A method and device for scheduling periodic messages, and a computer-readable storage medium
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A scheduling method and scheduling device technology, applied in the direction of calculation, multi-programming device, program control design, etc., can solve the problems of unoptimized schedule row uniformity, control logic error, poor schedule row uniformity, etc.
Active Publication Date: 2021-09-14
BEIJING GUODIAN ZHISHEN CONTROL TONGDY
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It can be seen that the unevenness of the row arrangement of the schedule table will cause a delay in the periodic communication of one or more variables
When this unevenness is large, the possible periodic communication delay value is also large, and in severe cases, it will cause control logic errors in the control system with WorldFIP fieldbus as the communication network
[0004] At present, there are many methods for constructing the WorldFIP bus schedule, such as the Highest Common Factor / Lowest Common Multiple (HCF / LCM) method, the Monotonic Rate (RateMonotonic, RM) method, and the Minimum Deadline Priority (Earliest Deadline) method. First, EDF) method, delayed release (Deferred Release, DR) method, etc., but these methods all have a common problem, that is, the row uniformity of the dispatch table constructed by them is not optimal, and some methods even construct The row uniformity of the scheduling table is very poor, so it seriously affects the real-time and correctness of bus data communication
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Embodiment 1
[0049] Such as image 3 As shown, a periodic message scheduling method according to an embodiment of the present invention includes the following steps:
[0050] Step 301: Combine the scheduling period values of multiple period variables into an array Φ, use the greatest common divisor of the multiple scheduling period values to reduce each scheduling period value in the array Φ, and obtain the array Φ r ;
[0051] It should be noted that if the number a is divisible by the number b, a is called a multiple of b, and b is called a divisor. The greatest common divisor, also known as the greatest common factor or greatest common factor, refers to the largest of the divisors shared by two or more integers. For example, assuming that the periodic variables to be scheduled are A, B, C, D, E, F, G, H, the refresh periods of each variable are 2ms, 2ms, 4ms, 4ms, 8ms, 8ms, 16ms, 16ms , its greatest common divisor is 2, then the array Φ={2, 2, 4, 4, 8, 8, 16, 16} composed of the ...
Embodiment 2
[0096] The embodiment of the present invention also provides a computer-readable storage medium, one or more programs are stored on the computer-readable storage medium, and the one or more programs can be executed by one or more processors to realize The steps of the method for scheduling periodic messages as described above.
Embodiment 3
[0098] The embodiment of the present invention also provides a periodic message scheduling device, including a processor and a memory, the processor is used to execute the program stored in the memory, so as to realize the scheduling of periodic messages as described above method steps.
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Abstract
The application discloses a periodic message scheduling method and device, and a computer-readable storage medium. The method includes: using the greatest common divisor to reduce the array Φ composed of the scheduling period values of multiple periodic variables to obtain the array Φ r ; when Φ r When there are multiple identical elements not equal to 1 in , the elements are merged to obtain the array Φ rc , Φ rc The elements in the middle have no common divisor and no repeated elements not equal to 1; calculate Φ rc The number of elements equal to 1 in W 1 , and the maximum number of pairwise prime elements W included in the elements not equal to 1 2 , calculate the rank of the schedule W=W 1 +W 2 ;Construct the initial schedule, and adjust the distribution of each periodic variable in the initial schedule, so that the number of periodic variables in each row is less than or equal to the rank of the schedule, and schedule the periodic variables according to the adjusted initial schedule. In this application, by calculating the rank of the scheduling table, the constructed scheduling table has the best row uniformity, and the resulting variable period communication delay is the smallest.
Description
technical field [0001] The present invention relates to but not limited to the technical field of industrial automation, and specifically relates to a periodic message scheduling method and device, and a computer-readable storage medium. Background technique [0002] WorldFIP (World Factory Instrumentation Protocol) fieldbus is a real-time and scheduling fieldbus technology, which is widely used in industrial process control. Dispatch table is an important technology for WorldFIP fieldbus to realize real-time communication. The dispatch table is stored in the bus arbitrator (Bus Arbitrator, BA), and the bus arbitrator realizes the dispatch of periodic data and non-periodic data communication according to the information in the dispatch table, which is the basis for WorldFIP fieldbus network to realize real-time and deterministic communication . Such as figure 1 As shown, the WorldFIP bus scheduling table is composed of several micro-cycles in a macro-cycle. The front part...
Claims
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