CN106773711A - The hybrid tasks scheduling method and model of a kind of railway locomotive operation steerable system - Google Patents
The hybrid tasks scheduling method and model of a kind of railway locomotive operation steerable system Download PDFInfo
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Abstract
The invention provides the hybrid tasks scheduling method and model of a kind of railway locomotive operation steerable system.Dispatching method of the invention is using a frame period as basic scheduling unit, including pre-processes；Two grades of priority rules for being based on table- driven for periodicity real-time task are scheduled sequence permutation；The method for being based on illumination scan and fuzzy control for the application of aperiodicity real-time task is arranged；Then the recovery of timeslice and the collecting work of scheduling result and feedback data are carried out, and judges the remaining execution time；If cycle time is not run out, un-real time job is performed.Hybrid tasks scheduling method of the invention and model can greatly reduce overhead, the various change situation being setup flexibly in system implementation can be compared again, and can reduce influence of the systematic uncertainty to dispatching.
Description
Technical field
Steerable system is run the present invention relates to railway locomotive operation steerable system field, more particularly to a kind of railway locomotive
Hybrid tasks scheduling method and model.
Background technology
Railway locomotive operation steerable system is based on Train Operation for Saving Energy mechanism and moving model, to be integrated with LKJ and lead to
Letter, locomotive traction is calculated and kinematical equation, optimizes calculating, oil consumption calculating, Self Adaptive Control, display and some other auxiliary work(
The embedded computer system of energy.It can be simulated to the dynamic process of train operation, perceived according to LKJ |input parametes and arranged
Car, circuit and environment etc. change, and calculate velocity-distance graph and gear suitable for locomotive-manipulate plan apart from optimal energy-conservation
Slightly, and optimal control is provided in very short time interval.Because system operation is in the environment of control car in real time, so system is appointed
Must need in real time, accurately obtain completion.For the rational management of task, system delay is reduced to safeguards system normal table
Operation has vital effect.
Railway locomotive operation steerable system is a typical complex optimization control system, and its task model is by periodically
The mixed task set that real-time task, aperiodicity real-time task and un-real time job are collectively formed.Although current computer and embedding
Enter the development of formula development technique quickly, the disposal ability of hardware device is more and more stronger, but computing resource remains most valuable, excellent
The real-time task scheduling problem of networked control systems is always the focus and difficult point of computer realm research.
The dispatching method of existing mixed task set can be divided into according to the difference of type of drive：Table- driven, priority are driven
Dynamic, search driving etc..
The Real-Time Scheduling scheme of table- driven is the scheduling scheme based on static scheduling table algorithm, in space shuttle software
Extensive application in the High Definition Systems such as system, missile guidance system.This scheduling scheme schedules expense is small, running precision
Height, has strong guarantee for the scheduling of hard real time task.But it has the disadvantage underaction, can only complete to the cycle
Property task scheduling, and need arrival time of accurate position each task in a cycle, ready time and the worst execution
Time.Existed simultaneously in the Task Scheduling Model of railway locomotive operation steerable system and periodically appointed in real time with aperiodicity
Business, aperiodicity task is random arrival, and periodic task dynamic can also change with system state change.So this
Scheduling scheme cannot be competent at this uncertain dispatch environment.
The Real-Time Scheduling scheme of priority driven can be subdivided into static priority scheduling and dynamic priority scheduling again.It is
A kind of very common scheduling scheme, be applied to classics real time operating system VxWorks, in μ C/OS, scheduling scheme have compared with
Strong flexibility.But its flexibility be built upon on the basis of frequent task switching, it is necessary to consume a large amount of system resources.
And in railway locomotive operation steerable system, the priority of control task will periodically complete control apparently higher than optimization task
Process is the most basic demand of system.If the scheduling scheme seized using priority, can cause：First, periodically control is appointed
Business cannot be timely completed due to reasons such as pirority inversions；Second, the frequent switching of context causes resource utilization low, in height
System is unstable under loading condition.So, the scheduling scheme based on priority driven cannot solve railway locomotive operation and manipulate system
The scheduling problem of system.
Search for the Real-Time Scheduling scheme for driving and common are myopic algorithm and saving algrithm.The scheduling scheme has stronger
Flexibility, but a disadvantage is that the expense of search procedure is larger, for railway locomotive operation steerable system, using the side of search
Property dispatching cycle task and aperiodicity task can be greatly reduced the success rate of algorithms for periodic task scheduling to formula simultaneously, so that serious shadow
Acoustic system performance.
So, current existing various scheduling schemes cannot all adapt to the dispatching requirement in the middle of complex optimization control system.If
Count out a real-time that can simultaneously meet control and the stability for optimizing and the tune that processor maximum performance can be given full play to
Degree scheme is most important.
The content of the invention
It is an object of the invention to provide the hybrid tasks scheduling method and model of a kind of railway locomotive operation steerable system.Iron
The task-set of road locomotive system is the hybrid task collectively formed by periodic task, aperiodicity task and un-real time job
Collection.Wherein periodic task is the core of whole control process, with most stringent of time constraints, performs cycle variation, when
Sequence is strong, and resource-sharing is more with mutual exclusion situation；Aperiodicity task is maintenance system stabilization, improves systematic function and system optimization
Important component, with random arrival, task species and form are abundant, the characteristics of priority excursion is big；It is non real-time
Task is the time-consuming maximum of the guarantee of system maintenance and debugging, the requirement without real-time processing, but calculating.The present invention is considered not
The dispatching requirement of same type task, can clearly describe the temporal constraint and resource between task time-constrain in itself, task
Constraint, the characteristics of tasks carrying in actual scene is embodied exactly, realizes the rational management of hybrid task.
The present invention is achieved through the following technical solutions：
A kind of railway locomotive runs the hybrid tasks scheduling method of steerable system, it is characterised in that the hybrid task bag
Include：Periodicity real-time task, aperiodicity real-time task and un-real time job；The hybrid tasks scheduling method is with a frame
Cycle comprises the steps as basic scheduling unit, the hybrid tasks scheduling method：
(1) when the frame period starts, the hybrid tasks scheduling method is scheduled preparation, and the scheduling prepares at least to include
Task switches and resource inspection；
(2) for periodicity real-time task, sequence permutation is scheduled using two grades of priority rules based on table- driven,
And according to the sequence property dispatching cycle real-time task；
(3) for aperiodicity real-time task, using the method based on illumination scan and fuzzy control, to non-week
Phase property real-time task is arranged, and dispatches aperiodicity real-time task according to the sequence；
(4) untapped timeslice in current period is reclaimed and is scheduled result and feedback data is adopted
Collection, judges the remaining execution time；
(5) if current period time is not run out, un-real time job is performed；
(6) at the end of the frame period, if aperiodicity real-time task or un-real time job are also not carried out terminating, under
Periodicity real-time task is performed when one frame period started, the aperiodicity real-time task or non real-time for being not carried out completing is sealed up for safekeeping
Business, it is ensured that the real-time of periodicity real-time task.
Further, based on table- driven two grades of described priority rules are directed to periodicity real-time task and are transported in locomotive
A kind of non-preemption dispatching method that predictability in row steerable system is proposed, two grades of described priority be divided into group priority and
Example priority, first by group prioritization in the step (2), then by example prioritization, ultimately generates dispatch list.
Further, the described method that fuzzy control is introduced based on illumination scan, it is proposed that a kind of new
Evaluation function：
H (n, t)=h (n, t) * nst
nst=(nd-t)-(nc-e(n,t))
Wherein H (n, t) is evaluation function, and h (n, t) is dynamic threshold coefficients of the aperiodicity real-time task n in moment t,
nstIt is remaining free times of the aperiodicity real-time task n in moment t, ndIt is the off period of task n, ncWhen being the worst execution
Between, e (n, t) is the time that task n had been performed in moment t.
Further, in two grades of priority rules based on table- driven, the design rule of described group of priority is：
First according to the order that the off period of periodicity real-time task in task-set is ascending, several task groups are set, then basis
Temporal constraint between task, judges the predecessor task of each periodic task and adjusts corresponding task groups priority；Described
Example priority is the ordering rule of task groups internal task, and sequence uses the worst minimum execution time rule.
Further, in the evaluation function, the completion rate of aperiodicity real-time task also serves as Indistinct Input parameter,
|input paramete is as shown in the table with threshold coefficient mapping table：
Task completion rate is defined as follows：ncr(t)=e (n, t)/nc。
Further, in the step (5), for un-real time job, dispatching sequence is scheduled according to FIFO rules.
On the other hand, the present invention provides the hybrid tasks scheduling model that a kind of railway locomotive runs steerable system, its feature
It is that described scheduling model is divided into two parts, respectively scheduling unit and execution unit, the scheduling unit will using right
The method in 1-6 described in any one is asked to be scheduled hybrid task.
Further, described scheduling unit includes task collector, real-time scheduler and task integral unit, in locomotive
Run in the running of steerable system, constantly there is real-time task to produce, the task collector is used for produced task
Focused on, when each clock signal arrives, submitted to real-time scheduler；The real-time scheduler is in next cycle
Before arrival, periodicity Real-Time Task Schedule Algorithm and aperiodicity real-time task scheduling is called to calculate respectively for different type task
Method, correspondence generation periodicity real-time task scheduling sequence and aperiodicity real-time task scheduling sequence；Finally by the task
Two sequences are merged one United Dispatching sequence of generation by integral unit, submit to the task executing units；It is described to perform list
Unit performs task scheduling according to schedule sequences, and gives the real-time scheduler by scheduling result and intermediateness feedback of the information, by
The real-time scheduler is acquired and preserves.
The dynamic threshold coefficient being previously mentioned in the present invention refers to passing through fuzzy control method in the present invention, multiplies in assessment values
With a parameter, this parameter is determined by fuzzy control method, different values is had in the state of difference, referred to here as it
It is dynamic threshold coefficient.
Beneficial effect using above-mentioned technical proposal is：
(1) present invention is directed to the algorithm of periodicity real-time task design compared to priority scheduling algorithm, can be greatly
Reduce overhead, including task switching expense and computing device dispatching algorithm expense；Compared to static table driven
Dispatching algorithm, the algorithm can compare the various change situation being setup flexibly in system implementation again.And it is steady in system
After fixed operation, the change expense required for the dispatch list of the inventive method generation is very small.
(2) present invention employs a kind of evaluation function of brand-new design, using fuzzy control method to the ginseng of evaluation function
Number just obfuscation, on the basis of ensureing to minimize the aperiodicity real-time task response time, mainly there is 3 benefits：The
One, fuzzy application can reduce influence of the systematic uncertainty to dispatching, and in actual motion, the state of system is can not essence
Really predict, different from specified task parameters in scheduling model, the time parameter of task can have small under system different conditions
Difference, and fuzzy technology can weaken the influence that this difference is brought；Second, fuzzy theory comprehensively multifactor can be worked as to task
Task free time and completion rate in the cumulative influence of preceding state, such as present invention design；3rd, Fuzzy Threshold can be reduced
The shake of rim condition dispatching algorithm, if the judgement of fixed value, system is easy to generation and jolts under boundary condition.
Brief description of the drawings
Fig. 1 is the hybrid tasks scheduling method flow diagram that railway locomotive of the invention runs steerable system；
Fig. 2 is task scheduling precedence diagram of the dispatching method of the invention within a frame period；
Fig. 3 A and Fig. 3 B are the present invention when aperiodicity real-time task is carried out, free time and completion rate membership function
Graph of a relation；
Fig. 4 is the hybrid tasks scheduling model schematic that railway locomotive of the invention runs steerable system.
Specific embodiment
To make the present invention relatively sharp, the present invention is described in detail below in conjunction with the accompanying drawings.
First, it is clearly to describe all kinds of set of tasks in railway locomotive operation steerable system, definition task mould of the present invention
Type is as follows：
(1) periodicity real-time task：Periodicity real-time task is the real-time task performed with fixed cycle, circulation.
Periodicity real-time task can be expressed as a five-tuple:
P=(a, r, t, d, c)
The element of tuple is respectively：The arrival time of periodicity real-time task, the ready time of periodicity real-time task, week
Phase property real-time task perform cycle, the off period that periodicity real-time task is performed, on the uniprocessor of periodicity real-time task
The worst execution time.
(2) aperiodicity real-time task：Aperiodicity real-time task is arrival time random real-time task, while it
The execution time is uncertain, aperiodicity real-time task can be expressed as into a four-tuple：
N=(a, r, d, c)
The element of tuple is respectively：Arrival time of aperiodicity real-time task, aperiodicity real-time task it is ready when
Between, the off period that aperiodicity real-time task is performed, the worst execution time on the uniprocessor of aperiodicity real-time task.
(3) un-real time job：Un-real time job is other tasks in addition to real-time task in system, with a four-tuple
To represent：
O=(a, r, s, l)
The element of tuple is respectively：The arrival time of un-real time job, the ready time of un-real time job, un-real time job
The time delay of Starting Executing Time, un-real time job.
The present embodiment provides a kind of hybrid tasks scheduling method that railway locomotive runs steerable system, and specific implementation flow is such as
Shown in Fig. 1, it includes：
Step S101, when starting in the frame period, dispatching method is prepared work, including task switching, resource inspection etc..
Using a frame period as basic scheduling unit, the wherein frame period is the base of system operation to dispatching method of the invention
Paracycle, describe the minimum unit of system period divisions.Periodicity real-time task concentrate duty cycle with the frame period times
Number relation is described.
As shown in Fig. 2 when starting in a frame period, task switching when dispatching method needs to carry out last end cycle
Work, may being carrying out at the end of the usual last frame period for task is aperiodicity real-time task or un-real time job, with
Upper two kinds of task priority in railway locomotive of the invention operation steerable system is less than periodicity real-time task.Simultaneously
Algorithm needs to carry out resource inspection, it is ensured that the task in last cycle has released related resource.
Step S102, for periodicity real-time task, sequence is scheduled using two grades of priority rules based on table- driven
Row sequence, and according to the sequence property dispatching cycle real-time task.
Periodicity real-time task is most important part in locomotive operation steerable system hybrid task, is generally carry in real time
The function of control, so should also distribute priority higher.Although locomotive operation steerable system is an optimization control for complexity
System processed, but once the parameter determination of system, then the time parameter of periodicity real-time task is also predictable.Meanwhile,
Under different application scenarios and environment, the running status of system is different, and periodicity real-time task also can the change of occurrence dynamics ground.
In order to make full use of predictability of the periodicity real-time task in the middle of control process, while targetedly processing
Uncertainty in the implementation procedure, the present invention devises a kind of non-preemption scheduling of two grades of priority rules based on table- driven
Algorithm.Second-level dispatching rule investigates the temporal constraint relation between the off period of each task and task.During specific implementation, each
Periodicity real-time task has two priority, respectively organizes priority and example priority.In the tune of periodicity real-time task
When degree series are arranged, first by a group prioritization, then by example prioritization, schedule sequences are ultimately generated.
Specific create-rule is as follows：(1) in order to make full use of the utilization rate of processor, it is first according to the off period in task-set
Ascending order, sets several task groups.According to the cycle of task, each periodicity real-time task is assigned to task
In group, identical group of periodic task has identical group priority, i.e., with identical significance level；(2) according between task
Temporal constraint, judge the predecessor task of each periodic task.Should if the group priority of the predecessor task of the task is more than
Task, then maintain the group priority of two current tasks constant；Otherwise, the predecessor task of the task is redistributed to this
In the priority groups of business；(3) for task in group priority orders using the worst minimum execution time as criterion, i.e.,
Smaller task of the worst execution time has example priority higher.After setting up the example priority of whole tasks, then root
According to the relation of temporal constraint, task instances priority orders are adjusted, temporal constraint can be met；(4) task is determined
Execution sequence, first according to a group prioritization, then for a group priority identical task, according to example priority from high to low
It is ranked up, ultimately generates algorithms for periodic task scheduling table.
Two grades of priority rules have taken into account the dynamic variation characteristic of the off period of computing cost and task.By using the cycle
Property real-time task predictability, in system initialisation phase, the parameter of dispatch list can be done some pretreatment, such as preferentially
The setting of level group, the pre-generatmg of dispatch list.In actual system design process, due to periodicity real-time task have it is certain
Local time's characteristic, i.e., within a period of time, periodicity real-time task collection is stable.So being generated for the first time in dispatch list
Afterwards, later each generation can modify on the basis of upper once generation, and required change expense is very little.
Step S103, for aperiodicity real-time task, using the method based on illumination scan and fuzzy control,
Aperiodicity real-time task is arranged, and according to the sequence scheduler task.
The characteristics of aperiodicity real-time task is random arrival, during the arrival of the unpredictable aperiodicity real-time task of system
Between.Regulation goal for aperiodicity real-time task is：Meet the premise of off period in guarantee periodicity real-time task scheduling
Under, the completion success rate of aperiodicity real-time task is maximized, while making the response time of aperiodicity real-time task minimum.
The characteristics of integrated system regulation goal and mixed task set, aperiodicity real-time task scheduling problem can be regarded as
A kind of constrained route searching problem, i.e., arranged rational aperiodicity is appointed in real time in periodicity real-time task remaining time
Business, allows the utilization rate of aperiodicity real-time task scheduling success rate and processor all to reach comparatively ideal value.The present invention is devised
A kind of aperiodicity Real-Time Task Schedule Algorithm based on illumination scan, and with the thought of fuzzy control, reduce and calculate
The unstability of method.
Illumination scan process is：For the state space E being made up of ordered n-tuple group, give in n tuples points
One constraint set D and optimal objective function C (x) of amount, are estimated by each searching position, quickly obtain expiring in E
A n tuple of whole constraintss in foot constraint D, the n tuples are exactly the optimal solution of heuristic search problems.In the present invention,
The schedule sequences of n tuples correspondence aperiodicity real-time task, the tuple for meeting constraint with reference to the requirement of D belongs to schedulable sequence
Row, if the tuple causes that optimal objective function C (x) reaches extreme value simultaneously, the tuple is optimal adjustable degree series.Specific implementation
When, algorithm application greed mode, selecting the maximum task of assessment values every time from set of tasks by evaluation function carries out sequence
Sequence.May certify that, if evaluation function is reasonable in design, meet monotonicity requirement, while task-set is schedulable, by this
The schedulable node that the greedy mode of kind is obtained must be optimal schedulable node.
The key of illumination scan is the design of evaluation function, present invention introduces the thought of fuzzy control, it is proposed that
A kind of new evaluation function method for designing.Specific design process is as follows：
(1) define aperiodicity real-time task free time be：
nst=(nd-t)-(nc-e(n,t))
Define aperiodicity real-time task completion rate be：
ncr(t)=e (n, t)/nc
Wherein, nstIt is remaining free times of the aperiodicity real-time task n in moment t, ndIt is the off period of task n, nc
It it is the worst execution time, e (n, t) is the time that task n had been performed in moment t.
If the free time of an aperiodicity real-time task is smaller, then it is more urgent, more should priority scheduling；Such as
Really the completion rate of an aperiodicity real-time task is higher, then it is got over, and needs to be stayed within a processor, goes to complete remaining portion
Divide, it is necessary to preferentially be dispatched.
(2) present invention devises a kind of Fuzzy Threshold rule, be capable of comprehensive aperiodicity real-time task free time and
Completion rate judges its significance level.The free time of aperiodicity real-time task and completion rate membership function such as Fig. 3 A and figure
Shown in 3B.
Respectively with the corresponding different inputs of three linguistic fuzzy sets, free time：It is short, in, it is long, and completion rate：It is low, in,
It is high.In order to avoid calculating complicated during real-time control, the present invention represents the Fuzzy Threshold of task using specific output
Coefficient, during calculating in real time, the time complexity by the Fuzzy Threshold for obtaining aperiodicity real-time task of tabling look-up is O
(1).The threshold coefficient mapping table of Indistinct Input is as shown in the table：
The first row specifies aperiodicity real-time task free time grade in above-mentioned relation table, i.e., current task is urgent
Situation, first row specifies the urgent degree that the completion rate of aperiodicity real-time task, i.e. current task need to continue to complete.Tool
Body first calculates current free time and completion rate of all unscheduled aperiodic real-time tasks in moment t when implementing.According to sky
Correspondence degree of membership is calculated between idle with completion rate, then further according to the corresponding relation in table, dynamic threshold coefficient is obtained in proportion.
(3) present invention definition evaluation function is as follows：
H (n, t)=h (n, t) * nst
Wherein H (n, t) is evaluation function of the aperiodicity real-time task in moment t, and h (n, t) is that aperiodicity is appointed in real time
In the dynamic threshold of moment t, the computational methods of the value are calculated business n by the statement in the step of evaluation function design process (2nd).
It is that the schedule sequences for being capable of achieving aperiodicity real-time task sort by above step, can be appointed according to the sequence
The scheduling process of business.
Step S104, post processing carries out the recovery of timeslice and the collecting work of scheduling result and feedback data, and sentences
The disconnected residue execution time.
Task scheduling order of the dispatching algorithm of the invention within a frame period is as shown in Figure 2.Step S102 and S103
Hybrid task can be completed and concentrate the schedule sequences sequence of periodicity real-time task and aperiodicity real-time task, and complete to dispatch
Journey.The receipts of the recovery of timeslice and scheduling result and feedback data in the frame period are carried out followed by algorithm last handling process
Collection work, to make full use of the time resource in the frame period, standard has been made in the scheduling for further carrying out un-real time job for above work
It is standby.
Step S105, if cycle time is not run out, performs un-real time job, and its dispatching sequence enters according to FIFO rules
Row scheduling.
The result of step S104 post processings is investigated, if still having remaining timeslice in current frame period, is appointed from mixing
Business concentrates selection non real-time tasks to be performed, and the rule of selection is FIFO rules.So as to make full use of in the frame period when
Between piece resource.
If current hybrid task concentrates real-time task nothing but, into idle condition.
Step S106, at the end of the frame period, if aperiodicity real-time task or un-real time job are also not carried out terminating,
Can then be seized by the periodicity real-time task in next frame period, it is ensured that the real-time of periodicity real-time task.
Performed by all scheduling that step S101 to step S105 is mixed task set in feasible system.In cycle knot
Shu Shi, it is understood that there may be aperiodicity real-time task is non real-time still in situation about performing, the now two kinds of priority of task
Level is lower than periodicity real-time task, then can be robbed by the frame period real-time task in next frame period in next frame period
Account for, so that it is guaranteed that the real-time of periodicity real-time task.
Above S101 to S106 is the execution step of task scheduling algorithm in a frame period, within next frame period still
The scheduling of mixed task set is performed according to algorithm order.
The hybrid tasks scheduling model of railway locomotive operation operating system proposed by the present invention is as shown in figure 4, including task
Scheduling unit and execution unit.Scheduling unit includes task collector, real-time scheduler and task integral unit.In system operation
During, constantly there is real-time task to produce, its source includes man-machine interaction, outer signals, system feedback etc..Task initialization
Afterwards, focused on by task collector, when each clock signal arrives, submit to real-time scheduler；Real-time scheduler is under
A cycle arrive before, integrate these tasks, for different type task call respectively periodicity Real-Time Task Schedule Algorithm and
Aperiodicity Real-Time Task Schedule Algorithm, correspondence generation periodicity real-time task scheduling sequence and aperiodicity real-time task scheduling
Sequence；Module is integrated finally by task and two sequences are merged into one United Dispatching sequence of generation, submit to tasks carrying list
Unit.Execution unit is scheduled according to the instruction of schedule sequences to task, and scheduling result and some intermediatenesses are fed back to
Real-time scheduler, is acquired by scheduler and is preserved.
The present invention can be seen that by the technical scheme of foregoing invention and devise one kind based on table for periodicity real-time task
The non-preemption dispatching algorithm of the two grades of priority rules for driving, with relatively low overhead, while having taken into account priority scheduling
Flexibility；A kind of aperiodicity real-time task based on illumination scan is devised for aperiodicity real-time task to adjust
Degree algorithm, uses task-set feasibility analysis, limits the depth of recursion of heuristic search algorithm, and heuristic evaluation function is joined
Digital-to-analogue is gelatinized, and reduces the shake produced during scheduling, and the algorithm can preferably process aperiodicity real-time task scheduling；For non-
Real-time task, with classical FIFO rules, takes full advantage of the time resource and computing resource of system, farthest ensures
Un-real time job is performed by time scheduling.The method and model of present invention design can effectively solve complicated railway locomotive operation
The hybrid tasks scheduling demand of steerable system.
Although being described in detail to principle of the invention above in conjunction with the preferred embodiments of the present invention, this area skill
Art personnel are not wrapped to the present invention it should be understood that above-described embodiment is only the explanation to exemplary implementation of the invention
Restriction containing scope.Details in embodiment is simultaneously not meant to limit the scope of the invention, without departing substantially from spirit of the invention and
In the case of scope, any equivalent transformation based on technical solution of the present invention, simple replacement etc. are obvious to be changed, and is all fallen within
Within the scope of the present invention.
Claims (8)
1. a kind of railway locomotive runs the hybrid tasks scheduling method of steerable system, it is characterised in that the hybrid task includes：
Periodicity real-time task, aperiodicity real-time task and un-real time job；The hybrid tasks scheduling method is with a frame week
Phase comprises the steps as basic scheduling unit, the hybrid tasks scheduling method：
(1) when the frame period starts, the hybrid tasks scheduling method is scheduled preparation, and the scheduling prepares at least to include task
Switching and resource inspection；
(2) for periodicity real-time task, sequence permutation is scheduled using two grades of priority rules based on table- driven, and press
According to the sequence property dispatching cycle real-time task；
(3) for aperiodicity real-time task, using the method based on illumination scan and fuzzy control, to aperiodicity
Real-time task is arranged, and dispatches aperiodicity real-time task according to the sequence；
(4) untapped timeslice in current period is reclaimed and is scheduled result and the collection of feedback data, sentenced
The disconnected residue execution time；
(5) if current period time is not run out, un-real time job is performed；
(6) at the end of the frame period, if aperiodicity real-time task or un-real time job are also not carried out terminating, in next frame
Periodicity real-time task is performed when cycle starts, the aperiodicity real-time task or un-real time job for being not carried out completing is sealed up for safekeeping, really
Protect the real-time of periodicity real-time task.
2. a kind of railway locomotive according to claim 1 runs the hybrid tasks scheduling method of steerable system, and its feature exists
In based on table- driven two grades of described priority rules are directed to periodicity real-time task in locomotive operation steerable system
A kind of non-preemption dispatching method that predictability is proposed, two grades of described priority are divided into group priority and example priority,
First by group prioritization in the step (2), then by example prioritization, ultimately generate dispatch list.
3. a kind of railway locomotive according to claim 1 runs the hybrid tasks scheduling method of steerable system, and its feature exists
In the described method that fuzzy control is introduced based on illumination scan, it is proposed that a kind of new evaluation function：
H (n, t)=h (n, t) * nst
nst=(nd-t)-(nc-e(n,t))
Wherein H (n, t) is evaluation function, and h (n, t) is dynamic threshold coefficients of the aperiodicity real-time task n in moment t, nstIt is
Aperiodicity real-time task n is in the remaining free time of moment t, ndIt is the off period of task n, ncIt is the worst execution time, e (n,
T) it is time that task n had been performed in moment t.
4. a kind of railway locomotive according to claim 2 runs the hybrid tasks scheduling method of steerable system, and its feature exists
In in two grades of priority rules based on table- driven, the design rule of described group of priority is：First according in task-set
Off period of periodicity real-time task ascending order, sets several task groups, then according to the sequential between task about
Beam, judges the predecessor task of each periodic task and adjusts corresponding task groups priority；Described example priority is to appoint
The ordering rule of business group internal task, sequence uses the worst minimum execution time rule.
5. a kind of railway locomotive according to claim 3 runs the hybrid tasks scheduling method of steerable system, and its feature is also
It is that in the evaluation function, the completion rate of aperiodicity real-time task also serves as Indistinct Input parameter, |input paramete and threshold
Value coefficient mapping table is as shown in the table：
Task completion rate is defined as follows：ncr(t)=e (n, t)/nc。
6. a kind of railway locomotive according to claim 1 runs the hybrid tasks scheduling method of steerable system, and its feature is also
It is that in the step (5), for un-real time job, dispatching sequence is scheduled according to FIFO rules.
7. a kind of railway locomotive runs the hybrid tasks scheduling model of steerable system, it is characterised in that described scheduling model point
It is two parts, respectively scheduling unit and execution unit, the scheduling unit is using described in any one in claim 1-6
Method is scheduled to hybrid task.
8. a kind of railway locomotive according to claim 7 runs the hybrid tasks scheduling model of steerable system, and its feature exists
In described scheduling unit includes task collector, real-time scheduler and task integral unit, in locomotive operation steerable system
In running, constantly there is real-time task to produce, the task collector is used to focus on produced task,
When each clock signal arrives, real-time scheduler is submitted to；The real-time scheduler next cycle arrival before, for difference
Type tasks call periodicity Real-Time Task Schedule Algorithm and aperiodicity Real-Time Task Schedule Algorithm, correspondence generation cycle respectively
Property real-time task scheduling sequence and aperiodicity real-time task scheduling sequence；Finally by the task integral unit by two sequences
Row merge one United Dispatching sequence of generation, submit to the task executing units；The execution unit is held according to schedule sequences
Row task scheduling, and the real-time scheduler is given by scheduling result and intermediateness feedback of the information, entered by the real-time scheduler
Row collection and preservation.
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