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针对嵌入式控制系统,通过液压机控制系统的设计与仿真,提出了控制与调度协同设计方法。首先,分析液压机控制系统功能和性能需求,研究了实时系统的选择和控制任务划分对嵌入式控制系统性能的影响;接着分析固定优先级算法、单调速率算法、最短时间限优先算法及抖动控制;最后,采用Matllab/Simulink和Truetime工具箱,通过调整任务划分、模型及调度算法等,对液压机控制系统的多任务进行仿真验证。仿真结果表明:可以获得最优的调度算法、任务划分及减小的输出抖动,这证明了控制与调度协同设计方法是有效的。
According to the design and simulation of hydraulic control system, aiming at the embedded control system, a collaborative design method of control and scheduling is proposed. First of all, the function and performance requirements of the hydraulic control system are analyzed. The influence of real-time system selection and control task allocation on the performance of the embedded control system is studied. Then, the fixed priority algorithm, monotonic rate algorithm, shortest time-priority algorithm and jitter control are analyzed. Finally, by using Matllab / Simulink and Truetime toolbox, the multi-tasking of hydraulic control system is validated by adjusting the task division, model and scheduling algorithm. Simulation results show that the optimal scheduling algorithm, task allocation and reduced output jitter can be obtained, which proves that the control and scheduling collaborative design method is effective.