MULTITASK SCHEDULING IN NETWORKED CONTROL SYSTEMS WITH APPLICATION TO LARGE SCALE VEHICLE CONTROL

摘要

Aiming at scheduling problems of networked control system (NCS) used to fulfill motion synthesis and cooperation control of the distributed multi-mechatronic systems, the differences of network scheduling and task scheduling are compared, and the mathematic description of task scheduling is presented. A performance index function of task scheduling of NCS according to task balance and traffic load matching principles is defined. According to this index, a static scheduling method is designed and implemented to controlling task set simulation of the DCY 100 transportation vehicle. The simulation results are applied successfully to practical engineering in this case so as to validate the effectiveness of the proposed performance index and scheduling algorithm.