基于多核ARM的数控系统实时性研究①.PDFVIP

计 算 机 系 统 应 用 2017 年 第 26 卷 第 5 期 ① 基于多核ARM 的数控系统实时性研究 1,2 2 2 2 1,2 1,2 1,2 王颖慧 , 郭锐锋 , 韩卫光 , 尹震宇 , 邓昌义 , 彭阿珍 , 吴昊天 1( 中国科学院大学, 北京 100049) 2( 中国科学院 沈阳计算技术研究所, 沈阳 110168) 摘 要: 随着数控系统的不断发展, 数控系统对精度和速度有了更高的要求, 这都对当前普遍采用的单核处理器 平台提出了严峻的挑战. 基于同构的四核ARM 处理器平台, 在添加了实时补丁的Linux 系统环境下, 根据数控系 统中硬实时任务、软实时任务、非实时任务并存的特点, 把数控系统任务合理的分配到多核 ARM 上运行, 并采 用改进的 RM 算法进行调度, 最后对新的任务调度算法进行实时性能测试. 本调度模型能够解决了数控系统混合 任务调度的问题, 并能满足数控系统对实时性的要求. 关键词: 多核 ARM ; 实时调度; RM 算法; IRM 算法 Real-Time Performance of CNC System Based on Multi-Core ARM 1,2 2 2 2 1,2 1,2 WANG Ying-Hui , GUO Rui-Feng , HAN Wei-Guang , YIN Zhen-Yu , DENG Chang-Yi , PENG A-Zhen , WU Hao-Tian1,2 1(University of Chinese Academy of Sciences, Beijing 100049, China) 2(Shenyang Institute of Computing Technology, Chinese Academy of Sciences, Shenyang 110168, China) Abstract: With the continuous development of computer numerical control (CNC) system, there are higher requirements of accuracy and speed for CNC system, which brings grave challenge for the current most widely used single-core processor platform. In this paper, based on isomorphic quad core ARM processor platform which is under the Linux system environment with the real-time patch, according to the characteristic of hard real-time tasks, soft real-time tasks and non real-time tasks running parallel in the CNC system, the CNC system tasks are distributed to multi-core ARM reasonably. The improved RM algorithm is used to schedule. Finally execute the real-time performance test for the new scheduling algorithm. This