具备约束的实时调度关键问题的研究
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摘要
随着嵌入式技术的迅猛发展以及嵌入式应用复杂性的不断攀升,当今嵌入式系统的应用环境通常包含多种类型的应用需求,而对于系统进行满足实时约束的服务不再是实时调度的唯一目标。为了能够正确的执行系统功能,在系统调度的过程中,还需要考虑任务间的偏序约束、任务间的资源共享约束以及为任务提供满足QoS要求的服务等问题。
虽然传统的实时调度理论及其相关模型仍是目前实时系统中实时调度的理论基础,但仅仅使用任务的基本时间特征来作出系统的调度决策并不能充分满足多种类型的应用需求,而且单一的调度目标往往不能够满足具备其他约束的实时系统需要。因此在确保满足实时任务可调度性这一根本需求的前提下,如何根据具体应用的实际约束需求进行正确有效的调度,是目前实时调度研究领域需要解决的关键问题。本文主要对具备约束的实时调度问题进行研究,主要包括具备偏序约束的实时调度问题和具备QoS约束的实时调度问题。
具备偏序约束的实时调度问题源于实际应用中特定功能的设计要求,这样的实时应用通常被设计为在计算资源上调度运行的交互任务,由于这些并行任务要实现整体计算,因此任务间需要满足执行的优先顺序关系来确保整体功能的正确性。为了解决在线调度算法无法处理释放时间任意的任务集的问题,本文以并行拓扑排序原理为基础,通过任务间的并行性和串行性分析来在线确定不可抢占调度序列,可证明该方法在任务按偏序约束层次释放时最优。离线调度是解决具备偏序约束调度问题的另一个手段,本文通过对具备偏序约束的实时任务集的不可抢占调度的分析,将调度约束总结为任务的实时约束、任务间的偏序约束以及调度序列中不可抢占的序列约束,将这三种约束转换为线性规划求解问题的标准约束形式,采用分支检测策略,不断修正调度序列约束来进行规划,以求解满足偏序和实时约束的可行调度序列。
具备QoS约束的实时调度问题来自嵌入式实时系统在控制系统、网络通信系统、工业网络系统等领域中的应用,在这类应用中,在有限时间区间内部分任务截止期的错过不会影响整个应用的性能,但这种截止期不满足的情况需要在QOS约束允许的范围内。本文提出满足QoS约束的在线调度算法,基于任务周期和实时QoS约束采用RM调度策略进行任务固定优先级设置,根据当前实时约束参数满足情况的统计将任务在抢占和可选间进行调整,以时刻反映任务当前的QoS服务等级需求,同时为了满足系统对高负载的适应性,该算法可以结合QoS适度退化机制,在保证为紧要任务提供满足最低QoS的服务的前提下,最大限度的为所有任务提供有效的服务。该算法即具备了静态调度算法可以进行可调度判定的优点,又能够像动态调度算法那样根据系统负载动态设定任务的执行模式。本文还针对具备QoS约束的实时系统在能耗约束系统中的应用,基于遗传算法提出最小化能耗的任务执行模式的离线优化方案,并针对于采用标准遗产算法求解任务的最佳执行模式出现“早熟”等问题,将模拟退火算法引入到遗传算法变异过程形成混合遗传算法,提高最优解的搜索性能。
在对两个约束调度目标、四种调度策略的论述过程中,本文分别使用算例分析、仿真实验等手段验证了所提出调度算法的正确性和有效性。
With the rapid development of embedded technology and the continuous rising of the complexity of embedded applications, embedded systems and application environments typically contain multiple types of application requirements, and to provide the service satisfying the real-time constraint to the system is not the only goal of real-time scheduling. In order to execute system function correctly, in the system scheduling process, it is needed to consider the precedence constraint among tasks, resource sharing constraint among tasks providing service satisfying task QoS requirement and so on.
While traditional real-time scheduling theory and related models are still the theoretical basis for real-time scheduling, but the needs of various types of applications can not be fully met by system which only use the basic time characteristics of the task to make scheduling decision, and scheduling with a single objective often does not satisfy other constraints of real-time systems. Therefore, under the premise of ensuring to meet the real-time task schedulability, how to schedule correctly and effectively basing on the practical constraints of specific application requirements becomes the key issue of real-time scheduling research field. The problem on real-time scheduling with constraint is researched in this paper, which mainly includes real-time scheduling with precedence constraint and real-time scheduling with QoS constraint.
Real-time scheduling with precedence constraint stems from the specific function design requirements of practical application. In these system, real-time applications are usually designed into interactive tasks running on the computing resource. Because these parallel tasks are designed to achieve whole computing funciton, the excuting sequence of tasks is needed to meet the precedence constraint to ensure the correctness of the whole function. In order to address on-line scheduling algorithm problem of the inefficacy to process tasks with random release time, basing on parallel topological sorting principle, an online scheduling algorithm is presented in this paper, which determines non-preemptive scheduling sequence through the analysis of parallel relation and serial relation in taskset. The algorithm is proved to be optimal when task set releases according to level of precedence constraint. Off-line scheduling is another way to solve real-time scheduling with precedence constraint. Through the anylasis of non-preemptive scheduling of real-time task set with precedence constraint, this paper concludes that there are three scheduling contstraints:real-time constraint of tasks, precedence constraint among tasks and non-preemption constraint in scheduling sequence. After convertion to the standard form in linear programming of these three kinds of constraints, this paper uses branch testing strategy which constantly modifies the scheduling sequence bound to abtain feasible scheduling sequence satisfying precedence constraint.
Real-time scheduling with QoS constraint of embedded real-time system stems from the applications in control system, network communication system, industrial network systems. In such applications, missing the deadline of some tasks within limited time interval does not affect the entire performance of application, but this situation must be permitted by QoS constraint. An online scheduling algorithm satisfying QoS constraint is presented in this paper, which sets the fixed priority of task with RM scheduling policy based on task period and real-time QoS constraint. In order to reflect the pressure of the current QoS service level requirement, the algorithm switches the task between preemptive status and optional status based on the current statistical situation of the satisfying of real-time constraint. At the same time, in order to meet the adaptability to system for high loads, the algorithm can be combined with the mechanism of moderate degradation of QoS which tries to provide valid service to all tasks under the premise of ensuring the service statisfying the minimum QoS to critical tasks.The algorithm not only has the merits of static scheduling algorithm that can do schedulablity test, but also can set the executing pattern of task dynamicly according to system load just like dynamic scheduling algorithm. Aimed at the applying of real-time system with QoS constraint in the power restraint system, this paper also presents off-line optimization scheme of task executing pattern based on genetic algorithm to minimize power consumption, and targeted at the "premature" problem in using standard algorithm for solving best executiong pattern of task, a hybrid genetic algorithm is presented which imports simulated annealing algorithm during mutaion to improve the search performance of the optimal solution.
During the process of discussion of two scheduling with constraint and four scheduling strategy, example analysis, simulation and other means of verification are used in this paper to test the correctness and effectiveness of proposed scheduling algorithm.
虽然传统的实时调度理论及其相关模型仍是目前实时系统中实时调度的理论基础,但仅仅使用任务的基本时间特征来作出系统的调度决策并不能充分满足多种类型的应用需求,而且单一的调度目标往往不能够满足具备其他约束的实时系统需要。因此在确保满足实时任务可调度性这一根本需求的前提下,如何根据具体应用的实际约束需求进行正确有效的调度,是目前实时调度研究领域需要解决的关键问题。本文主要对具备约束的实时调度问题进行研究,主要包括具备偏序约束的实时调度问题和具备QoS约束的实时调度问题。
具备偏序约束的实时调度问题源于实际应用中特定功能的设计要求,这样的实时应用通常被设计为在计算资源上调度运行的交互任务,由于这些并行任务要实现整体计算,因此任务间需要满足执行的优先顺序关系来确保整体功能的正确性。为了解决在线调度算法无法处理释放时间任意的任务集的问题,本文以并行拓扑排序原理为基础,通过任务间的并行性和串行性分析来在线确定不可抢占调度序列,可证明该方法在任务按偏序约束层次释放时最优。离线调度是解决具备偏序约束调度问题的另一个手段,本文通过对具备偏序约束的实时任务集的不可抢占调度的分析,将调度约束总结为任务的实时约束、任务间的偏序约束以及调度序列中不可抢占的序列约束,将这三种约束转换为线性规划求解问题的标准约束形式,采用分支检测策略,不断修正调度序列约束来进行规划,以求解满足偏序和实时约束的可行调度序列。
具备QoS约束的实时调度问题来自嵌入式实时系统在控制系统、网络通信系统、工业网络系统等领域中的应用,在这类应用中,在有限时间区间内部分任务截止期的错过不会影响整个应用的性能,但这种截止期不满足的情况需要在QOS约束允许的范围内。本文提出满足QoS约束的在线调度算法,基于任务周期和实时QoS约束采用RM调度策略进行任务固定优先级设置,根据当前实时约束参数满足情况的统计将任务在抢占和可选间进行调整,以时刻反映任务当前的QoS服务等级需求,同时为了满足系统对高负载的适应性,该算法可以结合QoS适度退化机制,在保证为紧要任务提供满足最低QoS的服务的前提下,最大限度的为所有任务提供有效的服务。该算法即具备了静态调度算法可以进行可调度判定的优点,又能够像动态调度算法那样根据系统负载动态设定任务的执行模式。本文还针对具备QoS约束的实时系统在能耗约束系统中的应用,基于遗传算法提出最小化能耗的任务执行模式的离线优化方案,并针对于采用标准遗产算法求解任务的最佳执行模式出现“早熟”等问题,将模拟退火算法引入到遗传算法变异过程形成混合遗传算法,提高最优解的搜索性能。
在对两个约束调度目标、四种调度策略的论述过程中,本文分别使用算例分析、仿真实验等手段验证了所提出调度算法的正确性和有效性。
With the rapid development of embedded technology and the continuous rising of the complexity of embedded applications, embedded systems and application environments typically contain multiple types of application requirements, and to provide the service satisfying the real-time constraint to the system is not the only goal of real-time scheduling. In order to execute system function correctly, in the system scheduling process, it is needed to consider the precedence constraint among tasks, resource sharing constraint among tasks providing service satisfying task QoS requirement and so on.
While traditional real-time scheduling theory and related models are still the theoretical basis for real-time scheduling, but the needs of various types of applications can not be fully met by system which only use the basic time characteristics of the task to make scheduling decision, and scheduling with a single objective often does not satisfy other constraints of real-time systems. Therefore, under the premise of ensuring to meet the real-time task schedulability, how to schedule correctly and effectively basing on the practical constraints of specific application requirements becomes the key issue of real-time scheduling research field. The problem on real-time scheduling with constraint is researched in this paper, which mainly includes real-time scheduling with precedence constraint and real-time scheduling with QoS constraint.
Real-time scheduling with precedence constraint stems from the specific function design requirements of practical application. In these system, real-time applications are usually designed into interactive tasks running on the computing resource. Because these parallel tasks are designed to achieve whole computing funciton, the excuting sequence of tasks is needed to meet the precedence constraint to ensure the correctness of the whole function. In order to address on-line scheduling algorithm problem of the inefficacy to process tasks with random release time, basing on parallel topological sorting principle, an online scheduling algorithm is presented in this paper, which determines non-preemptive scheduling sequence through the analysis of parallel relation and serial relation in taskset. The algorithm is proved to be optimal when task set releases according to level of precedence constraint. Off-line scheduling is another way to solve real-time scheduling with precedence constraint. Through the anylasis of non-preemptive scheduling of real-time task set with precedence constraint, this paper concludes that there are three scheduling contstraints:real-time constraint of tasks, precedence constraint among tasks and non-preemption constraint in scheduling sequence. After convertion to the standard form in linear programming of these three kinds of constraints, this paper uses branch testing strategy which constantly modifies the scheduling sequence bound to abtain feasible scheduling sequence satisfying precedence constraint.
Real-time scheduling with QoS constraint of embedded real-time system stems from the applications in control system, network communication system, industrial network systems. In such applications, missing the deadline of some tasks within limited time interval does not affect the entire performance of application, but this situation must be permitted by QoS constraint. An online scheduling algorithm satisfying QoS constraint is presented in this paper, which sets the fixed priority of task with RM scheduling policy based on task period and real-time QoS constraint. In order to reflect the pressure of the current QoS service level requirement, the algorithm switches the task between preemptive status and optional status based on the current statistical situation of the satisfying of real-time constraint. At the same time, in order to meet the adaptability to system for high loads, the algorithm can be combined with the mechanism of moderate degradation of QoS which tries to provide valid service to all tasks under the premise of ensuring the service statisfying the minimum QoS to critical tasks.The algorithm not only has the merits of static scheduling algorithm that can do schedulablity test, but also can set the executing pattern of task dynamicly according to system load just like dynamic scheduling algorithm. Aimed at the applying of real-time system with QoS constraint in the power restraint system, this paper also presents off-line optimization scheme of task executing pattern based on genetic algorithm to minimize power consumption, and targeted at the "premature" problem in using standard algorithm for solving best executiong pattern of task, a hybrid genetic algorithm is presented which imports simulated annealing algorithm during mutaion to improve the search performance of the optimal solution.
During the process of discussion of two scheduling with constraint and four scheduling strategy, example analysis, simulation and other means of verification are used in this paper to test the correctness and effectiveness of proposed scheduling algorithm.
引文
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