CN116192724A - Task planning tool design method based on satellite-borne time triggering - Google Patents

Task planning tool design method based on satellite-borne time triggering Download PDF

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CN116192724A
CN116192724A CN202310190723.1A CN202310190723A CN116192724A CN 116192724 A CN116192724 A CN 116192724A CN 202310190723 A CN202310190723 A CN 202310190723A CN 116192724 A CN116192724 A CN 116192724A
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transmission
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侯博瑞
双小川
程利甫
陈克寒
朱凯
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Shanghai aerospace computer technology research institute
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L45/00—Routing or path finding of packets in data switching networks
    • H04L45/12—Shortest path evaluation
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B7/00—Radio transmission systems, i.e. using radiation field
    • H04B7/14—Relay systems
    • H04B7/15—Active relay systems
    • H04B7/185—Space-based or airborne stations; Stations for satellite systems
    • H04B7/1851—Systems using a satellite or space-based relay
    • H04B7/18513—Transmission in a satellite or space-based system
    • 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
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • 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
    • Y02D30/00—Reducing energy consumption in communication networks
    • Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks

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Abstract

The invention discloses a method for designing a task planning tool based on space-borne time triggering, which relates to the technical field of space-borne electronic equipment. The tool optimizes the transmission performance of the satellite-borne high-reliability time triggering network while meeting constraint conditions, and ensures strict time certainty and high integrity of network traffic transmission of the satellite-borne high-reliability time triggering network.

Description

Task planning tool design method based on satellite-borne time triggering
Technical Field
The invention relates to the technical field of satellite-borne electronic equipment, in particular to a design method of a task planning tool based on satellite-borne time triggering, which can be used for realizing satellite-borne high-reliability real-time network scheduling.
Background
The spaceborne electronic equipment is a functional component which is arranged on a space station, an artificial satellite and a space plane and is used for completing tasks such as measurement, control, calculation and communication. With the rapid development of aerospace industry in China, the data interaction demand between spaceborne devices is increased, the industry field puts forward higher requirements on the on-board information exchange capability, and the data interaction mode of multi-connection intercommunication has become a development trend.
In this context, building a distributed ethernet network based on-board multiple platforms is an effective way to solve these problems. The conventional ethernet is suitable for event triggering, and when different data streams overlap in time, the problems of data transmission conflict, time delay, sequencing and reliable delivery exist, which have serious influence on the real-time performance and reliability of on-board data transmission.
Because the conventional ethernet is mainly suitable for event triggering, and cannot guarantee delay and jitter of data, many researches based on the conventional ethernet need to be improved in real-time performance. In the fierce competition, the time-triggered Ethernet is widely practiced in the industrial field, is a novel real-time industrial control Ethernet with high real-time performance, high resource utilization rate and high fault tolerance, inherits the advantages of high transmission rate, wide application, abundant shared resources and the like of the traditional Ethernet, adopts a time trigger mechanism, overcomes the defect of uncertainty of communication delay of the traditional Ethernet, and enhances the communication real-time performance. Meanwhile, the time-triggered Ethernet has a complete fault tolerance and reconstruction mechanism, and guarantees the reliability and safety of a network system. The time-triggered Ethernet is based on the traditional Ethernet, has great development potential, and along with the rapid development of the Ethernet, the time-triggered Ethernet can be determined to have wider prospect in the aerospace field.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a design method for a task planning tool based on space-borne time triggering, which realizes deterministic network scheduling and ensures a conflict-free and deterministic high-speed network traffic transmission mode of a space-borne high-reliability time triggering network.
To achieve the above object, the present invention is achieved by the following techniques:
the invention provides a method for designing a task planning tool based on satellite-borne time triggering, which comprises the following steps:
s1: acquiring input information of a network to be scheduled, wherein the input information comprises network parameters and service parameters;
s2: determining a scheduling time length, wherein variables required for determining the scheduling time length comprise a scheduling period, a task transmission path and a scheduling time length;
s3: generating a scheduling result, wherein the scheduling result generating process comprises creating constraint conditions, creating objective functions, constructing optimization equation solutions, generating a time-triggered network communication scheduling table and generating a scheduling instruction set.
Further, the acquiring network parameters and service parameters includes network structure, period and byte length characteristics of deterministic messages, delay requirements of each device, and special path requirements.
The network parameters include a link bandwidth bw, synchronization accuracy sy, a minimum transmission delay Esmin of the end system, a maximum transmission delay Esmax of the end system, a minimum reception delay Ermin of the end system, a maximum reception delay Ermax of the end system, a minimum propagation delay Lsmin of the link, a maximum propagation delay Lsmax of the link, a minimum reception delay Srmin of the switch, a maximum reception delay Srmax of the switch, a minimum transmission delay Ssmin of the switch and a maximum transmission delay Ssmax of the switch;
the service parameters include a service ID, a frame length fl, a period p, a destination system number, a source system number, a generation time gt, and a service transmission path ph.
Further, the scheduling period comprises a matrix period MC and a basic period BC;
the matrix period MC is the least common multiple of all time triggering service periods and is used as the total time required by periodic transmission of all time triggering service;
the basic period BC is the greatest common divisor of all time triggered service periods.
Further, the task transmission path is the shortest transmission path from the sending end to the receiving end in the whole network, a Dijkstra algorithm is adopted to calculate the shortest path from a source point to all other nodes in the network, and two sets are maintained by the Dijkstra algorithm and are marked as A and B, wherein the set A comprises all nodes in the shortest path tree, and the set B comprises other nodes. Each step of the algorithm selects a node with the shortest source point from the set B, and the specific operation is as follows:
the Dijkstra algorithm has a temporal complexity of O (|V|2), where |V| is the number of network devices. The weight of each communication link in the network is regarded as 1, namely, the weight is regarded as an unauthorized graph, and the shortest path of two devices is obtained, namely, the path with the least switch is obtained between the two devices. After the shortest transmission path for each message is obtained, a scheduling algorithm is performed to allocate the transmission time slots for each message on each communication link.
Further, the time length of the scheduling regards the time spent by the service with the longest end-to-end delay in all time-triggered services as the time length of the scheduling, and the specific operations are as follows:
s21: calculating the minimum value t of the receiving time of the destination end system of the first data frame in all the time trigger services in one cluster period rm Will t rm Sorting from big to small, taking the maximum value as the transmission time t r ；
S22: according to the transmission time t r Calculating the number of cluster periods of time-triggered service scheduling:
Figure BDA0004105315440000031
s23: calculating the time length T of the scheduling according to the matrix period MC and the cluster period number N of the time triggering service scheduling, wherein the calculation formula is as follows: t=mcxn;
the time length of the scheduling, namely the time delay of the time triggering data frame from the source end system to the destination end system, comprises the link propagation delay and the equipment processing delay, the receiving time point of the receiving equipment is the sum of the sending time point of the upper-level equipment and the sending time delay of the upper-level equipment, the link propagation delay and the receiving time delay of the receiving equipment, the forwarding time of the switch is equal to the sum of the receiving time point of the switch and the receiving time delay of the switch, and the processing delay of the switch.
Further, the constraint includes the end system transmitting a collision-free constraint D 1 The switch receives conflict-free constraint D 2 The switch transmits a conflict-free constraint D 3 The end system receives the conflict-free constraint D 4 And a transmission dependent constraint D 5 。
Further, the end system transmits a collision-free constraint D 1 Representing that two time trigger message frames cannot be simultaneously transmitted on the same end node, and specifically restricting formula D 1 The following are provided:
k i *p i +a*BC+eso i +fl i /bw≤k j *p j +b*BC+eso j or k j *p j +b*BC+eso j +fl j /bw≤k i *p i +a*BC+eso i ；
Wherein i and j respectively represent different service numbers, a and b respectively represent an integration period number where i and j frame transmission moments are located, and k i Represent the Kth within the time length T i +1 mobilization of traffic i, K i The value range is 0-T/p i -1，p i Is the period of the service i, eso i Representing the offset, k, of the transmission time of the service i in BC i *p i +a*BC+eso i K-th representing said traffic i within a scheduling time period T i The source system transmission time of +1 data frames, fl i The/bw represents the transmission duration of the current transmission of the service i, namely the current service i frame length/link bandwidth; k (k) j Represent the Kth within the time length T j +1 mobilization of traffic j, K j The value range is 0-T/p j -1，p j Is the period of the service j, eso j Representing the offset, k, of the transmission time of the service j in BC j *p j +b*BC+eso i The kth of said traffic j within the scheduling time period T i The source system transmission time of +1 data frames, fl j And/bw represents the transmission duration of the current transmission of the service j, namely the current frame length/link bandwidth of the service j.
Further, the switch receives a collision-free constraint D 2 Indicating that each receiving port of the switch can only receive one time-triggered data frame at a time, that is, only after one data frame is successfully received, the port of the switch can receive the next time-triggered data frame, and the specific constraint formula D 2 The method comprises the following steps:
k i xp i +arxBC+sro i +rl i ≤k j xp j +brxBC+sro j +rl j or k j xp j +brxBC+sro j +rl j ≤k i xp i +arxBC+sro i +rl i ；
Wherein i and j respectively represent different service numbers, ar and br respectively represent integration period numbers where i and j frame receiving moments are located, and k i Represent the Kth within the time length T i +1 mobilization of the traffic i, K i The value range is 0-T/p i -1，p i Is the period of the service i, sro i Representing the offset, k, of the transmission time of the service i in BC i xp i +arxBC+sro i K-th representing said traffic i within a scheduling time period T i Time of reception on a link of +1 data frames, rl i Representing a receive window length; k (k) j Represent the Kth within the time length T j Mobilizing the traffic j, K +1 times j The value range is 0-T/p j -1，p j Is the period of the service j, sro j Representing the offset, k, of the transmission time of the service j in BC j xp j +brxBC+sro i K-th representing said traffic j within a scheduling time period T j Time of reception on a link of +1 data frames, rl j Representing the receive window length.
Further, the switch transmits a collision-free constraint D 3 Indicating that each transmitting port of the switch can only transmit one data frame at a time, i.e. only after one data frame is successfully transmitted, the port of the switch can transmit the next data frame, in particular constraint formula D 3 The method comprises the following steps:
k i *p i +as*BC+sso i +fl i /bw≤k j *p j +bs*BC+sso j +rl j or k j *p j +bs*BC+sso j +fl j /bw≤k i *p i +as*BC+sso i +rl i ；
Wherein i and j respectively represent different service numbers, as and bs respectively represent an integration period number where i and j frame transmission moments are located, and k i Represent the Kth within the time length T i +1 mobilization of traffic i, K i The value range is 0-T/p i -1，p i Is the period of service i, sso i Representing the offset, k, of the transmission time of the service i in BC i *p i +as*BC+sso i Kth representing traffic i within the scheduling time period T i Transmission time on a link of +1 data frames, fl i Bw represents the transmission duration of the current transmission service i, i.e. the current service i frame length/link bandwidth, rl i Representing the length of a service i receiving window; k (k) j Represent the Kth within the time length T j Mobilizing the traffic j, K +1 times j The value range is 0-T/p j -1，p j Is the period of the service j, sso j Representing the offset, k, of the transmission time of the service j in BC j *p j +bs*BC+sso j The kth of said traffic j within the scheduling time period T j Transmission time on a link of +1 data frames, fl j Bw represents the transmission duration of the current transmission service j, i.e. the frame length/link bandwidth of the current service j, rl j Representing the length of a receiving window of the service j;
further, the end system receives a collision-free constraint D 4 Representing the slave of one of said end systemsThe time trigger data frames are received on the links connected by the terminals in a collision-free way, one terminal can only receive one time trigger data frame at one moment, and the specific constraint formula D is that 4 The method comprises the following steps:
k i *p i +ra*BC+ero i +rl i ≤k j *p j +rb*BC+ero j or k j *p j +rb*BC+ero j +rl j ≤k i *p i +ra*BC+ero i ；
Wherein i and j respectively represent different service numbers, ra and rb respectively represent integration period numbers where i and j frame receiving moments are located, and k i Represent the Kth within the time length T i +1 mobilization of the traffic i, K i The value range is 0-T/p i -1，p i Is the period of the service i, ero i Representing the offset, k, in BC of the moment of reception of said service i i *p i +ra*BC+ero i K-th representing said traffic i within a scheduling time period T i Destination end receiving time on the link of +1 data frames; k (k) j Represent the Kth within the time length T j Mobilizing the traffic j, K +1 times j The value range is 0-T/p j -1，p j Is the period of service j, ero j Representing the offset in BC of the moment of reception of service j, k j *p j +rb*BC+ero j The kth of said traffic j within the scheduling time period T j Destination end reception time on the link of +1 data frames.
Further, the transmission depends on constraint D 5 The constraint condition D 5 Ensuring that the data frame has correct transmission sequence in the transmission process from the source end system to the destination end system, wherein the transmission dependent constraint condition comprises a constraint condition D of the transmission time of the end system transmission time trigger task and the generation time of the time trigger service 51 Constraint condition D of receiving time of network node in time triggering service transmission path and transmitting time of last network node 52 And constraint condition D of transmission time of the switch and reception time of the switch in time-triggered service transmission path 53 The specific constraint conditions are as follows:
constraint D 51 ：gt i ≤axBC+eso i ≤gt i +p i ；
Constraint D 52 ：arxBC+ro i ＝axBC+ro i +E smin +L smin +S rmin And arxBC+ sro i ＝asxBC+sso i +E smin +L smin +S rmin And raxBC+ero i ＝asxBC+sso i +E smin +L smin +S rmin ；
Constraint D 53 ：asxBC+sso i ＝raxBC+ero i +rl i ；
Wherein i is denoted as a service number, a is denoted as an integration period number at the time of sending an i frame, ar is denoted as an integration period number at the time of receiving an i frame at the time of sending the switch, as is denoted as an integration period number at the time of receiving an i frame at an end system, ra is denoted as an integration period number at the time of receiving the i frame at the end system, esmin is denoted as minimum transmission delay of the end system, lmin is denoted as minimum propagation delay of the link, and Srmmin is denoted as minimum reception delay of the switch;
in the constraint condition D 51 In (1) i Represents the generation time of the service i, eso i Representing the offset value, p, of the service i in the basic period BC at the sending moment of the end system i Representing the period of the service i;
in the constraint condition D 52 In sro i Representing the offset, sso, of the moment of reception of the switch of traffic i in the basic cycle BC i Representing the offset of the switch transmission moment of service i in the basic period BC, ero i Representing the offset of service i in BC at the receiving moment of the end system;
in constraint D 53 In the above, as represents the integration period number where the i frame is at the time of the switch port transmission, sso i Representing the shift of the switch transmission instant of traffic i within said basic period BC.
Further, the saidConstructing and solving an optimization equation, wherein the constraint condition D is adopted by the construction and the solution of the optimization equation 1 Said constraint D 2 Said constraint D 3 Said constraint D 4 Said constraint D 51 Said constraint D 52 Said constraint D 53 For content, constructing an optimization equation for an optimization target by minimizing the sum of the sending moments of the source end system of all time-triggered service flow instances in a network;
Figure BDA0004105315440000071
wherein the objective function min Σs i To minimize the sum of the source system transmit times for all time triggered traffic flow instances in the network.
Further, the mobilizing instruction comprises a general instruction set and an extension instruction set, the execution flow of the Ethernet is triggered by control time, the extension instruction set is defined on the basis of the general instruction set, the flow control is carried out by utilizing the general instruction set, and the scheduling configuration is carried out by the extension instruction set.
Further, the extended instruction set includes an idle instruction, a best effort instruction, a frame synchronization instruction, a doorbell instruction, a time trigger packet sending instruction, a rate control packet sending instruction, a time trigger packet receiving instruction, a rate control packet receiving instruction, a composite window starting instruction, and a composite window ending instruction.
Compared with the prior art, the invention has at least one of the following technical effects:
(1) The invention has the advantages that the invention provides a design method for a task planning tool based on space-borne time triggering, which calculates a scheduling period, a task transmission path and a service time length according to input information of a network to be scheduled, creates constraint conditions, establishes optimization problems by taking receiving and transmitting moments of network equipment nodes as optimization variables and taking response time delay of the minimum network time triggering service as an optimization target, obtains a time schedule of each network node by solving the problems, and controls instructions to complete the scheduling process. When the tool optimizes the transmission performance of the satellite-borne high-reliability time trigger network while meeting the constraint conditions, the strict time certainty of the satellite-borne high-reliability time trigger network and high integrity of network traffic transmission are also ensured.
(2) Another object of the present invention is to provide an instruction set for high-reliability real-time network scheduling, which is used for triggering an execution flow of network planning scheduling in a satellite-borne high-reliability time, and after a planning scheduling table is obtained through network parameters and service parameters, an execution flow of ethernet is triggered by using a RISC-V general instruction set and a custom extended instruction set.
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In order to more clearly illustrate the technical solution of the embodiments of the present invention, the following description will briefly explain the drawings that are required to be used in the description of the embodiments:
FIG. 1 is a schedule generation flow chart of a method of designing a mission planning tool based on-board time triggering;
FIG. 2 is a graph of the message cycle characteristics of a network and the cycle characteristics of a TTE network in a method of designing a mission planning tool based on-board time triggering;
FIG. 3 is a schematic diagram of a certain instruction format of a scheduling instruction set of a high reliability time-triggered network on board a satellite;
FIG. 4 is a schematic diagram of an execution mechanism of a scheduling instruction set of the on-board high reliability time-triggered network.
Detailed Description
In order to make the purposes, technical solutions and advantages of the embodiments of the present application more clear, the following describes in detail a method for designing a task planning tool based on time triggering provided by the present invention with reference to the drawings in the embodiments, and the embodiments are implemented on the premise of the technical solution of the present invention, and a detailed implementation manner and a specific operation procedure are provided.
Example 1
The first embodiment of the invention provides a method for designing a task planning tool based on time triggering, which comprises the following steps:
s1: acquiring input information of a network to be scheduled, wherein the input information comprises network parameters and service parameters;
s2: determining a scheduling time length, wherein variables required for determining the scheduling time length comprise a scheduling period, a task transmission path and a scheduling time length;
s3: generating a scheduling result, wherein the scheduling result generating process comprises creating constraint conditions, creating objective functions, constructing optimization equation solutions, generating a time-triggered network communication scheduling table and generating a scheduling instruction set.
Specifically, in this embodiment, according to an application scenario of a time triggered ethernet and a network topology thereof, the network parameters and the service parameters required for generating the schedule are first required to be determined, where the network parameters include a link bandwidth bw, a synchronization precision sy, a minimum end system transmission delay Esmin, a maximum end system transmission delay Esmax, a minimum end system reception delay Ermin, a maximum end system reception delay Ermax, a minimum link propagation delay Lsmin, a maximum link propagation delay Lsmax, a minimum switch reception delay Srmin, a maximum switch reception delay Srmax, a minimum switch transmission delay Ssmin, and a maximum switch transmission delay Ssmax; the service parameters include service ID, frame length fl, period p, destination system number, source system number, generation time gt, and service transmission path ph.
Specifically, in this embodiment, the time triggered service is often sent and received according to a certain period, so as to ensure that the certainty of the network reduces the complexity of the scheduling operation. The scheduling period comprises a matrix period MC and a basic period BC, wherein the time triggered traffic typically takes the matrix period MC, i.e. the least common multiple of all time triggered traffic periods, as the total time required for a periodic transmission of all time triggered traffic. The matrix period MC may be divided into a plurality of integration periods, representing a scheduling unit of time, and taking the greatest common divisor of all time-triggered service periods as the basic period BC, where the time-triggered message period characteristic and the period characteristic of the TTE network are shown in fig. 2.
Specifically, in this embodiment, dijkstra algorithm is used to find the shortest path from the source point to all other nodes in the network. The Dijkstra algorithm creates a shortest path tree rooted at the source point, maintaining two sets, denoted a and B, set a containing all the nodes in the shortest path tree and set B containing other nodes. Each step of the algorithm selects one node from the set B that has the shortest source point.
The Dijkstra algorithm has a temporal complexity of O (|V|2), where |V| is the number of network devices. The weight of each communication link in the network is regarded as 1, namely as an unauthorized graph, and the shortest path between two devices is obtained, namely the path between two devices containing the minimum switch is obtained. After the shortest transmission path for each message is obtained, a scheduling algorithm is performed to allocate the transmission time slots for each message on each communication link.
Specifically, in this embodiment, the time length of the time triggered service schedule is calculated, and ideally, the end-to-end delay of the time triggered data frame should include a link propagation delay and a device processing delay, and after the data frame is sent out from the network port of the end system, the data frame is transmitted to the next receiving device (the switch or the end system) through the communication link. Because no access conflict exists, the receiving time point of the next-stage receiving device is equal to the sum of the sending time point of the terminal system, the sending time delay of the terminal system, the link propagation time delay and the receiving time delay of the receiving device. The processing delay of the switch is related to the frame length of the data frame. The forwarding time point of the switch is equal to the sum of the receiving time point of the switch, the receiving time delay of the switch and the processing time delay of the switch, and the specific operation of calculating the scheduling time length is as follows:
s21: calculating the minimum value t of the receiving time of the destination end system of the first data frame in all the time trigger services in one cluster period rm Will t rm Sorting from big to small, taking the maximum value as the transmission time t r ；
S22: according to the transmission time t r Calculating the number of cluster periods of time-triggered service scheduling:
Figure BDA0004105315440000101
s23: calculating the time length T of the scheduling according to the matrix period MC and the cluster period number N of the time triggering service scheduling, wherein the calculation formula is as follows: t=mcxn.
Specifically, in this embodiment, the end system sends a collision-free constraint D 1 Representing that two time trigger message frames cannot be simultaneously transmitted on the same end node, and specifically restricting formula D 1 The following are provided:
k i *p i +a*BC+eso i +fl i /bw≤k j *p j +b*BC+eso j or k j *p j +b*BC+eso j +fl j /bw≤k i *p i +a*BC+eso i ；
Wherein i and j respectively represent different service numbers, a and b respectively represent an integration period number where i and j frame transmission moments are located, and k i Represent the Kth within the time length T i +1 mobilization of traffic i, K i The value range is 0-T/p i -1，p i Is the period of the service i, eso i Representing the offset, k, of the transmission time of the service i in BC i *p i +a*BC+eso i K-th representing said traffic i within a scheduling time period T i The source system transmission time of +1 data frames, fl i The/bw represents the transmission duration of the current transmission of the service i, namely the current service i frame length/link bandwidth; k (k) j Represent the Kth within the time length T j +1 mobilization of traffic j, K j The value range is 0-T/p j -1，p j Is the period of the service j, eso j Representing the offset, k, of the transmission time of the service j in BC j *p j +b*BC+eso i The kth of said traffic j within the scheduling time period T i The source system transmission time of +1 data frames, fl j And/bw represents the transmission duration of the current transmission of the service j, namely the current frame length/link bandwidth of the service j.
Specifically, in this embodiment, the switch receives the conflict-free constraint D 2 Ensuring that each receiving port of the switch can only receive one time trigger data frame at one timeThat is, only after one time trigger data frame is successfully received, the port of the switch can receive the next time trigger data frame, specifically constraint formula D 2 The following are provided:
k i xp i +arxBC+sro i +rl i ≤k j xp j +brxBC+sro j +rl j or k j xp j +brxBC+sro j +rl j ≤k i xp i +arxBC+sro i +rl i ；
Wherein i and j respectively represent different service numbers, ar and br respectively represent integration period numbers where i and j frame receiving moments are located, and k i Represent the Kth within the time length T i +1 mobilization of the traffic i, K i The value range is 0-T/p i -1，p i Is the period of the service i, sro i Representing the offset, k, of the transmission time of the service i in BC i xp i +arxBC+sro i K-th representing said traffic i within a scheduling time period T i Time of reception on a link of +1 data frames, rl i Representing a receive window length; k (k) j Represent the Kth within the time length T j Mobilizing the traffic j, K +1 times j The value range is 0-T/p j -1，p j Is the period of the service j, sro j Representing the offset, k, of the transmission time of the service j in BC j xp j +brxBC+sro i K-th representing said traffic j within a scheduling time period T j Time of reception on a link of +1 data frames, rl j Representing the receive window length.
Wherein rl i And rl j To receive the window length, it can be expressed as:
rl＝(S smax -S smin )+(L smax -L smin )+(S rmax -S rmin )+2×sy+fl/bw
the simplification can be expressed as:
Figure BDA0004105315440000111
fl is denoted as the frame length of the time triggered traffic.
Specifically, in this embodiment, the switch sends a collision-free constraint D 3 Ensuring that each transmitting port of the switch can only transmit one data frame at a time, namely, only after one data frame is successfully transmitted, the port of the switch can transmit the next data frame, and the specific constraint formula D 3 The method comprises the following steps:
k i *p i +as*BC+sso i +fl i /bw≤k j *p j +bs*BC+sso j +rl j or k j *p j +bs*BC+sso j +fl j /bw≤k i *p i +as*BC+sso i +rl i ；
Wherein i and j respectively represent different service numbers, as and bs respectively represent an integration period number where i and j frame transmission moments are located, and k i Represent the Kth within the time length T i +1 mobilization of traffic i, K i The value range is 0-T/p i -1，p i Is the period of service i, sso i Representing the offset, k, of the transmission time of the service i in BC i *p i +as*BC+sso i Kth representing traffic i within the scheduling time period T i Transmission time on a link of +1 data frames, fl i Bw represents the transmission duration of the current transmission service i, i.e. the current service i frame length/link bandwidth, rl i Representing the length of a service i receiving window; k (k) j Represent the Kth within the time length T j Mobilizing the traffic j, K +1 times j The value range is 0-T/p j -1，p j Is the period of the service j, sso j Representing the offset, k, of the transmission time of the service j in BC j *p j +bs*BC+sso j The kth of said traffic j within the scheduling time period T j Transmission time on a link of +1 data frames, fl j Bw represents the transmission duration of the current transmission service j, i.e. the frame length/link bandwidth of the current service j, rl j Representing the length of a receiving window of the service j;
specifically, in this embodiment, the end system receives a collision-free constraintD 4 Indicating that a terminal system receives time-triggered data frames from a link to which the terminal is connected without collision, a terminal can only receive one time-triggered data frame at a time, and a specific constraint formula D 4 The method comprises the following steps:
k i *p i +ra*BC+ero i +rl i ≤k j *p j +rb*BC+ero j or k j *p j +rb*BC+ero j +rl j ≤k i *p i +ra*BC+ero i ；
Wherein i and j respectively represent different service numbers, ra and rb respectively represent integration period numbers where i and j frame receiving moments are located, and k i Represent the Kth within the time length T i +1 mobilization of the traffic i, K i The value range is 0-T/p i -1，p i Is the period of the service i, ero i Representing the offset, k, in BC of the moment of reception of said service i i *p i +ra*BC+ero i K-th representing said traffic i within a scheduling time period T i Destination end receiving time on the link of +1 data frames; k (k) j Represent the Kth within the time length T j Mobilizing the traffic j, K +1 times j The value range is 0-T/p j -1，p j Is the period of service j, ero j Representing the offset in BC of the moment of reception of service j, k j *p j +rb*BC+ero j The kth of said traffic j within the scheduling time period T j Destination end reception time on the link of +1 data frames.
Specifically, in the present embodiment, the transmission-dependent constraint D 5 The constraint condition D 5 Ensuring that the data frame has correct transmission sequence in the transmission process from the source end system to the destination end system, wherein the transmission dependent constraint condition comprises a constraint condition D of the transmission time of the end system transmission time trigger task and the generation time of the time trigger service 51 Constraint condition D of receiving time of network node in time triggering service transmission path and transmitting time of last network node 52 And the sending time of the exchanger in the time triggering service transmission pathConstraint D of the reception time of the exchange 53 The specific constraint conditions are as follows:
constraint D 51 ：gt i ≤axBC+eso i ≤gt i +p i ；
Constraint D 52 ：arxBC+ro i ＝axBC+ro i +E smin +L smin +S rmin And arxBC+ sro i ＝asxBC+sso i +E smin +L smin +S rmin And raxBC+ero i ＝asxBC+sso i +E smin +L smin +S rmin ；
Constraint D 53 ：asxBC+sso i ＝raxBC+ero i +rl i ；
Wherein i is denoted as a service number, a is denoted as an integration period number at the time of sending an i frame, ar is denoted as an integration period number at the time of receiving an i frame at the time of sending the switch, as is denoted as an integration period number at the time of receiving an i frame at an end system, ra is denoted as an integration period number at the time of receiving the i frame at the end system, esmin is denoted as minimum transmission delay of the end system, lmin is denoted as minimum propagation delay of the link, and Srmmin is denoted as minimum reception delay of the switch;
in the constraint condition D 51 In (1) i Represents the generation time of the service i, eso i Representing the offset value, p, of the service i in the basic period BC at the sending moment of the end system i Representing the period of the service i;
in the constraint condition D 52 In sro i Representing the offset, sso, of the moment of reception of the switch of traffic i in the basic cycle BC i Representing the offset of the switch transmission moment of service i in the basic period BC, ero i Representing the offset of service i in BC at the receiving moment of the end system;
in constraint D 53 In the above, as represents the integration period number where the i frame is at the time of the switch port transmission, sso i Representing the offset of the switch transmission moment of traffic i within the basic period BC。
Specifically, in the present embodiment, the constraint D is used 1 Said constraint D 2 Said constraint D 3 Said constraint D 4 Said constraint D 51 Said constraint D 52 Said constraint D 53 For content, an optimization equation is constructed for the optimization objective by minimizing the sum of the source system sending moments of all time-triggered service flow instances in the network.
Figure BDA0004105315440000131
Wherein the objective function min Σs i To minimize the sum of the source system transmit times for all time triggered traffic flow instances in the network.
The optimization equation constructed by the constraint condition and the objective function not only ensures that the data frames of the time trigger service cannot collide, but also ensures that the source sending time of the data frames of the time trigger service is as close as possible to the generating time, so that the service which is generated first is presented as a whole to be served first, the problem of larger service time delay caused by the fact that the generating time of the time trigger service is not considered in the prior art is solved, and the total time delay of the time trigger service is minimum.
Example 2
A second embodiment of the present invention provides an instruction set for highly reliable real-time network scheduling, where the instruction set is composed of an RSIC-V general instruction set and a custom extended instruction set, and is used to control the execution flow of time triggered ethernet. According to the design method of the task planning tool based on time triggering, the source end system sending time, the switch receiving time and the switch sending time of the time triggering service to be scheduled in each basic period are obtained, and a time triggering service time schedule is compiled according to the scheduling time and converted into a scheduling instruction. By combining the custom extended instruction set with the general instruction set, high-reliability network switching can be realized, and the real-time scheduling performance of network equipment is improved. The format of the instruction set is shown in fig. 3.
Specifically, in the present embodiment, RISC-V instructions are used to control the execution flow of the time triggered ethernet by the RSIC-V general instruction set and the custom extended instruction set. By combining the custom extended instruction set with the general instruction set, high-reliability network switching can be realized, and the real-time scheduling performance of network equipment is improved. The high-reliability real-time network scheduling instruction set can be used for data receiving and transmitting management of network switching equipment, and execution of a time-triggered flow scheduling table is realized. As shown in table 1, some of the instructions of the embodiments of the present disclosure are listed.
Table 1 schedule IP instruction set
Figure BDA0004105315440000141
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Figure BDA0004105315440000151
The scheduling IP instruction set includes IDLE (IDLE) instructions, best Effort (BE) instructions, FRAME synchronization (FRAME) instructions, DOORBELL (DOORBELL) instructions, time triggered packet transmission (XMITTT), rate control packet transmission (XMITRC), time triggered packet Reception (RECVTT), rate control packet reception (RECVRC), composite window start (WBEGIN), composite Window End (WEND) class 10 instructions.
In particular, in one embodiment of the present invention, a highly reliable execution mechanism for scheduling instructions for a real-time network device is provided, as shown in fig. 4. The scheduling instruction realizes the synchronous execution of the whole network by using the local_clock of the whole network synchronization. When the RISC-V core delivers the scheduling instruction B to the scheduling instruction executor, if the last scheduling instruction A is not executed, the executor can block the RISC-V core from executing the scheduling instruction B and the subsequent instructions. Conversely, when the executor completes the scheduling instruction A, the RISC-V core should have completed other work and place the scheduling instruction B on the scheduling instruction executor entry. By using the mechanism, the RISC-V kernel can run a small amount of common instructions after each window starts, and set or collect the states of other parts of the end system so as to synchronize with the state of the whole network.
The foregoing disclosure is merely illustrative of specific embodiments of the present application and the present application is not limited thereto, as variations may be envisioned by those skilled in the art and are intended to fall within the scope of the present application.

Claims (14)

1. The design method of the task planning tool based on the satellite-borne time triggering is characterized by comprising the following steps of:
s1: acquiring input information of a network to be scheduled, wherein the input information comprises network parameters and service parameters;
s2: determining a scheduling time length, wherein variables required for determining the scheduling time length comprise a scheduling period, a task transmission path and a scheduling time length;
s3: generating a scheduling result, wherein the scheduling result generating process comprises creating constraint conditions, creating objective functions, constructing optimization equation solutions, generating a time-triggered network communication scheduling table and generating a scheduling instruction set.
2. The method according to claim 1, wherein in step S1, the input information of the network to be scheduled includes network parameters and service parameters including network structure, period and byte length characteristics of deterministic messages, delay requirements of each device, and special path requirements;
the network parameters comprise a link bandwidth bw, a synchronization precision sy, a minimum transmission time delay Esmin of the terminal system, a maximum transmission time delay Esmax of the terminal system, a minimum receiving time delay Ermin of the terminal system, a maximum receiving time delay Ermax of the terminal system, a minimum propagation time delay Lmin of the link, a maximum propagation time delay Lsm of the link, a minimum receiving time delay Srmmin of the switch, a maximum receiving time delay Srmax of the switch, a minimum transmission time delay Ssm in of the switch and a maximum transmission time delay Ssm of the switch;
the service parameters include a service ID, a frame length fl, a period p, a destination system number, a source system number, a generation time gt, and a service transmission path ph.
3. The method for designing a task planning tool based on-board time triggering of claim 1, wherein in step S2, the scheduling period includes a matrix period MC and a basic period BC;
the matrix period MC is the least common multiple of all time triggering service periods and is used as the total time required by periodic transmission of all time triggering service;
the basic period BC is the greatest common divisor of all time triggered service periods.
4. The method for designing a task planning tool based on space-borne time triggering according to claim 1, wherein in step S2, the task transmission path is the shortest transmission path from the transmitting end to the receiving end in the whole network, and the Dijkstra algorithm is adopted to find the shortest path from the source point to all other nodes in the network, and the specific operations are as follows:
the Dijkstra algorithm creates a shortest path tree with a source point as a root, simultaneously maintains two sets of sets, respectively selects one node with the shortest source point from other nodes for all nodes and other nodes in the shortest path tree, obtains the shortest transmission path, and then executes a scheduling algorithm to allocate a transmission time slot of each message on each communication link.
5. The method for designing task planning tool based on space-borne time triggering according to claim 3, wherein in step S2, the scheduled time length, that is, the time delay of the time triggering data frame from the source end system to the destination end system, includes a link propagation delay and a device processing delay, the receiving time point of the receiving device is the sum of the sending time point of the last-stage device and the sending delay of the last-stage device, the link propagation delay, and the receiving delay of the receiving device, and the forwarding time of the switch is equal to the sum of the receiving time point of the switch and the receiving delay of the switch, and the processing delay of the switch;
regarding the time spent by all the services with the longest end-to-end delay in the time-triggered services as the time length of the scheduling, the specific operation is as follows:
s21: calculating the minimum value t of the receiving time of the destination end system of the first data frame in all the time trigger services in one cluster period rm Will t rm Sorting from big to small, taking the maximum value as the transmission time t r ；
S22: according to the transmission time t r Calculating the number of cluster periods of time-triggered service scheduling:
Figure FDA0004105315430000021
s23: calculating the time length T of the scheduling according to the matrix period MC and the cluster period number N of the time triggering service scheduling, wherein the calculation formula is as follows: t=mcxn.
6. The method for designing a space-borne time triggered task planning tool according to claim 1, wherein in step S3, the constraint comprises an end system transmitting a collision-free constraint D 1 Conflict-free constraint D received by a switch 2 Conflict-free constraint D for switch transmission 3 Receiving conflict-free constraint D by end system 4 And a transmission dependent constraint D 5 。
7. The method for designing a mission planning tool based on space-time triggering of claim 6, wherein said end system sends a collision-free constraint D 1 Representing that two time trigger message frames cannot be simultaneously transmitted on the same end node, and specifically restricting formula D 1 The following are provided:
k i *p i +a*BC+eso i +fl i /bw≤k j *p j +b*BC+eso j or k j *p j +b*BC+eso j +fl j /bw≤k i *p i +a*BC+eso i ；
Wherein i and j respectively represent different service numbers, and a and b respectively represent the sending time of i and j framesIntegrate period number k i Represent the Kth within the time length T i +1 mobilization of traffic i, K i The value range is 0-T/p i -1，p i Is the period of the service i, eso i Representing the offset, k, of the transmission time of the service i in BC i *p i +a*BC+eso i K-th representing said traffic i within a scheduling time period T i The source system transmission time of +1 data frames, fl i The/bw represents the transmission duration of the current transmission of the service i, namely the current frame length/link bandwidth of the service i; k (k) j Represent the Kth within the time length T j +1 mobilization of traffic j, K j The value range is 0-T/p j -1，p j Is the period of the service j, eso j Representing the offset, k, of the transmission time of the service j in BC j *p j +b*BC+eso i The kth of said traffic j within the scheduling time period T i The source system transmission time of +1 data frames, fl j And/bw represents the transmission duration of the current transmission of the service j, namely the current frame length/link bandwidth of the service j.
8. The method of designing a mission planning tool based on space-time triggering of claim 7, wherein the switch receives a collision-free constraint D 2 Indicating that each receiving port of the switch can only receive one time-triggered data frame at a time, that is, only after one data frame is successfully received, the port of the switch can receive the next time-triggered data frame, and the specific constraint formula D 2 The method comprises the following steps:
k i xp i +arxBC+sro i +rl i ≤k j xp j +brxBC+sro j +rl j or k j xp j +brxBC+sro j +rl j≤ k i xp i +arxBC+sro i +rl i ；
Wherein i and j respectively represent different service numbers, ar and br respectively represent integration period numbers where i and j frame receiving moments are located, and k i Represent the Kth within the time length T i +1 timesMobilizing the traffic i, K i The value range is 0-T/p i -1，p i Is the period of the service i, sro i Representing the offset, k, of the transmission time of the service i in BC i xp i +arxBC+sro i K-th representing said traffic i within a scheduling time period T i Time of reception on a link of +1 data frames, rl i Representing a receive window length; k (k) j Represent the Kth within the time length T j Mobilizing the traffic j, K +1 times j The value range is 0-T/p j -1，p j Is the period of the service j, sro j Representing the offset, k, of the transmission time of the service j in BC j xp j +brxBC+sro i K-th representing said traffic j within a scheduling time period T j Time of reception on a link of +1 data frames, rl j Representing the receive window length.
9. The method of designing a mission planning tool based on space-time triggering of claim 8, wherein the switch sends a collision-free constraint D 3 Indicating that each transmitting port of the switch can only transmit one data frame at a time, i.e. only after one data frame is successfully transmitted, the port of the switch can transmit the next data frame, in particular constraint formula D 3 The method comprises the following steps:
k i *p i +as*BC+sso i +fl i /bw≤k j *p j +bs*BC+sso j +rl j or k j *p j +bs*BC+sso j +fl j /bw≤k i *p i +as*BC+sso i +rl i ；
Wherein i and j respectively represent different service numbers, as and bs respectively represent an integration period number where i and j frame transmission moments are located, and k i Represent the Kth within the time length T i +1 mobilization of traffic i, K i The value range is 0-T/p i -1，p i Is the period of service i, sso i Representing the offset, k, of the transmission time of the service i in BC i *p i +as*BC+sso i Kth representing traffic i within the scheduling time period T i Transmission time on a link of +1 data frames, fl i Bw represents the transmission duration of the current transmission service i, i.e. the current service i frame length/link bandwidth, rl i Representing the length of a service i receiving window; k (k) j Represent the Kth within the time length T j Mobilizing the traffic j, K +1 times j The value range is 0-T/p j -1，p j Is the period of the service j, sso j Representing the offset, k, of the transmission time of the service j in BC j *p j +bs*BC+sso j The kth of said traffic j within the scheduling time period T j Transmission time on a link of +1 data frames, fl j Bw represents the transmission duration of the current transmission service j, i.e. the frame length/link bandwidth of the current service j, rl j Representing the length of the receive window for service j.
10. The method for designing a space-borne time triggered task planning tool according to claim 9, wherein said end system receives a collision-free constraint D 4 Indicating that a terminal system receives time-triggered data frames from a link to which the terminal is connected without collision, a terminal can only receive one time-triggered data frame at a time, and a specific constraint formula D 4 The method comprises the following steps:
k i *p i +ra*BC+ero i +rl i ≤k j *p j +rb*BC+ero j or k j *p j +rb*BC+ero j +rl j ≤k i *p i +ra*BC+ero i ；
Wherein i and j respectively represent different service numbers, ra and rb respectively represent integration period numbers where i and j frame receiving moments are located, and k i Represent the Kth within the time length T i +1 mobilization of the traffic i, K i The value range is 0-T/p i -1，p i Is the period of the service i, ero i Representing the offset, k, in BC of the moment of reception of said service i i *p i +ra*BC+ero i K-th representing said traffic i within a scheduling time period T i On a link of +1 data framesThe destination terminal receiving time; k (k) j Represent the Kth within the time length T j Mobilizing the traffic j, K +1 times j The value range is 0-T/p j -1，p j Is the period of service j, ero j Representing the offset in BC of the moment of reception of service j, k j *p j +rb*BC+ero j The kth of said traffic j within the scheduling time period T j Destination end reception time on the link of +1 data frames.
11. The method for designing a mission planning tool as claimed in claim 10, wherein said transmission-dependent constraint D 5 The constraint condition D 5 Ensuring that the data frame has correct transmission sequence in the transmission process from the source end system to the destination end system, wherein the transmission dependent constraint condition comprises a constraint condition D of the transmission time of the end system transmission time trigger task and the generation time of the time trigger service 51 Constraint condition D of receiving time of network node in time triggering service transmission path and transmitting time of last network node 52 And constraint condition D of transmission time of the switch and reception time of the switch in time-triggered service transmission path 53 The specific constraint conditions are as follows:
constraint D 51 ：gt i ≤axBC+eso i ≤gt i +p i ；
Constraint D 52 ：arxBC+ro i ＝axBC+ro i +E smin +L smin +S rmin And arxBC+ sro i ＝asxBC+sso i +E smin +L smin +S rmin And raxBC+ero i ＝asxBC+sso i +E smin +L smin +S rmin ；
Constraint D 53 ：asxBC+sso i ＝raxBC+ero i +rl i ；
Wherein i is denoted as a service number, a is denoted as an integration period number at the time of sending an i frame, ar is denoted as an integration period number at the time of receiving an i frame at the time of sending the switch, as is denoted as an integration period number at the time of receiving an i frame at an end system, ra is denoted as an integration period number at the time of receiving the i frame at the end system, esmin is denoted as minimum transmission delay of the end system, lmin is denoted as minimum propagation delay of the link, and Srmmin is denoted as minimum reception delay of the switch;
in the constraint condition D 51 In (1) i Represents the generation time of the service i, eso i Representing the offset value, p, of the service i in the basic period BC at the sending moment of the end system i Representing the period of the service i;
in the constraint condition D 52 In sro i Representing the offset, sso, of the moment of reception of the switch of traffic i in the basic cycle BC i Representing the offset of the switch transmission moment of service i in the basic period BC, ero i Representing the offset of service i in BC at the receiving moment of the end system;
in constraint D 53 In the above, as represents the integration period number where the i frame is at the time of the switch port transmission, sso i Representing the shift of the switch transmission instant of traffic i within said basic period BC.
12. The method for designing a space-borne time triggered task planning tool according to claim 11, wherein the optimization equation is constructed and solved under the constraint D 1 Said constraint D 2 Said constraint D 3 Said constraint D 4 Said constraint D 51 Said constraint D 52 Said constraint D 53 For content, constructing an optimization equation for an optimization target by minimizing the sum of the sending moments of the source end system of all time-triggered service flow instances in a network;
Figure FDA0004105315430000061
wherein the objective function min Σs i At the mostThe sum of the sending moments of the source end system of all time-triggered service flow instances in the network is minimized.
13. The method for designing a task planning tool based on space-borne time triggering according to claim 1, wherein the mobilizing instructions comprise a general instruction set and an extended instruction set, the execution flow of the time-triggered ethernet is controlled, the extended instruction set is defined on the basis of the general instruction set, the flow is controlled by the general instruction set, and the extended instruction set is used for scheduling configuration.
14. The method of claim 13, wherein the extended instruction set includes instructions including an idle instruction, a best effort instruction, a frame synchronization instruction, a doorbell instruction, a time triggered packet transmission instruction, a rate control packet transmission instruction, a time triggered packet reception instruction, a rate control packet reception instruction, a composite window start instruction, and a composite window end instruction.
CN202310190723.1A 2023-03-02 2023-03-02 Task planning tool design method based on satellite-borne time triggering Pending CN116192724A (en)

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