基于多核ARM的数控系统任务调度算法研究

发布时间：2018-06-02 07:41

本文选题：多核ARM + Xenomai　；参考：《中国科学院大学(中国科学院沈阳计算技术研究所)》2017年硕士论文

【摘要】：随着装备制造领域工艺技术的发展和市场竞争的加剧,传统意义上的机床越来越不能满足人们对产品加工效率和精度的要求,数控机床的出现极大的提高了工业制造业的生产力。为了满足高端产品部件对加工精度和生产效率的要求,提高系统性能,需要进一步提高数控系统的任务调度的实时性,这就对数控系统的任务调度策略提出了更高的要求。同时随着数控系统的不断发展,加工工件的复杂度的升高,需要针对数控系统的特点对各个任务的特性做出相应的判断和处理,对任务调度的稳定性的要求也不断提升,这都对目前普遍使用的单核处理器系统提出了巨大的挑战,将多核处理器应用于数控系统具有重要的研究价值和现实意义。本文基于同构的四核ARM处理器平台,研究数控系统任务调度算法和任务调度系统。本文简要介绍了数控系统概念和发展历程,并对多核处理器进行了概述;对Linux操作系统进行了分析,重点研究了Linux在实时性上的局限,提出了优化Linux实时性的可行方案;对Xenomai系统进行了深入分析,借鉴和优化了实时性机制,改进了数控系统的调度策略;针对多核调度算法,对基于表的静态调度算法进行分析,在此基础之上提出THCPFD调度算法以适应数控任务系统;针对单核调度算法,以减小运动控制模块的插补周期延迟为目标对RM算法进行了改进,并提出新的调度算法IRM;基于两种改进的调度算法,设计数控系统的任务调度框架,分别应用于数控系统。在添加了Xenomai实时内核的Linux系统环境下,对新的数控任务调度系统进行实时性的测试和分析,实验结果表明,改进的调度算法和任务调度系统有效地改善了数控系统的实时性。
[Abstract]:With the development of technology and market competition in the field of equipment manufacturing, the traditional machine tools can not meet the requirements of product processing efficiency and precision. The emergence of numerical control machine tools greatly improves the productivity of the industrial manufacturing industry. In order to meet the requirements of machining precision and production efficiency of high-end products and improve the performance of the system, it is necessary to further improve the real-time performance of the task scheduling of CNC system, which puts forward a higher request to the task scheduling strategy of CNC system. At the same time, with the development of NC system and the increasing complexity of machining workpiece, it is necessary to judge and deal with the characteristics of each task according to the characteristics of CNC system, and the requirement of task scheduling stability is also increasing. All of these put forward a great challenge to the single-core processor system which is widely used at present. It has important research value and practical significance to apply multi-core processor to numerical control system. In this paper, the task scheduling algorithm and task scheduling system of CNC system are studied based on the isomorphic four-core ARM processor platform. This paper briefly introduces the concept and development of NC system, summarizes the multi-core processor, analyzes the Linux operating system, focuses on the limitation of Linux in real-time, and puts forward a feasible scheme to optimize the real-time performance of Linux. The Xenomai system is deeply analyzed, the real-time mechanism is optimized and the scheduling strategy of NC system is improved, and the static scheduling algorithm based on table is analyzed for multi-core scheduling algorithm. On this basis, THCPFD scheduling algorithm is proposed to adapt to NC task system, and the RM algorithm is improved to reduce the interpolation period delay of motion control module for single core scheduling algorithm. A new scheduling algorithm IRM is proposed and a task scheduling framework is designed based on two improved scheduling algorithms which are applied to NC system respectively. The real-time performance of the new NC task scheduling system is tested and analyzed under the Linux system environment with Xenomai real-time kernel. The experimental results show that the improved scheduling algorithm and the task scheduling system can effectively improve the real-time performance of the NC system.
【学位授予单位】：中国科学院大学(中国科学院沈阳计算技术研究所)
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TG659;TP301.6

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