CN112486652A - Non-preemptive fixed priority hybrid critical task energy consumption optimization scheduling method - Google Patents

Non-preemptive fixed priority hybrid critical task energy consumption optimization scheduling method Download PDF

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CN112486652A
CN112486652A CN202011380029.9A CN202011380029A CN112486652A CN 112486652 A CN112486652 A CN 112486652A CN 202011380029 A CN202011380029 A CN 202011380029A CN 112486652 A CN112486652 A CN 112486652A
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CN112486652B (en
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张忆文
陈雁
潘玉彪
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Huaqiao University
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F9/00—Arrangements for program control, e.g. control units
    • G06F9/06—Arrangements for program control, e.g. control units using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
    • G06F9/46—Multiprogramming arrangements
    • G06F9/48—Program initiating; Program switching, e.g. by interrupt
    • G06F9/4806—Task transfer initiation or dispatching
    • G06F9/4843—Task transfer initiation or dispatching by program, e.g. task dispatcher, supervisor, operating system
    • G06F9/4881—Scheduling strategies for dispatcher, e.g. round robin, multi-level priority queues
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F9/00—Arrangements for program control, e.g. control units
    • G06F9/06—Arrangements for program control, e.g. control units using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
    • G06F9/46—Multiprogramming arrangements
    • G06F9/48—Program initiating; Program switching, e.g. by interrupt
    • G06F9/4806—Task transfer initiation or dispatching
    • G06F9/4843—Task transfer initiation or dispatching by program, e.g. task dispatcher, supervisor, operating system
    • G06F9/485—Task life-cycle, e.g. stopping, restarting, resuming execution
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F9/00—Arrangements for program control, e.g. control units
    • G06F9/06—Arrangements for program control, e.g. control units using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
    • G06F9/46—Multiprogramming arrangements
    • G06F9/50—Allocation of resources, e.g. of the central processing unit [CPU]
    • G06F9/5005—Allocation of resources, e.g. of the central processing unit [CPU] to service a request
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F2209/00—Indexing scheme relating to G06F9/00
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    • G06F2209/484—Precedence
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F2209/00—Indexing scheme relating to G06F9/00
    • G06F2209/50—Indexing scheme relating to G06F9/50
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    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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    • Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D10/00—Energy efficient computing, e.g. low power processors, power management or thermal management

Abstract

The invention relates to a non-preemptive fixed priority hybrid key task energy consumption optimization scheduling method, which comprises the following steps of establishing a non-preemptive fixed priority hybrid key task scheduling model; giving out the sufficient condition that the system is feasible to dispatch in the low mode; giving out the sufficient condition that the scheduling is feasible when the system is in a high mode; giving out the sufficient condition that the system is in the switching mode and the scheduling is feasible; calculating the speed S of energy consumption optimization according to the sufficient condition of feasible schedulingop. Compared with the method for scheduling the periodic tasks of the hybrid key system in the prior art, the method can save about 33.08 percent of energy consumption; the periodic task can be ensured to be executed within the deadline of the periodic task; the reduction of the energy consumption of the hybrid key system can reduce the production cost of products, prolong the service time of equipment and reduce the replacement period of batteries.

Description

Non-preemptive fixed priority hybrid critical task energy consumption optimization scheduling method
Technical Field
The invention relates to the technical field of hybrid key systems, in particular to a non-preemptive fixed priority hybrid key task energy consumption optimization scheduling method.
Background
A hybrid critical system means that different software components and different critical-level applications are integrated on the same platform. The industry standard for hybrid critical systems, such as the software standard for aircraft, contains 5 key levels A, B, C, D, E, where key level a represents the highest key level, which could lead to catastrophic failure if the tasks at key level a are not completed in time; the key level E represents the lowest key level, and the task cannot be performed on time, so that the flight safety of the airplane is not threatened, but the user experience is reduced. Drones are typical applications belonging to hybrid critical systems, and due to weight, volume and space constraints, energy consumption is a must-be-considered goal in designing drones.
In the prior art of energy consumption research of a hybrid key system, a preemptive scheduling strategy is mainly adopted. Due to the preemptive scheduling strategy, the context switching is frequently caused, and the preemptive overhead of the system is invisibly increased; in addition, the preemptive scheduling method is not flexible enough, cannot predict the scheduling process of the task, and has high time complexity and the like. Therefore, the optimization method of the non-preemptive performance consumption with low system overhead, low time complexity is provided.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a non-preemptive fixed priority hybrid key task energy consumption optimization scheduling method which is low in system overhead, time complexity and non-preemptive energy consumption.
The technical scheme of the invention is as follows:
a non-preemptive fixed priority hybrid critical task energy consumption optimization scheduling method comprises the following steps:
1) establishing a non-preemptive fixed priority mixed key task scheduling model;
2) setting a sufficient condition that the system is feasible to schedule in a low mode, a sufficient condition that the system is feasible to schedule in a high mode, and a sufficient condition that the system is feasible to schedule in a conversion mode;
3) calculating the speed S of energy consumption optimization based on the sufficient condition of feasible scheduling set in the step 2)op。
Preferably, step 1) is specifically as follows:
the mixed key task scheduling model is a set of n mixed key period tasks, wherein the set is gamma and tau1,τ2,…,τnEach mixed key-cycle task τiFrom quadruplets { Ti,Di,ξi,CiI is more than or equal to 1 and less than or equal to n; wherein,
Tirepresenting mixed key-cycle tasks τiA period of (a);
Direpresenting mixed key-cycle tasks τiAnd it is equal to Ti；
ξiRepresenting mixed key-cycle tasks τiKey level of, and xiiWhen mixing the critical period task τ, { LO, HI }iIs LO, it is a low key level task, when the mixed key period task τ isiWhen the key level is HI, the task is a high key level task;
Cirepresenting mixed key-cycle tasks τiThe worst case execution time in the different modes; corresponding to (C)i(LO) and Ci(HI) denotes the mixed critical periodic task τ, respectivelyiExecution time in low mode and high mode;
the low mode refers to a mixed key period task tau serving as a high key layer taskiWhen the execution is finished, the execution time does not exceed Ci(LO); the high mode refers to a mixed key period task tau serving as a high key layer taskiWhen the execution is finished, the execution time does not exceed Ci(LO) but not more than Ci(HI); the conversion mode refers to mixing the key period task tauiExecution time of exceeds Ci(LO) but it does not complete execution; if mixing the critical period task τiFor low key hierarchy tasks, then Ci(HI)＝Ci(LO); if mixing the critical period task τiFor high key level tasks, then Ci(HI)≥Ci(LO)。
Preferably, a set gamma formed by the tasks of the mixed key period is scheduled by a non-preemptive fixed priority scheduling strategy; the non-preemptive fixed priority strategy means that once the mixed key cycle task starts to be executed, the mixed key cycle task with the higher priority cannot be preempted by the mixed key cycle task with the higher priority, and the mixed key cycle task with the higher priority can be executed only after the current mixed key cycle task is executed; fixed priority refers to the allocation of priority to mixed critical periodic tasks prior to scheduling, which once allocated, remains unchanged during execution.
Preferably, a monotone rate strategy is adopted to allocate the priority of the tasks, and when the key period tasks tau are mixediThe smaller the period of (c), the higher its priority; when mixing the critical period task τiThe larger the period of (a), the higher the priority thereof; when mixing the critical period task τiThe earlier the arrival time is, the higher the priority is, and the later the arrival time is, the lower the priority is; when mixing the critical period task τiAre the same, the mixed key period task tau with small index iiThe higher its priority, the larger the index i, the mixed critical period task τiThe lower its priority.
Preferably, in step 2), the system is set to be in a low mode to schedule feasible sufficient conditions, including:
mixed critical periodic tasks τiResponse time in Low mode
Figure BDA0002808234870000031
The method comprises the following specific steps:
Figure BDA0002808234870000032
wherein ,
Figure BDA0002808234870000033
is mixing of critical period tasks tauiTime blocked by a mixed critical cycle task with lower priority than it in low mode, Ci(LO) and Cj(LO) is the mixed critical period task τ, respectivelyi and τjWorst case execution time in low mode, SLOIs the execution speed in the low mode,
Figure BDA0002808234870000034
is at the response time
Figure BDA0002808234870000035
Internally blended critical period tasks τjThe number of released jobs in low mode, hep (i) is the priority ratio mixed critical period task τiA high set of tasks;
the system is in a low mode to schedule feasible sufficient conditions, which are as follows:
Figure BDA0002808234870000036
wherein ,DiIs mixing of critical period tasks tauiThe relative deadline of (c);
and setting the sufficient conditions for the system to be in scheduling feasibility in the high mode, wherein the sufficient conditions comprise:
mixed critical periodic tasks τiResponse time in high mode
Figure BDA0002808234870000037
The method comprises the following specific steps:
Figure BDA0002808234870000038
wherein ,
Figure BDA0002808234870000039
is mixing of critical period tasks tauiTime blocked by mixed critical-cycle tasks with lower priority than it in high mode, Ci(HI) and Cj(HI) is the mixing of the critical periodic tasks τ, respectivelyi and τjWorst case execution time in high mode, SHIIs the execution speed in the high mode,
Figure BDA00028082348700000310
is at the response time
Figure BDA00028082348700000311
Internally blended critical period tasks τjThe number of jobs released in the high mode;
the system is in a sufficient condition that scheduling is feasible in the high mode, which is specifically as follows:
Figure BDA00028082348700000312
setting the system to be in a sufficient condition that the transition mode scheduling is feasible, comprising the following steps:
mixed critical periodic tasks τiResponse time in transition mode
Figure BDA00028082348700000313
The method comprises the following specific steps:
Figure BDA00028082348700000314
wherein ,
Figure BDA00028082348700000315
is mixing of critical period tasks tauiThe response time of the switching mode is turned on,
Figure BDA00028082348700000316
except for mixing the critical periodic tasks τiMixed key period task tau as high key layer taskiResponse time to turn on the conversion mode;
the system is in a sufficient condition that the scheduling is feasible in the conversion mode, which is specifically as follows:
Figure BDA0002808234870000041
preferably, the critical periodic tasks τ are blendediTime blocked by mixed critical cycle tasks with lower priority than it in low mode
Figure BDA0002808234870000042
The method comprises the following specific steps:
Figure BDA0002808234870000043
wherein lp (i) is the priority ratio of the mixed key-cycle tasks τiA low set of tasks;
at the response time
Figure BDA0002808234870000044
Internally blended critical period tasks τjNumber of released jobs in low mode
Figure BDA0002808234870000045
The method comprises the following specific steps:
Figure BDA0002808234870000046
preferably, the critical periodic tasks τ are blendediTime blocked by mixed critical period tasks with lower priority than the high mode
Figure BDA0002808234870000047
The method comprises the following specific steps:
Figure BDA0002808234870000048
wherein ,
Figure BDA0002808234870000049
and
Figure BDA00028082348700000410
at the beginning of the transition mode and going high, respectivelyMixed key period task tau after mode as high key level taskiThe time to be blocked is as follows:
Figure BDA00028082348700000411
Figure BDA00028082348700000412
wherein ,Ck(LO) and Ck(HI) indicates mixed key-cycle tasks τ as high key-hierarchy tasks, respectivelyiExecution time in worst case in low mode and high mode; lpH (i) is the priority ratio of the Mixed Critical cycle task τiLow mixed key period task tau as a high key hierarchy taskiA set of (a);
at the response time
Figure BDA00028082348700000413
Internally blended critical period tasks τjReleased job number in high mode
Figure BDA00028082348700000414
The method comprises the following specific steps:
Figure BDA00028082348700000415
preferably, the critical periodic tasks τ are blendediResponse time to start switching mode
Figure BDA00028082348700000416
The method comprises the following specific steps:
Figure BDA0002808234870000051
except for mixing the critical periodic tasks τiOther than as a mix of high key level tasksCritical periodic task τiResponse time to start switching mode
Figure BDA0002808234870000052
The method comprises the following specific steps:
Figure BDA0002808234870000053
wherein ,IiIs mixing of critical period tasks tauiThe interfered upper time limit in the execution process is specifically as follows:
Figure BDA0002808234870000054
preferably, step 3) is specifically as follows:
setting SHI1, when the system is in low mode, all mix critical period tasks τiAt a speed S optimized for energy consumptionopExecuting; when the system is in high mode, low key hierarchy tasks are discarded as mixed key period tasks τ of high key hierarchy tasksiAt a speed SHIExecute as 1.
Preferably, the speed S is optimized for energy consumptionopThe method comprises the following steps:
is provided with
Figure BDA0002808234870000055
Respectively calculating the execution speed S in the low mode, the high mode and the conversion modeLOTaking the maximum value as the speed S for optimizing energy consumptionopThe value of (c).
The invention has the following beneficial effects:
compared with the mixed key system periodic task scheduling method in the prior art, the non-preemptive fixed priority mixed key task energy consumption optimization scheduling method can save about 33.08% of energy consumption; the periodic task can be ensured to be executed within the deadline of the periodic task; the reduction of the energy consumption of the hybrid key system can reduce the production cost of products, prolong the service time of equipment and reduce the replacement period of batteries.
Drawings
Fig. 1 is a flow chart diagram of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples.
The invention provides a non-preemptive fixed priority hybrid critical task energy consumption optimization scheduling method, as shown in fig. 1, the steps are as follows:
1) establishing a non-preemptive fixed priority mixed key task scheduling model;
2) setting a sufficient condition that the system is feasible to schedule in a low mode, a sufficient condition that the system is feasible to schedule in a high mode, and a sufficient condition that the system is feasible to schedule in a conversion mode;
3) calculating the speed S of energy consumption optimization based on the sufficient condition of feasible scheduling set in the step 2)op。
The step 1) is as follows:
the mixed key task scheduling model is a set of n mixed key period tasks, wherein the set is gamma and tau1,τ2,…,τnEach mixed key-cycle task τiFrom quadruplets { Ti,Di,ξi,CiI is more than or equal to 1 and less than or equal to n; wherein, TiRepresenting mixed key-cycle tasks τiA period of (a); diRepresenting mixed key-cycle tasks τiAnd it is equal to Ti；ξiRepresenting mixed key-cycle tasks τiKey level of, and xiiWhen mixing the critical period task τ, { LO, HI }iIs LO, it is a low key level task, when the mixed key period task τ isiWhen the key level is HI, the task is a high key level task; ciRepresenting mixed key-cycle tasks τiThe worst case execution time in the different modes; corresponding to (C)i(LO) and Ci(HI) denotes the mixed critical periodic task τ, respectivelyiExecution time in low mode and high mode.
The low mode refers to a mixed key period task tau serving as a high key layer taskiWhen the execution is finished, the execution time does not exceed Ci(LO); the high mode refers to a mixed key period task tau serving as a high key layer taskiWhen the execution is finished, the execution time does not exceed Ci(LO) but not more than Ci(HI); the conversion mode refers to mixing the key period task tauiExecution time of exceeds Ci(LO) but it does not complete execution; if mixing the critical period task τiFor low key hierarchy tasks, then Ci(HI)＝Ci(LO); if mixing the critical period task τiFor high key level tasks, then Ci(HI)≥Ci(LO)。
A set gamma formed by the mixed key cycle tasks is scheduled by a non-preemptive fixed priority scheduling strategy; the non-preemptive fixed priority strategy means that once the mixed key cycle task starts to be executed, the mixed key cycle task with the higher priority cannot be preempted by the mixed key cycle task with the higher priority, and the mixed key cycle task with the higher priority can be executed only after the current mixed key cycle task is executed; fixed priority refers to the allocation of priority to mixed critical periodic tasks prior to scheduling, which once allocated, remains unchanged during execution.
The invention adopts a monotone rate strategy to allocate the priority of the tasks, and when the tasks tau with the mixed key period are adoptediThe smaller the period of (c), the higher its priority; when mixing the critical period task τiThe larger the period of (a), the higher the priority thereof; when mixing the critical period task τiThe earlier the arrival time is, the higher the priority is, and the later the arrival time is, the lower the priority is; when mixing the critical period task τiAre the same, the mixed key period task tau with small index iiThe higher its priority, the larger the index i, the mixed critical period task τiThe lower its priority.
The step 2) is as follows:
2.1) setting the system to be in a low mode to schedule feasible sufficient conditions, comprising:
mixed critical periodic tasks τiResponse time in Low mode
Figure BDA0002808234870000071
The method comprises the following specific steps:
Figure BDA0002808234870000072
wherein ,
Figure BDA0002808234870000073
is mixing of critical period tasks tauiTime blocked by a mixed critical cycle task with lower priority than it in low mode, Ci(LO) and Cj(LO) is the mixed critical period task τ, respectivelyi and τjWorst case execution time in low mode, SLOIs the execution speed in the low mode,
Figure BDA0002808234870000074
is at the response time
Figure BDA0002808234870000075
Internally blended critical period tasks τjThe number of released jobs in low mode, hep (i) is the priority ratio mixed critical period task τiA high set of tasks.
Mixed critical periodic tasks τiTime blocked by mixed critical cycle tasks with lower priority than it in low mode
Figure BDA00028082348700000714
The method comprises the following specific steps:
Figure BDA0002808234870000076
wherein lp (i) is the priority ratio of the mixed key-cycle tasks τiA low set of tasks;
at the response time
Figure BDA0002808234870000077
Internally blended critical period tasks τjNumber of released jobs in low mode
Figure BDA0002808234870000078
The method comprises the following specific steps:
Figure BDA0002808234870000079
the system is in a low mode to schedule feasible sufficient conditions, which are as follows:
Figure BDA00028082348700000710
wherein ,DiIs mixing of critical period tasks tauiRelative deadline.
2.2) setting the sufficient conditions for the system to be in scheduling feasibility in the high mode, comprising the following steps:
mixed critical periodic tasks τiResponse time in high mode
Figure BDA00028082348700000711
The method comprises the following specific steps:
Figure BDA00028082348700000712
wherein ,
Figure BDA00028082348700000713
is mixing of critical period tasks tauiTime blocked by mixed critical-cycle tasks with lower priority than it in high mode, Ci(HI) and Cj(HI) is the mixing of the critical periodic tasks τ, respectivelyi and τjWorst case execution time in high mode, SHIIs the execution speed in the high mode,
Figure BDA0002808234870000081
is at the response time
Figure BDA0002808234870000082
Internally blended critical period tasks τjThe number of jobs released in the high mode; hep (i) is the priority ratio mixed key cycle task τiA high set of tasks.
Mixed critical periodic tasks τiTime blocked by mixed critical period tasks with lower priority than the high mode
Figure BDA0002808234870000083
The method comprises the following specific steps:
Figure BDA0002808234870000084
wherein ,
Figure BDA0002808234870000085
and
Figure BDA0002808234870000086
a mixed key-cycle task τ at the beginning of the transition mode and after entering the high mode as a high key-level task, respectivelyiThe time to be blocked is as follows:
Figure BDA0002808234870000087
Figure BDA0002808234870000088
wherein ,Ck(LO) and Ck(HI) indicates mixed key-cycle tasks τ as high key-hierarchy tasks, respectivelyiExecution time in worst case in low mode and high mode; lpH (i) is the priority ratio of the Mixed Critical cycle task τiLow mix key cycles as high key hierarchy tasksTask tauiA collection of (a).
At the response time
Figure BDA0002808234870000089
Internally blended critical period tasks τjReleased job number in high mode
Figure BDA00028082348700000810
The method comprises the following specific steps:
Figure BDA00028082348700000811
the system is in a sufficient condition that scheduling is feasible in the high mode, which is specifically as follows:
Figure BDA00028082348700000812
wherein ,DiIs mixing of critical period tasks tauiRelative deadline.
2.3) setting the system to be in a sufficient condition that the switching mode scheduling is feasible, comprising the following steps:
mixed critical periodic tasks τiResponse time in transition mode
Figure BDA00028082348700000813
The method comprises the following specific steps:
Figure BDA00028082348700000814
wherein ,
Figure BDA00028082348700000815
is mixing of critical period tasks tauiThe response time of the switching mode is turned on,
Figure BDA00028082348700000816
except for mixing the critical periodic tasks τiDoing something other thanMixed key period task tau for high key level taskiThe response time of the conversion mode is turned on.
Mixed critical periodic tasks τiResponse time to start switching mode
Figure BDA0002808234870000091
The method comprises the following specific steps:
Figure BDA0002808234870000092
except for mixing the critical periodic tasks τiMixed key period task tau as high key layer taskiResponse time to start switching mode
Figure BDA0002808234870000093
The method comprises the following specific steps:
Figure BDA0002808234870000094
wherein ,Ci(LO) and Cj(LO) is the mixed critical period task τ, respectivelyi and τjWorst case execution time in low mode, SLOIs the execution speed in the low mode,
Figure BDA0002808234870000095
is at the response time
Figure BDA0002808234870000096
Internally blended critical period tasks τjNumber of jobs released in Low mode, Ci(HI) is a hybrid critical period task τiWorst case execution time in high mode, SHIIs the execution speed in high mode, lp (i) is the priority ratio mixed key period task tauiLow task set, hep (i) is a priority ratio mixed key period task τiA high set of tasks; i isiIs mixing of critical period tasks tauiHas been executedThe time upper limit interfered in the process is specifically as follows:
Figure BDA0002808234870000097
the system is in a sufficient condition that the scheduling is feasible in the conversion mode, which is specifically as follows:
Figure BDA0002808234870000098
wherein ,DiIs mixing of critical period tasks tauiRelative deadline.
The step 3) is as follows:
to ensure mixed key-cycle tasks tau as high key-level tasksiCompleting execution as early as possible, setting SHI1, and, in turn, the speed S for energy consumption optimizationopCan be obtained based on step 2), specifically as follows:
is provided with
Figure BDA0002808234870000099
Respectively calculating the execution speed S in the low mode, the high mode and the conversion modeLOTaking the maximum value as the speed S for optimizing energy consumptionopThe value of (c).
All mixed critical period tasks τ when the system is in low modeiAt a speed S optimized for energy consumptionopExecuting; when the system is in high mode, low key hierarchy tasks are discarded as mixed key period tasks τ of high key hierarchy tasksiAt a speed SHIExecute as 1.
In this embodiment, the mixed-cycle task set Γ ═ τ1,τ2,τ3,τ4Contains 4 periodic tasks.
Mixed critical periodic tasks τ1Period T of1Equal to 20, with a relative deadline of 20, a key hierarchy ξ1HI, i.e. it is a high key hierarchy task, whose low key hierarchy mode worst case execution time C1(LO) is 2; execution time C under worst case of high key hierarchical mode1(HI) is 4.
Mixed critical periodic tasks τ2Period T of2Equal to 40, with a relative deadline of 40, a key hierarchy ξ2LO, i.e., it is a low key hierarchy task whose low key hierarchy mode worst case execution time C2(LO) is 4; execution time C under worst case of high key hierarchical mode2(HI) is 4.
Mixed critical periodic tasks τ3Period T of3Equal to 10, with a relative deadline of 10, a key hierarchy ξ3HI, i.e. it is a high key hierarchy task, whose low key hierarchy mode worst case execution time C3(LO) is 1; execution time C under worst case of high key hierarchical mode3(HI) is 2.
Mixed critical periodic tasks τ4Period T of4Equal to 15, with a relative deadline of 15, a key hierarchy ξ4LO, i.e., it is a low key hierarchy task whose low key hierarchy mode worst case execution time C4(LO) is 3; execution time C under worst case of high key hierarchical mode4(HI) is 3.
Through calculation, the energy consumption optimization speed Sop0.6 in the interval [0, 50%]Scheduling the set of tasks internally saves energy consumption by about 33.08% compared to the present invention without the dynamic voltage frequency scaling method.
The above examples are provided only for illustrating the present invention and are not intended to limit the present invention. Changes, modifications, etc. to the above-described embodiments are intended to fall within the scope of the claims of the present invention as long as they are in accordance with the technical spirit of the present invention.

Claims (10)

1. A non-preemptive fixed priority hybrid critical task energy consumption optimization scheduling method is characterized by comprising the following steps:
1) establishing a non-preemptive fixed priority mixed key task scheduling model;
2) setting a sufficient condition that the system is feasible to schedule in a low mode, a sufficient condition that the system is feasible to schedule in a high mode, and a sufficient condition that the system is feasible to schedule in a conversion mode;
3) calculating the speed S of energy consumption optimization based on the sufficient condition of feasible scheduling set in the step 2)op。
2. The method for energy consumption optimized scheduling of non-preemptive fixed priority hybrid critical tasks according to claim 1, wherein step 1) is specifically as follows:
the mixed key task scheduling model is a set of n mixed key period tasks, wherein the set is gamma and tau1,τ2,…,τnEach mixed key-cycle task τiFrom quadruplets { Ti,Di,ξi,CiI is more than or equal to 1 and less than or equal to n; wherein,
Tirepresenting mixed key-cycle tasks τiA period of (a);
Direpresenting mixed key-cycle tasks τiAnd it is equal to Ti；
ξiRepresenting mixed key-cycle tasks τiKey level of, and xiiWhen mixing the critical period task τ, { LO, HI }iIs LO, it is a low key level task, when the mixed key period task τ isiWhen the key level is HI, the task is a high key level task;
Cirepresenting mixed key-cycle tasks τiThe worst case execution time in the different modes; corresponding to (C)i(LO) and Ci(HI) denotes the mixed critical periodic task τ, respectivelyiExecution time in low mode and high mode;
the low mode refers to a mixed key period task tau serving as a high key layer taskiWhen the execution is finished, the execution time does not exceed Ci(LO); the high mode refers to a mixed key period task tau serving as a high key layer taskiWhen the execution is finished, the execution time does not exceed Ci(LO) but not more than Ci(HI); the conversion mode refers to the mixing keyPeriodic task τiExecution time of exceeds Ci(LO) but it does not complete execution; if mixing the critical period task τiFor low key hierarchy tasks, then Ci(HI)＝Ci(LO); if mixing the critical period task τiFor high key level tasks, then Ci(HI)≥Ci(LO)。
3. The method for energy consumption optimized scheduling of non-preemptive fixed priority hybrid critical tasks according to claim 2, characterized in that a set Γ consisting of hybrid critical cycle tasks is scheduled by a non-preemptive fixed priority scheduling policy; the non-preemptive fixed priority strategy means that once the mixed key cycle task starts to be executed, the mixed key cycle task with the higher priority cannot be preempted by the mixed key cycle task with the higher priority, and the mixed key cycle task with the higher priority can be executed only after the current mixed key cycle task is executed; fixed priority refers to the allocation of priority to mixed critical periodic tasks prior to scheduling, which once allocated, remains unchanged during execution.
4. The method of claim 3, wherein a monotonic rate strategy is used to assign task priorities as the mixed key cycle task τiThe smaller the period of (c), the higher its priority; when mixing the critical period task τiThe larger the period of (a), the higher the priority thereof; when mixing the critical period task τiThe earlier the arrival time is, the higher the priority is, and the later the arrival time is, the lower the priority is; when mixing the critical period task τiAre the same, the mixed key period task tau with small index iiThe higher its priority, the larger the index i, the mixed critical period task τiThe lower its priority.
5. The non-preemptive fixed priority hybrid mission energy consumption optimized scheduling method according to any of claims 1 to 4, wherein in step 2), setting the sufficient conditions for scheduling feasibility in the low mode of the system comprises:
mixed critical periodic tasks τiResponse time in Low mode
Figure FDA0002808234860000021
The method comprises the following specific steps:
Figure FDA0002808234860000022
wherein ,
Figure FDA0002808234860000023
is mixing of critical period tasks tauiTime blocked by a mixed critical cycle task with lower priority than it in low mode, Ci(LO) and Cj(LO) is the mixed critical period task τ, respectivelyi and τjWorst case execution time in low mode, SLOIs the execution speed in the low mode,
Figure FDA0002808234860000024
is at the response time
Figure FDA0002808234860000025
Internally blended critical period tasks τjThe number of released jobs in low mode, hep (i) is the priority ratio mixed critical period task τiA high set of tasks;
the system is in a low mode to schedule feasible sufficient conditions, which are as follows:
Figure FDA0002808234860000026
wherein ,DiIs mixing of critical period tasks tauiThe relative deadline of (c);
and setting the sufficient conditions for the system to be in scheduling feasibility in the high mode, wherein the sufficient conditions comprise:
mixed critical periodic tasks τiResponse time in high mode
Figure FDA0002808234860000027
The method comprises the following specific steps:
Figure FDA0002808234860000028
wherein ,
Figure FDA0002808234860000029
is mixing of critical period tasks tauiTime blocked by mixed critical-cycle tasks with lower priority than it in high mode, Ci(HI) and Cj(HI) is the mixing of the critical periodic tasks τ, respectivelyi and τjWorst case execution time in high mode, SHIIs the execution speed in the high mode,
Figure FDA00028082348600000210
is at the response time
Figure FDA00028082348600000211
Internally blended critical period tasks τjThe number of jobs released in the high mode;
the system is in a sufficient condition that scheduling is feasible in the high mode, which is specifically as follows:
Figure FDA0002808234860000031
setting the system to be in a sufficient condition that the transition mode scheduling is feasible, comprising the following steps:
mixed critical periodic tasks τiResponse time in transition mode
Figure FDA0002808234860000032
The method comprises the following specific steps:
Figure FDA0002808234860000033
wherein ,
Figure FDA0002808234860000034
is mixing of critical period tasks tauiThe response time of the switching mode is turned on,
Figure FDA0002808234860000035
except for mixing the critical periodic tasks τiMixed key period task tau as high key layer taskiResponse time to turn on the conversion mode;
the system is in a sufficient condition that the scheduling is feasible in the conversion mode, which is specifically as follows:
Figure FDA0002808234860000036
6. the method of claim 5, wherein the mixed key cycle task τ is a non-preemptive fixed priority mixed key task energy consumption optimization scheduling methodiTime blocked by mixed critical cycle tasks with lower priority than it in low mode
Figure FDA0002808234860000037
The method comprises the following specific steps:
Figure FDA0002808234860000038
wherein ,Ck(LO) is the mixed critical period task τ, respectivelykWorst case execution time in low mode, lp (i) is the priority ratio mixed critical period task τiA low set of tasks;
at the response time
Figure FDA0002808234860000039
Internally blended critical period tasks τjNumber of released jobs in low mode
Figure FDA00028082348600000310
The method comprises the following specific steps:
Figure FDA00028082348600000311
7. the method of claim 6, wherein the mixed key cycle task τ is a non-preemptive fixed priority mixed key task energy consumption optimization scheduling methodiTime blocked by mixed critical period tasks with lower priority than the high mode
Figure FDA00028082348600000312
The method comprises the following specific steps:
Figure FDA00028082348600000313
wherein ,
Figure FDA00028082348600000314
and
Figure FDA00028082348600000315
a mixed key-cycle task τ at the beginning of the transition mode and after entering the high mode as a high key-level task, respectivelyiThe time to be blocked is as follows:
Figure FDA0002808234860000041
Figure FDA0002808234860000042
wherein ,Ck(LO) and Ck(HI) indicates mixed key-cycle tasks τ as high key-hierarchy tasks, respectivelyiThe task is executed under the worst condition of a low mode and a high mode; lpH (i) is the priority ratio of the Mixed Critical cycle task τiLow mixed key period task tau as a high key hierarchy taskiA set of (a);
at the response time
Figure FDA0002808234860000043
Internally blended critical period tasks τjReleased job number in high mode
Figure FDA0002808234860000044
The method comprises the following specific steps:
Figure FDA0002808234860000045
8. the method of claim 7, wherein the fixed priority mixed-key task energy consumption optimized scheduling is a mixed-key-cycle task τiResponse time to start switching mode
Figure FDA0002808234860000046
The method comprises the following specific steps:
Figure FDA0002808234860000047
except for mixing the critical periodic tasks τiMixed key period task tau as high key layer taskiResponse time to start switching mode
Figure FDA0002808234860000048
The method comprises the following specific steps:
Figure FDA0002808234860000049
wherein ,IiIs mixing of critical period tasks tauiThe interfered upper time limit in the execution process is specifically as follows:
Figure FDA00028082348600000410
9. the non-preemptive fixed priority hybrid mission energy consumption optimized scheduling method according to any of claims 6 to 8, wherein step 3) is specifically as follows:
setting SHI1, when the system is in low mode, all mix critical period tasks τiAt a speed S optimized for energy consumptionopExecuting; when the system is in high mode, low key hierarchy tasks are discarded as mixed key period tasks τ of high key hierarchy tasksiAt a speed SHIExecute as 1.
10. The method of claim 9, wherein the energy consumption optimization speed S is a speed of energy consumption optimizationopThe method comprises the following steps:
is provided with
Figure RE-FDA0002900642390000051
Respectively calculating the execution speed S in the low mode, the high mode and the conversion modeLOTaking the maximum value as the speed S for optimizing energy consumptionopThe value of (c).
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