A Re-configurable Real-time Controller for Holonic Systems

摘要

At the low control level of a Holonic System, the key requirement is effective real-time control, with adaptability and reconfigurability being supported dynamically at run-time. This paper describes a realtime task controller for supporting the concurrent real-time execution of holonic low-level tasks modeled through the IEC 61499 Function Block specification. The controller is open and expandable, with task control policies that can be added to or changed to meet the special requirements of specific real-time and concurrent systems. Preemptive deadline-driven task scheduling has been chosen as being the most suitable for this components-based approach to holonic low-level control. A UML Class Diagram is used to describe the implementation structure for this RT Task Controller.