开放式控制系统软总线及调度的实现
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摘要
随着工业化大生产的发展,自动化技术在人们生产和生活领域的应用越来越广泛。因此控制系统的研究一直在国内外倍受关注和重视。其中开放式控制系统的研究更是其中的热点。
为了使开放控制系统耦合性降低,进一步提高系统的开放性,使系统的配置和重构更方便,本文将介绍一种采用轻量级SOA架构,以软总线为核心的开放式控制系统。这种基于软总线和松耦合的结构,使得整个系统的开放性得到很大增强。其中软总线的设计是整个系统的核心,直接关系到控制系统的性能。本文将对软总线及调度框架的设计和实现进行探讨。
本文首先介绍了基于LSOA(Light weight Service Oriented Architecture)的开放式控制系统的概念和结构。然后着重介绍控制系统的核心模块——软件总线的设计和实现。总线层是整个控制系统的核心,主要完成的功能有针对客户请求自动完成服务流程的执行,对服务层中的服务组件进行管理,对服务层的状态进行监控,完成服务层与应用层之间的通信。其中自动完成服务流程的处理,为用户提供中介流,使客户和具体服务之间相互透明是总线模块的一个重要功能。本文针对这些需求设计了软总线的逻辑处理模块,可以支持带分支结构的服务流程。
此外,总线的调度模块也是开放式控制系统中最重要的部分之一。本文将结合基于LSOA架构和服务流程的特点,采用端到端任务模型对服务流程进行建模。并对调度模块在RTX平台的实现机制进行探讨。
最后,以原型系统为平台进行控制实验,以验证总线中业务逻辑处理模块和总线调度模块的功能和性能。结果证明总线业务逻辑处理和调度模块基本达到预期效果。
With the continuous development of science and technology, Automatization has becoming more and more important in industry and people. So research on real-time control system special open real-time control system is becoming more and more popular.
Current commercial robot control systems are basically used the independent structure based on their own development, using special-purpose computers, special machine language, specific operating systems and microprocessor-specific features. This paper introduces a light weight service-oriented architecture (LSOA) .based open control system, which is loosely coupled, with flexibility of reconstruction. The system is based on a software bus core, which grantee the flexibility of reconstruction of the system.
This paper proposed the whole framework of the control system based on LSOA firstly. The design and realization of the core components of the system will be describe in detail, which is software bus. The software bus is providing a mechanism to manage the service component in the system, monitor the status of the services and provide communicating support to services.
Among all the features in the software bus, providing a operation flow control mechanism as a mediation between client and server and the real-time scheduling module are the most important parts. We discuss the theory basis the realization based on windows real time extension of this two parts in detail.
Finally, a experiment with the PMAC and Servo Electromotor will be conducted to test the functionality and performance of the software bus.
为了使开放控制系统耦合性降低,进一步提高系统的开放性,使系统的配置和重构更方便,本文将介绍一种采用轻量级SOA架构,以软总线为核心的开放式控制系统。这种基于软总线和松耦合的结构,使得整个系统的开放性得到很大增强。其中软总线的设计是整个系统的核心,直接关系到控制系统的性能。本文将对软总线及调度框架的设计和实现进行探讨。
本文首先介绍了基于LSOA(Light weight Service Oriented Architecture)的开放式控制系统的概念和结构。然后着重介绍控制系统的核心模块——软件总线的设计和实现。总线层是整个控制系统的核心,主要完成的功能有针对客户请求自动完成服务流程的执行,对服务层中的服务组件进行管理,对服务层的状态进行监控,完成服务层与应用层之间的通信。其中自动完成服务流程的处理,为用户提供中介流,使客户和具体服务之间相互透明是总线模块的一个重要功能。本文针对这些需求设计了软总线的逻辑处理模块,可以支持带分支结构的服务流程。
此外,总线的调度模块也是开放式控制系统中最重要的部分之一。本文将结合基于LSOA架构和服务流程的特点,采用端到端任务模型对服务流程进行建模。并对调度模块在RTX平台的实现机制进行探讨。
最后,以原型系统为平台进行控制实验,以验证总线中业务逻辑处理模块和总线调度模块的功能和性能。结果证明总线业务逻辑处理和调度模块基本达到预期效果。
With the continuous development of science and technology, Automatization has becoming more and more important in industry and people. So research on real-time control system special open real-time control system is becoming more and more popular.
Current commercial robot control systems are basically used the independent structure based on their own development, using special-purpose computers, special machine language, specific operating systems and microprocessor-specific features. This paper introduces a light weight service-oriented architecture (LSOA) .based open control system, which is loosely coupled, with flexibility of reconstruction. The system is based on a software bus core, which grantee the flexibility of reconstruction of the system.
This paper proposed the whole framework of the control system based on LSOA firstly. The design and realization of the core components of the system will be describe in detail, which is software bus. The software bus is providing a mechanism to manage the service component in the system, monitor the status of the services and provide communicating support to services.
Among all the features in the software bus, providing a operation flow control mechanism as a mediation between client and server and the real-time scheduling module are the most important parts. We discuss the theory basis the realization based on windows real time extension of this two parts in detail.
Finally, a experiment with the PMAC and Servo Electromotor will be conducted to test the functionality and performance of the software bus.
引文
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[2] The Authorized Guide to Version 3 of the Single UNIX Specification. The Open Group,2002
[3] V.Poppeova, J.Uricek, R.Zahoransky, T.Galbavy, K.Muller, and S.Schmeisser. The Development of Robot Control, Robot Simulation and Digital Image Processing[J]. Komunikacie, 2005, 7(1): 41-46
[4] Bo You, Dongjie Li, Suju Liu. Design of DSP-based Open Control System for Industrial Robot[A]. Automation and Logistics[C], 2007 IEEE International Conference on Digital Object Identifier: 10.1109/ICAL.2007.4338825 Publication Year: 2007 : 1585 - 1590
[5] Leahy M B, Petroski S B. Unified telerobotic architecture project program overview[A]. In: Proceedings of the 1994, IEEE International Conference on Intelligent Robots & Systems ( IROS) [C]:240
[6] Golden E Herrin. Open Architecture Controllers(OMAC) [J]. Modern Machine Shop,1996, (4): 160-162
[7] Golden E Herrin. Next generantion manucfacturing system(NGMS)[J]. Modern Machine Shop,1997, (1): 156-158
[8] Liu Yuan, Wang Yong-zhang, Fu Hong-ya. An open architecture motion controller for CNC machine tools[A]. Systems and Control in Aerospace and Astronautics[A], 2008. ISSCAA 2008[C]. 2nd International Symposium on 2008 : 1 - 4
[9] Albus J S, Mcain H G, Lumia R. NASA/ NBS standard reference model for telerobot control system architecture(NASREM) [J]. National Institute of Standards and Technology , Gaithersburg , MD , 1989
[10] Kolla. S, Michaloski. J, Rippey. W. Evaluation of component-based reconfigurable machine controllers[J]. World Automation Congress 2002. Vol(14): 625– 630
[11]李智,刘宝霞.基于OSACA的开放式机器人控制体系结构的研究[J].组合机床与自动化加工技术, 2003,03
[12]王宇晗,潘家蕙,吴祖育. OSACA开放结构规范及平台软件研究[J].机电一体化,1999, 2: 20-25
[13]郭伟,岳艳红,闫发军等.一种开放式通用机器人控制器的研究与设计[J]高技术通讯, 2001.7: 79-81
[14]武传宇.基于PC+DSP模式的开放式机器人控制系统及其应用研究[D].浙江大学博士学位论文, 2002年10月
[15]王伟,赵雁南,徐华,贾培发.基于面向服务架构的分布式开放控制系统[J].高技术通信,2007, 1
[16]罗志刚,开放式运动控制系统设计[M].华中科技大学硕士学位论文,2007年6月
[17] William E Ford. What is an Open Architecture RobotController?[A]. 1994 IEEE International Symposium on Intelligent Control[C], 16-18 August,1994.Columbus,Ohio,USA
[18] Munich.M.E, Ostrowski.J, Pirjanian.P. ERSP: a software platfoDM and architecture for the service robotics industry [J]. Intelligent Robots and Systems, 2005: 460 - 467
[19] Tsai. W. T, Huang Qian, Sun Xin. A Collaborative Service-Oriented Simulation Framework with Microsoft Robotic Studio? [J]. Simulation Symposium, 2008. ANSS 2008: 263 - 270
[20] Bruyninckx. H, Soetens.P, Koninckx.B. The real-time motion control core of the Orocos project [A]. Robotics and Automation[C], 2003. Proceedings. ICRA '03. Vol(2):2766 - 2771
[21] Baillie.J.C. URBI: towards a universal robotic low-level programming language[A]. Intelligent Robots and Systems[C], IEEE/RSJ International Conference,2005 :820 - 825
[22] Magyar. B, Forhecz.Z, Korondi. P. Developing an efficient mobile robot control algorithm in the Webots simulation environment[A]. Industrial Technology[C], 2003 IEEE International Conference Vol(1), 2003 :179 - 184
[23] Rusu. R. B, Robotin. R, Lazea. G, et al. Towards Open Architectures for Mobile Robots: ZeeRO, Automation, Quality and Testing, Robotics[A]. 2006 IEEE InternationalConference 2006 Vol(2) :260 - 265
[24] Sun J. Fixed-Priority End-to-End Scheduling in Distributed Real-Time Systems[D]:[Ph. D. Thesis].Urbana-Champaign,Illinois:University of Illinois,Urbana-Champaign,1997
[25]谭朋柳.开放式实时系统任务调度的研究[D]华中科技大学博士学位论文. 2008年12月
[26]童庆.基于SOA的电子政务平台服务库注册中心研究与实现[D]清华大学硕士学位论文. 2008年12月
[27] Tarek A. W. Al. Enaway, Hakan Aydin:Enegry Aware Task Allocation of Rate Monotonic Seheduling. IEEE Real-Time and Embedded Technology and Applications Symposium2005,212-223P.
[28] E. Bini,.GC.Buttazzo,and G.M. Buttazzo,Rate Monotonic Scheduling: The Hypebolic Bound. IEEE Trans. Computers. July2003,vol.52,no.7:932-942P
[29] Enrico Bini, G.C. Buttazzo. Schedulability Analysis of Periodic Fixed Priority Systems. IEEE Trans actions on Computers.2004,vol.53,no.11:1462-1473P
[30] Rodolfo Pellizzoni, Giuseppe Lipari. Improved Schedulability Analysis of Real-Time Ttransactions with Earliest Deadline Scheduling.1lth IEEE Real Time and Embedded Technology and Applications Symposium(RTAS’05),2005,66-75P
[31] Theodore. P. Baker An Analysis of EDF Schedulability on a Multiprocessor, IEEE Transactions on Parallel and Disrtibuted Systems,Aug.2005,vol.16,no.8:760-768P
[32] Marko Bertogna, Michele Cirinei, Giuseppe Lipari. Improved Schedulability Analysis of EDF on Multiprocessor PlatfoDMs.17th Euromicro Conefernce on Real-Time Systems (ECTRS’05),2005,209-21SP
[30]柴晓路. Web Services架构与开放互操作技术[M].清华大学出版社, 2002.
[31]刘斌.基于总线通道技术的SOA架构实现[D].上海交通大学硕士学位论文, 2006年7月
[32]刘义才.基于软件总线的嵌入式集成开发环境的研究与设计[D].电子科技大学硕士论文, 2006年5月
[33]王雪霞.软件总线调度控制系统的研究与实现[D].华北电力大学硕士学位论文, 2005年12月
[34]王中武.软总线体系结构研究[J].现代电子技术, 2006, 04
[35] C L Liu, J W Layland. Scheduling Algorithms for Multiprogramming in a Hard Real-Time Environments[J]. Journal of the ACM , 1973, 20(1): 40-61
[36]沈卓炜.混合任务实时CORBA系统调度模型及其可调度性的研究[D].东南大学博士学位论文,2004年4月
[37] Krishna C M,Shin K13.Real-time Systems.USA:McGraw-Hill.1997
[38]彭舰.基于CORBA的分布式系统中实时-容错性的研究[D]电子科技大学博士学位论文203.3.23
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