The Transactions of the Korean Institute of Electrical Engineers D (대한전기학회논문지:시스템및제어부문D)

The Korean Institute of Electrical Engineers (대한전기학회)
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Development of Coordinated Scheduling Algorithm and End-to-end Delay Analysis for CAN-based Distributed Control Systems

CAN기반 분산 제어시스템의 종단 간 지연시간 분석과 협조 스케줄링 알고리즘 개발

  • 이희배 (명지대 공대 정보공학과) ;
  • 김홍열 ((주)캐리어기술연구) ;
  • 김대원 (명지대학교 공대 정보공학과)
  • Published : 2004.07.01
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Abstract

In this paper, a coordinated scheduling algorithm is proposed to reduce end-to-end delay in distributed control of systems. For the algorithm, the analysis of practical end-to-end delay in the worst case is performed priory with considering implementation of the systems. The end-to-end delay is composed of the delay caused by multi-task scheduling of operating systems, the delay caused by network communications, and the delay caused by asynchronous timing between operating systems and network communications. Through some simulation tests based on CAN(Controller Area Network), the proposed worst case end-to-end delay analysis is validated. Through the simulation tests, it is also shown that a real-time distributed control system designed to existing worst case delay cannot guarantee end-to-end time constraints. With the analysis, a coordinated scheduling algorithm is proposed here. The coordinated scheduling algorithm is focused on the reduction of the delay caused by asynchronous timing between operating systems and network communications. Online deadline assignment strategy is proposed for the scheduling. The performance enhancement of the distributed control systems by the scheduling algorithm is shown through simulation tests.

Keywords

References

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