关键词: 数控系统, 多核处理器, 实时操作系统, 能耗, 可靠性, 调度

Abstract: To make full use of parallel ability of multicore for ensuring the real-time system reliability constraints and low power consumption,a novel non-dependent directed acyclic graph algorithm was given based on coarse-grained software pipelining,which could transform a periodic dependency task graph into a set of independent tasks with retiming technique.The system energy consumption could be reduced by task parallel execution and dynamic voltage scaling.In terms of guaranteeing system reliability,the algorithm was divided into two phases: fault-free and fault-tolerant.In the fault-free phase,multiple versions of task were executed at the same time,and results of multiple versions were used for the majority voting to determine whether the task had been executed successfully.If not,the task would enter the fault-tolerant mode.In the fault-tolerant mode,the remaining copies performed the fault tolerance at the highest speed in an exclusive processor.Experimental results showed that the proposed algorithm could reduce the system energy consumption under premise of guaranteeing the reliability of system,which yielded high-reliability and lower energy consumption than the existing algorithms.

Key words: numerical control system, multicore processor, real-time operating system, energy consumption, reliability, scheduling