type
Interpolation (interpolation task) Prt 1 According to the movement locus after the cutter benefit, by the given characteristics of motion and movement velocity, calculate the amount of exercise of each coordinate axis in real time, control each kinematic axis in phase by given trace and speed motion Real-time period
Position control (servo task) Prt 2 According to the exercise data control lathe servo drive system of interpolation gained, realize desired motion Real-time period
Decoding Prt 3 With parts program is that unit handles with the program segment, the required data mode of system's subsequent treatment is translated in various motions and function control information, and left in the memory headroom of appointment Real-time period
The interpolation pre-service Prt 4 The interpolation pre-service comprises cutter compensation and velocity process.Cutter compensation is converted to central track of cutter with the profile traces in the parts program, provides the type and the start, end information of track; Velocity process is to determine current processing speed of feed according to each allowed band of the running status of parts program instruction speed, multiplying power switch, lathe and lathe. Real-time period
PLC Art 1 According to the discrete message of input, carry out logical operation in inside, and finish output control function Real-time aperiodicity
The code editor Nrt 1 According to the demand of processing, the input numerical control program Non real-time
Fault diagnosis Prt 5 Lathe hardware that may produce fault and the software model operation result that occurs mistake are easily periodically checked Real-time period
Fault handling Art 2 Handle the fault of finding, carry out online recovery or shut down the back artificial treatment Real-time aperiodicity
State shows Nrt 2 Control information in the process or status information are prompted to the numerical control operating personnel Non real-time
Step 3 is reserved cpu resource for the aperiodicity task, guarantees the schedulability of system task;
U pTake the resource of CPU for the periodicity real-time task:
U p = Σ i = 1 5 prt i . e prt i . T Formula (3)
Guarantee the schedulability of soft numerical control system task, must satisfy:
U p+ U Others＜1 formula (4)
In the present embodiment, be the cpu resource of un-real time job and real-time sudden task reservation 30%, i.e. U Others=0.3.
Step 4 is determined the structure of dispatching algorithm, input and output amount;
Based on the fuzzy feedback dispatching method framework of mission critical output jitter as shown in Figure 1, the dispatching algorithm framework comprises two feedback loops, and interior ring is a control loop, and outer shroud is the fuzzy feedback grooming ring.The input quantity of fuzzy feedback scheduling is jitter upper bound reference value J SrShake feedback quantity J with all periodicity real-time tasks Sf, output quantity is duty cycle adjustment factor λ.
Input information is deviation (input value and setting value poor) e and deviation variation rate e in based on the fuzzy feedback scheduler of output jitter c=de/dt.Both all are expressed as negative big (NB) with fuzzy language, in bearing (NM), negative little (NS), zero (Z), just little (PS), center (PM), honest (PB), promptly the fuzzy subset is { NB, NM, NS, Z, PS, PM, PB}.If the domain of error e is X, and error size is quantified as seven grades, is expressed as-0.6 ,-0.4 ,-0.2,0,0.2,0.4,0.6 respectively, X={-0.6 is then arranged ,-0.4 ,-0.2,0,0.2,0.4,0.6}.Deviation variation rate e cDomain be Y, and it is quantified as seven grades, be expressed as-0.3 ,-0.2 ,-0.1,0,0.1,0.2,0.3 respectively, Y={-0.3 is then arranged ,-0.2 ,-0.1,0,0.1,0.2,0.3}.
Output information is duty cycle adjustment factor λ, represents utilization factor height (PB) with fuzzy language, in (PM), low (PS), promptly the fuzzy subset of the language value of output variable is { PB, PM, PS}.The domain of output information λ is Z, and it is quantified as Three Estate, is expressed as 2,1,0.5 respectively, and Z={2 is then arranged, 1, and 0.5}.
Step 5 according to the desired output jitter upper bound of each periodicity real-time task, is calculated the output jitter feedback quantity of fuzzy feedback dispatching algorithm;
Interpolation task prt 1Whenever carry out interpolation operation one time, servo task prt 2Carry out secondary servo position control, i.e. the result of each interpolation operation, servo-drive system is delivered to it in command register at twice, and then controls the displacement of each coordinate axis, must finish twice servocontrol in each interpolation cycle;
Table 2 mission critical cycle and periodic adjustment coefficient
The output jitter of setting crucial real-time task is no more than 20% of the cycle, and therefore the expectation under different cycles is referenced as and can be calculated by formula (5)
( J sr 1 - J s 1 ) 2 + ( J sr 2 - J s 2 ) 2 = J sf ≤ J sr Formula (5)
Be respectively 2,1 for λ, 0.5 o'clock, the reference J of output jitter feedback quantity SfBe followed successively by: 0.894,0.447,0.224.For real-time scheduling feedback quantity, can obtain by formula (6)
J sf 2 = Σ k = 1 N ( J srk - J sk ) 2 Formula (6)
Step 6 is derived the fuzzy feedback dispatch list;
Derivation concrete in the present embodiment adopts following steps:
(a) according to input quantity J SrAnd J SfAnd output quantity λ, determine degree of membership assignment table;
(b) features (being the task situation) such as the real-time of task, concurrency, mixing property and correlativity in the taking into account system are determined the fuzzy scheduling rule;
(c) operation rule of application fuzzy set is obtained fuzzy relation;
(d) judgement of maximum membership degree method is adopted in the fuzzy feedback scheduling, obtains fuzzy feedback dispatching algorithm table.
Degree of membership assignment table is according to input quantity J SrAnd J SfAnd output quantity λ, determine.According to real-time, concurrency, mixing property and the correlativity etc. of task in the system, under the situation of considering aperiodicity real-time task and un-real time job, satisfy all real-time tasks and all in the time limit of regulation, finish, draw the fuzzy scheduling rule shown in the table 3.
Table 3 fuzzy scheduling rule
Figure GSA00000069074300064
Figure GSA00000069074300071
For the fuzzy scheduling rule in the table 3, use the operation rule of fuzzy set, can obtain fuzzy relation and be
R=R 1∪ R 2∪ ... ∪ R 49Formula (7)
In the formula (7), R 1, R 2..., R 49Be the relationship model matrix, can obtain by formula (8) respectively.
R 1 = D 1 L × ( PB ) U , D 1 = ( PB ) e × ( PB ) e c · · · R 49 = D 49 L × ( NB ) U , D 49 = ( NB ) e × ( NB ) e c Formula (8)
Fuzzy feedback scheduling output quantity λ is calculated by the fuzzy reasoning composition rule, i.e. the control decision in a certain moment is:
λ=(e * e c) R formula (9)
Adopt the judgement of maximum membership degree method, can get as shown in table 4 based on output jitter fuzzy feedback dispatch list through calculating.
Table 4 is based on the fuzzy feedback dispatching algorithm table of output jitter
Figure GSA00000069074300073
Step 7, real-time task cycle and output jitter relation; Because λ only is a grade point in the domain, and λ is corresponding with the cycle of real-time task, just can adjust the cycle of operation of real-time task dynamically, the output jitter that guarantees real-time task is in expected range, and the corresponding relation of λ and duty cycle is as shown in table 2.Algoritic module is stored in the internal memory of soft numerical control system, adopts lookup table mode to realize dynamic dispatching.

Claims (6)

1. the real-time task scheduling method of a soft numerical control system, described soft numerical control system is to adopt multiple task real-time operation system, the motion control part is integrated on the hardware platform with administrative section, mission critical realizes that in real time operating system described mission critical mainly comprises the servo task and the interpolation task of soft numerical control system; It is characterized in that this method may further comprise the steps:
(a), be un-real time job and real-time sudden task reservation cpu resource according to the task situation in the soft numerical control system;
(b) determining of periodicity real-time task jitter range calculates the output jitter feedback quantity, and described periodicity real-time task mainly comprises servo task and interpolation task;
(c) according to the jitter conditions of periodicity real-time task,, determine input quantity, output quantity and the degree of membership assignment table of fuzzy feedback scheduling in conjunction with the dispatching algorithm framework;
(d) calculate the fuzzy feedback dispatch list, further obtain the relation table of real-time task cycle and shake, and be stored in the internal memory of soft numerical control system, adopt and directly look into the cycle that the fuzzy feedback dispatch list is dynamically adjusted key periodicity real-time task.
2. the method for claim 1 is characterized in that the described task situation of step (a) comprises the real-time of task and mixing property.
3. the method for claim 1 is characterized in that, in described step (a), reserves cpu resource for the aperiodicity task, and wherein the utilization factor of cpu resource is:
Figure FSA00000069074200011
In described step (b), the computing method of described output jitter feedback quantity are:
Figure FSA00000069074200012
Wherein, U represents the utilization factor of CPU, U OthersThe cpu resource that expression aperiodicity task takies, prt i.e execution time of indication cycle's property real-time task, prt i.T in the cycle of indication cycle's property real-time task, N represents the periodicity real-time task number in the system; J SrkThe actual output jitter of expression task k, J SkThe expectation jitter upper bound of expression task k, periodically the shake feedback quantity J of real-time task Sf, J SrThe jitter upper bound reference value of representing all real-time tasks.
4. the method for claim 1 is characterized in that, in described step (c), dispatching algorithm comprises two feedback loops, and interior ring is a control loop, and outer shroud is the fuzzy feedback grooming ring, and the input quantity of fuzzy feedback scheduling is described jitter upper bound reference value J SrShake feedback quantity J with all periodicity real-time tasks Sf, the output quantity of fuzzy feedback scheduling is duty cycle adjustment factor λ; In described step (d), by fuzzy feedback scheduling input quantity J SfDerive fuzzy feedback dispatching algorithm table by fuzzy reasoning,, obtain the real-time task cycle of output jitter correspondence by linear relationship according to duty cycle adjustment factor λ.
5, method as claimed in claim 4 is characterized in that the derivation of described real-time task cycle and output jitter relation may further comprise the steps:
1) is the un-real time job and the real-time sudden task reservation cpu resource of soft numerical control system, calculates the output jitter feedback quantity;
2) the input quantity J that dispatches according to fuzzy feedback SrAnd J SfAnd output quantity λ, adopt the two-dimensional fuzzy controller method for designing to determine degree of membership assignment table and fuzzy scheduling rule;
3) select the judgement of maximum membership degree method, derive the fuzzy feedback dispatch list;
4) described periodic adjustment coefficient lambda is obtained, determined the real-time task cycle dynamically.
6. the method for claim 1 is characterized in that, in described step (a), the cpu resource of reservation according to the importance of task in system, is determined the dispatching priority order with reference to the characteristic of task in the soft numerical control system.
7. as the real-time task scheduling method of each described a kind of soft numerical control system of claim 1～6, it is characterized in that being stored in the soft numerical control system internal memory after described dispatching algorithm is determined, adopt the mode of tabling look-up to dispatch.
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CN110221907A (en) * 2019-05-24 2019-09-10 昆明理工大学 A kind of real-time task scheduling method based on EDF algorithm and fuzzy set
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CN113664839A (en) * 2021-10-25 2021-11-19 武汉瀚迈科技有限公司 Non-real-time and real-time mixed interpolation calculation method for industrial robot
CN113664839B (en) * 2021-10-25 2022-01-18 武汉瀚迈科技有限公司 Non-real-time and real-time mixed interpolation calculation method for industrial robot

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