外文翻譯--truetime計算機資源共享下的閉環(huán)控制模擬

1、外文原文和譯文15th IFAC World Congress on Automatic Control, Barcelona, Spain, July 2002. TrueTime: Simulation of Control Loops Unde Shared Computer ResourcesDan Henriksson, Anton Cervin, KarlErik ÅrzénDepartment of

2、Automatic ControlLund Institute of TechnologyBox 118, SE22100 Lund, Sweden{dan,anton,karlerik}@control.lth.seAbstractThe paper presents TRUETIME, a MATLAB/Simulink-based simulator for real-time control systems. TRUETIME

3、makes it possible to simulate the temporal behavior of multitasking real-time kernels containing controller tasks and to study the effects of CPU and network scheduling on control performance. The simulated Real-time ker

4、nel is event-driven and can handle external interrupts as well as fine-grainedDetails such as context switches. Arbitrary scheduling policies may be defined, and the control tasks may be implemented using C functions, M

5、functions, or Simulink block diagrams. A number of examples that illustrate the use of TRUETIME are presented.1. IntroductionMost computer control systems are embedded systems where the computer is a component within a l

6、arger engineering system. The controllers are often implemented as one or several tasks on a microprocessor using a real-time kernel or a real-time operating system DRTOSE. In most cases the microprocessor also contains

7、other tasks for other functions, e.g., communication and user interfaces. The kernel or OS typically uses multiprogramming to multiplex the execution of the different tasks on a single CPU. The CPU time and the communica

8、tion bandwidth, hence, can be viewed as shared resources which the tasks compete for.Computer-based control theory normally assumes equidistant sampling flexible approaches to dynamic scheduling, e.g., feedback schedulin

9、g [Ekeret al., 2000] and Quality-of-Service (QoS) based scheduling approaches, and to simulate event-based control systems, e.g., combustion engine control systems and distributed controllers.Figure 1 The interfaces to t

10、he Simulink blocks. The Schedule and Monitors ports provide plots of the allocation of common resources (CPU, monitors, network) during the simulation.1.1 Related workWhile numerous tools exist that support either simula

11、tionof control systems (e.g. Simulink) or simulation of real-time scheduling (e.g. STRESS [Audsleyet al., 1994G and DRTSS [Storch and Liu, 1996]) very few tools support co-simulation of control systems and real-time sche

12、duling. An early, tick-based prototype of TRUETIME was presented in [Eker and Cervin, 1999]. Since it was not event-based this early version had very little support for interrupt handling and could not handle fine-graine

13、dsimulation details. Also, there was no support for simulation of networks.The RTSIM real-time scheduling simulator (a standalone C++ program) has recently been extended with a numerical module (based on the Octave libra