网络控制系统的调度算法研究及仿真
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摘要
网络控制系统是控制科学、计算机及网络技术的综合应用。网络资源的竞争及网络时延赋予传统的控制理论和方法新的含义和研究内容，对网络控制系统调度的研究是其中重要内容之一。本文在控制网络性能及协议层调度前人已有成果的基础上分析了网络控制系统在应用层上的调度算法，并在搭建的虚拟平台上对多任务的网络控制系统调度进行了仿真，通过仿真详细论述了RM算法和EDF算法对于网络控制系统性能的影响，表明了在网络资源竞争激烈的情况下，EDF调度算法在网络控制系统中的重要意义。论文还讨论了反馈控制实时调度算法，并对其在网络控制系统中的应用进行了探讨。
Networked control systems are integration of controlling science, computing science and networking technology. The competition of network resource and network delay bring traditional control theories and methods new meanings and research directions, one important proportion of which is network scheduling. Based on existent results on control network performance and scheduling in protocol layer, the paper analyzes the scheduling algorithm of networked control systems in application layer, and structures multi-task networked control systems for scheduling simulation in virtual platform. Via the simulation, it is discussed how RM algorithm and EDF algorithm influence the performance of networked control systems, and presented the significance of EDF scheduling algorithm in networked control systems. Besides, the paper studies feedback-control real-time scheduling algorithms and their application in networked control systems.
Networked control systems are integration of controlling science, computing science and networking technology. The competition of network resource and network delay bring traditional control theories and methods new meanings and research directions, one important proportion of which is network scheduling. Based on existent results on control network performance and scheduling in protocol layer, the paper analyzes the scheduling algorithm of networked control systems in application layer, and structures multi-task networked control systems for scheduling simulation in virtual platform. Via the simulation, it is discussed how RM algorithm and EDF algorithm influence the performance of networked control systems, and presented the significance of EDF scheduling algorithm in networked control systems. Besides, the paper studies feedback-control real-time scheduling algorithms and their application in networked control systems.
引文
1 胡维礼．国家自然科学基金课题《网络环境下的智能控制理论及方法研究》申请书．2001
2 蔡骅，周涌，胡维礼．网络控制的研究现状和面临的问题．东南大学学报．July K.J. Astrom and B. Wittenmark, Computer-Controlled Systems: Theory and Design, Prentice Hall, Upper Saddle River, HJ, 1997. Third Edition.
3 C.L. Liu and J.W. Layland, Scheduling algorithm for multiprogramming in a hard-real-time environment, Journal of the Association for Computing Machinery, 20(1):46-61, January 1973.
4 W.Zhang, M.S.Branicky, and S.M.Philips. Stability analysis of networked control systems. IEEE Control Magazine. February 2001: 84—99
5 G.C.Walsh, H.Ye, and L.Bushnell. Stability analysis of networked control systems, in Proc.Amer.Control Conf. San Diego, CA, June 1999:2876—2880
6 2001.Vol.31 No.4A: 91—94
7 G.C.Walsh and H.Ye, Scheduling of Networked Control Systems. IEEE Control Magazine. February 2001:57—69
8 Luis A, Montestruque Panos , J.Antsaklis. Model-based Networked Control Systems Stability. ISIS Technical Report ISIS-2002-001. January 2001
9 Feng-Li Lian, James R.Moyne, Dawn M.Tilbruy. Performance Evaluation of Control NetWorks: Ethernet, ControlNet, and DeviceNet. IEEE Control Systems Magazine. February 2001
10 M. S. Branicky. Stability of hybrid systems: State of the ar. in Proc.IEEE Conf. Decision and Contro. San Diego, CA, Dec. 1997:120—125
11 B.J.Casey. Implementing Ethernet in the industrial environment. In IEEE Industry Applications Society Annual Meeting, volume 2, Oct. 1990:1469-1477
12 Y. Halevi and A. Ray, Integrated communication and control systems: Part Ⅰ-Analysis, J. Dynamic Syst., Measure. Contr., vol. 110, Dec.1988:367-373.
13 J. Nilsson, Real-time control systems with delays, Ph.D. dissertation, Dept. Automatic Control, Lund Institute of Technology, Lund, Sweden, January 1998.
14 ControlNet International. ControlNet Specifications, 2.0 edition, 1998.
15 F.-L. Lian, J. R. Moyne, and D. M. Tilbury. Control performance study of a networked machine cell. In Proceedings of 2000 American Control Conference, June 2000:2337-2341
16 Open DeviceNet Vendors Association. DeviceNet Specifications, 2.0 edition, 1997
17 F.-L. Lian, J. R. Moyne, and D. M. Tilbury. Performance evaluation of control networks: Ethernet, ControlNet, and DeviceNet. IEEE Control Systems Magazine, Feb. 2001:66-83
18 G.. Paula. Building a better fieldbus. Mechanical Engineering, June 1997:90-92
19 P. Pleinevaux and J. D. Decotignie. Time critical communication networks: Field buses. IEEE Network, May 1988:55-63
20 F.-L. Lian, J. R. Moyne, and D. M. Time delay modeling and sample time selection for networked control systems. In Proceedings of the ASME Dynamic Systems and Control Division, Nov. 2001.
21 J. D. Wheelis. Process control communications: Token bus, CSMA/CD, or token ring? ISA Transactions, July 1993: 193-198
22 K. Tindell, A. Burns, and A. J. Wellings. Calculating controllers area network (CAN) message response times. Control Engineering Practice, Aug 1995:1163-1169
23 C.W.S. Liu, Real-Time Systems, Prentice Hall, Upper Saddle River, NJ, 2000
24 W. Zhang, Stability Analysis of Networked Control Systems, PhD thesis, Department of Electrical Engineering and Computer Science, Case Western Reserve University, August 2001
25 Seto, D. J. Lehoczky, L. Sha, and K. Shin. On Task Schedulability in Real-Time Control Systems. Proceedings of the IEEE Real-Time Systems Symposium, 1996
26 Anton Cervin. Towards the Integration of Control and Real-Time Scheduling Design. Technical Report. Lund Institute of Technology. Sweden, 2000
27 J.Eker and A.Cervin, A Matlab Toolbox for Real-Time and Control Systems Codesign, Proc. of 6th International Real-Time Computing Systems and Applications Conference, 1999
28 Deepak R. Sahoo, S.Swaminathan, R. Al-Omari, Muri V. Salapaka, G.. Manimaran, Arun K. Somani, Feedback Control for Real-Time Scheduling, Proceedings of the American Control Conference, 2002
29 J. A. Stankovic, C. Lu, S. H. Son, The Case for Feedback Control Real-Time Scheduling, EuroMicro Conference on Real-Time Systems, June 1999.
30 Chenyang Lu, John A. Stankovic, Feedback Control Real-Time Scheduling: Framework, Modeling, and Algorithms. Journal of Real-Time Systems, Special Issue On Control-Theoretical Approaches to Real-Time Computing, 2001
2 蔡骅，周涌，胡维礼．网络控制的研究现状和面临的问题．东南大学学报．July K.J. Astrom and B. Wittenmark, Computer-Controlled Systems: Theory and Design, Prentice Hall, Upper Saddle River, HJ, 1997. Third Edition.
3 C.L. Liu and J.W. Layland, Scheduling algorithm for multiprogramming in a hard-real-time environment, Journal of the Association for Computing Machinery, 20(1):46-61, January 1973.
4 W.Zhang, M.S.Branicky, and S.M.Philips. Stability analysis of networked control systems. IEEE Control Magazine. February 2001: 84—99
5 G.C.Walsh, H.Ye, and L.Bushnell. Stability analysis of networked control systems, in Proc.Amer.Control Conf. San Diego, CA, June 1999:2876—2880
6 2001.Vol.31 No.4A: 91—94
7 G.C.Walsh and H.Ye, Scheduling of Networked Control Systems. IEEE Control Magazine. February 2001:57—69
8 Luis A, Montestruque Panos , J.Antsaklis. Model-based Networked Control Systems Stability. ISIS Technical Report ISIS-2002-001. January 2001
9 Feng-Li Lian, James R.Moyne, Dawn M.Tilbruy. Performance Evaluation of Control NetWorks: Ethernet, ControlNet, and DeviceNet. IEEE Control Systems Magazine. February 2001
10 M. S. Branicky. Stability of hybrid systems: State of the ar. in Proc.IEEE Conf. Decision and Contro. San Diego, CA, Dec. 1997:120—125
11 B.J.Casey. Implementing Ethernet in the industrial environment. In IEEE Industry Applications Society Annual Meeting, volume 2, Oct. 1990:1469-1477
12 Y. Halevi and A. Ray, Integrated communication and control systems: Part Ⅰ-Analysis, J. Dynamic Syst., Measure. Contr., vol. 110, Dec.1988:367-373.
13 J. Nilsson, Real-time control systems with delays, Ph.D. dissertation, Dept. Automatic Control, Lund Institute of Technology, Lund, Sweden, January 1998.
14 ControlNet International. ControlNet Specifications, 2.0 edition, 1998.
15 F.-L. Lian, J. R. Moyne, and D. M. Tilbury. Control performance study of a networked machine cell. In Proceedings of 2000 American Control Conference, June 2000:2337-2341
16 Open DeviceNet Vendors Association. DeviceNet Specifications, 2.0 edition, 1997
17 F.-L. Lian, J. R. Moyne, and D. M. Tilbury. Performance evaluation of control networks: Ethernet, ControlNet, and DeviceNet. IEEE Control Systems Magazine, Feb. 2001:66-83
18 G.. Paula. Building a better fieldbus. Mechanical Engineering, June 1997:90-92
19 P. Pleinevaux and J. D. Decotignie. Time critical communication networks: Field buses. IEEE Network, May 1988:55-63
20 F.-L. Lian, J. R. Moyne, and D. M. Time delay modeling and sample time selection for networked control systems. In Proceedings of the ASME Dynamic Systems and Control Division, Nov. 2001.
21 J. D. Wheelis. Process control communications: Token bus, CSMA/CD, or token ring? ISA Transactions, July 1993: 193-198
22 K. Tindell, A. Burns, and A. J. Wellings. Calculating controllers area network (CAN) message response times. Control Engineering Practice, Aug 1995:1163-1169
23 C.W.S. Liu, Real-Time Systems, Prentice Hall, Upper Saddle River, NJ, 2000
24 W. Zhang, Stability Analysis of Networked Control Systems, PhD thesis, Department of Electrical Engineering and Computer Science, Case Western Reserve University, August 2001
25 Seto, D. J. Lehoczky, L. Sha, and K. Shin. On Task Schedulability in Real-Time Control Systems. Proceedings of the IEEE Real-Time Systems Symposium, 1996
26 Anton Cervin. Towards the Integration of Control and Real-Time Scheduling Design. Technical Report. Lund Institute of Technology. Sweden, 2000
27 J.Eker and A.Cervin, A Matlab Toolbox for Real-Time and Control Systems Codesign, Proc. of 6th International Real-Time Computing Systems and Applications Conference, 1999
28 Deepak R. Sahoo, S.Swaminathan, R. Al-Omari, Muri V. Salapaka, G.. Manimaran, Arun K. Somani, Feedback Control for Real-Time Scheduling, Proceedings of the American Control Conference, 2002
29 J. A. Stankovic, C. Lu, S. H. Son, The Case for Feedback Control Real-Time Scheduling, EuroMicro Conference on Real-Time Systems, June 1999.
30 Chenyang Lu, John A. Stankovic, Feedback Control Real-Time Scheduling: Framework, Modeling, and Algorithms. Journal of Real-Time Systems, Special Issue On Control-Theoretical Approaches to Real-Time Computing, 2001