CN105893148B - A kind of accidental task low energy consumption dispatching method based on RM strategy - Google Patents
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F9/00—Arrangements for program control, e.g. control units
- G06F9/06—Arrangements for program control, e.g. control units using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
- G06F9/46—Multiprogramming arrangements
- G06F9/50—Allocation of resources, e.g. of the central processing unit [CPU]
- G06F9/5005—Allocation of resources, e.g. of the central processing unit [CPU] to service a request
- G06F9/5027—Allocation of resources, e.g. of the central processing unit [CPU] to service a request the resource being a machine, e.g. CPUs, Servers, Terminals
- G06F9/5038—Allocation of resources, e.g. of the central processing unit [CPU] to service a request the resource being a machine, e.g. CPUs, Servers, Terminals considering the execution order of a plurality of tasks, e.g. taking priority or time dependency constraints into consideration
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- G06F1/3203—Power management, i.e. event-based initiation of a power-saving mode
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Abstract
The invention discloses a kind of accidental task low energy consumption dispatching methods based on RM strategy, are included in front of task set dispatching, distribute the initial priority and execution priority of task；Processor demand under the maximum obstruction time of calculating task and worst case；Task-set is divided into the task-set and the not no task-set of resource requirement of resource requirement, calculates the minimum operation speed for having resource requirement task-set, calculates the minimum operation speed of the not task-set of resource requirement；The speed of service of calculating task collection off-line phase；Free time management queue is established, the free time of calculating task adjusts the processor speed of service using DVS technology, it is ensured that the last speed of service is not less than critical speed.The present invention, which considers general power consumption model, the execution time of task and processor speed, significantly reduces energy consumption in combination with DVS technology and DPM technology at non-linear relation situation and processor speed handover overhead.
Description
Technical field
The present invention relates to the Real-Time Scheduling of the accidental task in embedded system field, in particular to a kind of idol based on RM strategy
Hair task low energy consumption dispatching method.
Background technique
Embedded device in life using more and more extensive, common embedded device such as mobile phone, MP3, IPAD, pen
Remember this computer etc., these equipment are powered using battery, due to limited battery capacity, provided energy consumption be also it is limited, it is right
Energy consumption problem just highlights very much for these portable embedded devices.When the use of equipment can not only be extended by reducing energy consumption
Between, reduce the calorific value of equipment；And the replacement cycle of battery can be reduced.Therefore, low energy consumption becomes setting for embedded device
Count target.Processor is the core of embedded device, power consumption mainly from frequency overturn caused by dynamic power consumption and leakage current
The quiescent dissipation of formation.Dynamic power management (DPM) technology and dynamic voltage regulation (DVS) technology are current reduction system energy consumptions
Common technology.DPM technology is mainly closed by the equipment that would sit idle for reduce system energy consumption.And DVS technology is mainly according to being
The load dynamic regulation processor speed of system reduces system energy consumption.
Many researchers combine classical Real-Time Scheduling theory and Low-power Technology at present, solve the energy consumption of system
Problem.However these researchs are primarily upon periodic task model and hybrid task model.Grinding for accidental task model at present
Study carefully relatively fewer.Existing accidental task low energy consumption dispatching method is suitable for dynamic priority using EDF strategy scheduler task
System ignores the quiescent dissipation and processor speed handover overhead of processor.In addition, these methods assume the execution time of task
It is linear with processor speed.
Summary of the invention
It is an object of the invention to overcome the deficiencies in the prior art, propose a kind of accidental task low energy consumption based on RM strategy
Dispatching method, RM (rate monotonic) strategy are Fixed-priority Scheduling Strategy strategies, and the priority of task by the period of task, (release by minimum
Put interval) it determines, the period (minimum release interval) is smaller, and priority is higher, and the task of high priority preferentially executes.The party
Method is suitable for static priority tasks system, it is contemplated that execution time of general power consumption model, task and processor speed at
Non-linear relation situation, processor speed handover overhead, in combination with DVS technology and DPM technology.
The technical solution adopted by the present invention to solve the technical problems is:
A kind of accidental task low energy consumption dispatching method based on RM strategy, includes the following steps:
The initial priority and execution priority of distribution task；
Processor demand under the maximum obstruction time of calculating task and worst case；
Task-set is divided into the task-set and the not no task-set of resource requirement of resource requirement, has calculated separately resource
Demand task-set and minimum operation speed without resource requirement task-set；
The speed of service of calculating task collection off-line phase；
Establish free time management queue；Recycling task does sth. in advance the free time for completing to generate, and will distribute to free time
The task of highest priority in current time queue, the computation processor current time speed of service；Processor current time is transported
Scanning frequency degree is compared with preset critical speed, and adjusting the processor speed of service using DVS technology ensures it not less than key
Speed.
The initial priority of the distribution task and execution priority include:
The initial priority of task is distributed according to RM strategy, the minimum release interval of task is smaller, and initial priority is got over
It is high；
Task-set is divided into resource requirement and not the task subset of resource requirement；
Calculate the maximum value in all initial priorities for sharing same resource tasks；
If task belongs to the task in no resource requirement task subset, its execution priority is distributed equal to initial priority
Grade；If task belongs to having in resource requirement task subset for task, distribute its execution priority be equal to it is described it is all share it is same
Maximum value in the initial priority of resource tasks.
In processor demand step under the maximum obstruction time of the calculating task and worst case, task TiMaximum
Blocking time B (Ti) indicate are as follows:
Wherein, IPiExpression task TiInitial priority, EPjAnd IPjRespectively indicate task TjExecution priority and initial
Priority, ejExpression task TjExecution time under maximum processor speed under worst case, rjExpression task TjResource need
It asks, k is integer, and value range is 1≤k≤m, and m indicates the number of task sharing resource；
Task TiProcessor demand D under section [0, L] worst case0,LIt indicates are as follows:
Wherein, wherein eiExpression task TiExecution time under maximum processor speed under worst case, L are greater than 0
Real number, value areIt indicates to use resourceAll task minimums discharge interval, piExpression task TiMost
Small release interval, riExpression task TiResource requirement.
The task-set and the not no task-set of resource requirement that task-set is divided into resource requirement, and calculate separately
There is resource requirement task-set and includes: without the minimum operation speed of resource requirement task-set
Task-set is divided into the task-set and the not no task-set of resource requirement of resource requirement；
There is the minimum operation speed LS of resource requirement task-setRT(i) according to the processor need under the worst case of task-set
Calculating is asked, is indicated with following formula:
Wherein, SRT(i, L) indicates that the task-set of resource requirement meets the minimum of its deadline in all tasks of moment L
The speed of service, value areExpression task TjHolding under worst case
Row time, pjExpression task TjMinimum release interval；
There is no the minimum operation speed S of the task-set of resource requirementNRT(i) it is calculated according to the load of task-set, with following public affairs
Formula indicates:
Wherein, DTS indicates the task-set of sustained release, and the interval of each task release time in DTS is both greater than it most
Small release interval, Fc(n) the feasible utilization rate upper bound of RM strategy scheduler task collection is indicated.
The speed of service of the calculating task collection off-line phase is indicated with following formula:
Wherein, Slub(i) indicate that accidental task-set in the minimum speed of service of section [0, L], is indicated with following formula:
The free time is indicated with following formula:
Wherein, WiExpression task TiRemaining execution time under worst case, UiExpression task TiRemaining execute time, τi
Indicate processor speed handover overhead before this moment.
The computation processor current time speed of service includes:
Computation processor current time speed of service S, wherein
By itself and speed SsfpsasrIt is compared；If S > Ssfpsasr, S=S is setsfpsasr；Otherwise the S is remained unchanged.
The speed SsfpsasrCalculation method is as follows:
If when the processor free time, S is arrangedsfpsasr=Smin, the SminFor processor minimum operation speed；
As task TiAn example is discharged, and when it belongs to DTS, improves Ssfpsasr, the amount of raising is
As task TiExample is not discharged, and when it is not belonging to DTS, and current time interval is more than between its minimum release
Every when, reduce Ssfpsasr, reduced amount is
The initial priority of the task is indicated with following formula:
IPi=n-i+1
Wherein, n indicates the number of accidental task in accidental task-set, and i is the integer for being less than or equal to n more than or equal to 1.
Maximum value in all initial priorities for sharing same resource tasks is indicated with following formula:
Wherein, 1≤i≤m, m indicate the number of task sharing resource, rjExpression task TjResource requirement.
The invention has the following beneficial effects:
(1) the accidental task low energy consumption dispatching method provided by the invention based on RM strategy, not only allows for general function
Model, the execution time of task and processor speed are consumed into non-linear relation situation and processor speed handover overhead, and
It can be suitable for the system of static priority tasks, while utilize DVS technology and DPM technology, thus than existing accidental task
Low energy consumption dispatching method saves about 79.37%~82.94% energy consumption；
(2) it can ensure that accidental task is completed to execute in its deadline, and resource can be ensured by the use of mutual exclusion；
(3) reduction of system energy consumption, can reduce the production cost of product, and delay apparatus uses the time, reduces battery
Replacement cycle.
Invention is further described in detail with reference to the accompanying drawings and embodiments, but one kind of the invention is based on RM strategy
Accidental task low energy consumption dispatching method be not limited to the embodiment.
Detailed description of the invention
Fig. 1 is the flow chart schematic diagram of the method for the present invention；
Fig. 2 is the simulation experiment result figure that the embodiment of the present invention normalizes energy consumption and system availability；
Fig. 3 is the simulation experiment result figure that the embodiment of the present invention normalizes energy consumption and task real load.
Specific embodiment
The present invention is described in further detail with reference to the accompanying drawings and embodiments.
Referring to Fig. 1, a kind of resource-constrained accidental task low energy consumption dispatching party based on RM scheduling strategy provided by the invention
Method includes the following steps:
Step 101: distributing the initial priority and execution priority of task；
Specifically, initial priority is allocated according to RM algorithm, the minimum release interval of task is smaller, and priority is just
It is higher；Execution priority is to obtain when the resources such as CPU start and execute to distribute in task, and priority completes execution in task
It is preceding all to remain unchanged；For the task of not resource requirement, initial priority is equal to its execution priority.
Further, task TiInitial priority IPiIt is distributed according to RM algorithm, value IPi=n-i+1, i indicate to appoint
Be engaged in TiSubscript, value integer between 1≤i≤n, wherein n be accidental task-set in accidental task number；Task it is initial
The numerical value of priority is bigger, and priority is higher.
It is all to use resource RiTask highest priority πiIt indicates, value is calculated by following formula:
Wherein, 1≤i≤m, m indicate the number of task sharing resource, and n indicates the number of accidental task in accidental task-set,
rjIt is task TjResource requirement, IPjRespectively indicate task TjInitial priority.
The execution priority distribution method of task is as follows: task-set is divided into two disjoint subset A and B.Set A
In task there is no resource requirement, the task in set B has resource requirement.The execution priority of task in set A is equal to it
Initial priority.The execution priority of task in set B is equal in all initial priorities for sharing same resource tasks
Maximum value.For the task T in set Bi, execution priority EPi=πi。
Step 102: the processor demand under the maximum obstruction time of calculating task and worst case；
Specifically, task TiMaximum obstruction time B (Ti) be as caused by the initial priority task lower than it,
Value isWherein ejIt is task TjWhen execution under maximum processor speed under worst case
Between, rjIt is task TjResource requirement, k is integer, and value range is 1≤k≤m, and m indicates the number of task sharing resource,
EPjAnd IPjIt is task T respectivelyjExecution priority and initial priority.Task TiProcessing under section [0, L] worst case
Device demand D0,L, value isWherein eiExpression task TiThe worst case under maximum processor speed
Under the execution time, L is real number greater than 0, and value isIt indicates to use resourceAll tasks it is minimum
Release interval, piExpression task TiMinimum release interval, riExpression task TiResource requirement.
Step 103: task-set being divided into the task-set and the not no task-set of resource requirement of resource requirement, is counted respectively
Calculation has resource requirement task-set and the minimum operation speed without resource requirement task-set；
Specifically, task-set to be divided into the task-set and the not no task-set of resource requirement of resource requirement；There is resource
The minimum operation speed LS of demand task-setRT(i) it is calculated according to the processor demand under the worst case of task-set, without resource
The task minimum operation speed S of the task-set of demandNRT(i) it is calculated according to the load of task-set, SNRT(i) be set NRT (i) when
It carvesAll tasks meet the minimum speed of service of its deadline, and value is
Wherein DTS is the task-set of sustained release, and the interval of each its release time of task in DTS is both greater than between its minimum release
Every ejIt is task TjExecution time under worst case, pjIt is task TjMinimum release interval, FcIt (n) is that the scheduling of RM strategy is appointed
Business collects the feasible utilization rate upper bound, and value is
SRT(i, L) is that have the task-set of resource requirement at the momentAll tasks meet its deadline
The minimum speed of service, value isAll shared resource RiMinimum
Speed of service SRTThe maximum value LS of (i, L)RT(i) it indicates, value is
Step 104: the speed of service of calculating task collection off-line phase；
Specifically, task TiIn sectionIt is the task that only one has resource requirement, accidental task-set T is in section
The minimum speed of service S of [0, L]lub(i), value Slub(i)=LSRT(i)+SNRT(i,L),If accidental
Business collection more than one task sharing resource, and its shared resource is different, the speed of service L of task-set off-line phasesubIt must expire
The processor demand of all tasks of foot, value are calculated by following formula:
Wherein riIt is task TiResource requirement, DTS is the task-set of sustained release,It is using resourceAll
The minimum release interval of business, piIt is task TiMinimum release interval.
Step 105: establishing free time management queue；Recycling task does sth. in advance the free time for completing to generate, when by the free time
Between distribute to the task of highest priority in current time queue, the computation processor current time speed of service；Processor is worked as
The preceding moment speed of service is compared with preset critical speed, and adjusting the processor speed of service using DVS technology ensures it not
Lower than critical speed.
Specifically, the method for establishing free time management queue α are as follows: by establishing a chained list, task is excellent according to its
First grade sequence arranges, and is placed in this chained list, when the free time of task being equal to 0, it is removed from chained list, when task is complete
When at executing, by it according in its priority orders insertion chained list.
The free time ST that recycling task does sth. in advance to complete to generate is specifically: free time
Wherein WiFor task TiRemaining execution time under worst case, UiFor task TiRemaining execute time, τiFor at this moment it
Front processor speed handover overhead.Specifically, Wi, UiE is all arranged to when beginningi, eiWhen being the execution under task worst case
Between, with the execution of task, Wi, UiAll reduce, if the time of t unit of task execution, both accordingly reduce the unit of t,
By W when task is completed to executeiIt is set as 0.τiIt is processor speed handover overhead, τi=K | Si-Sj|, K is constant, Si、SjIt is place
Manage the speed of device.
Further, free time is distributed to the task of highest priority in queue at this time, calculates processor at this time and transports
Scanning frequency degree S, value areBy itself and speed SsfpsasrIt is compared, SsfpsasrCalculation method it is as follows:
If when the processor free time, S is arrangedsfpsasr=Smin, SminFor processor minimum operation speed；
As task TiAn example is discharged, and when it belongs to DTS, improves Ssfpsasr, the amount of raising is
As task TiExample is not discharged, and when it is not belonging to DTS, and current time interval is more than between its minimum release
Every when, reduce Ssfpsasr, reduced amount is
As speed S > SsfpsasrWhen, S=S is setsfpsasr；Otherwise speed S is remained unchanged.
Processor speed of service S is compared with preset critical speed, processor is adjusted using DVS technology and runs speed
Degree S ensures it not less than critical speed.The critical speed is the minimum speed of service of system energy consumption, and different processors is crucial
Speed is different.
Further, when processor is in idle condition, judge whether idle interval at this time is greater than processor state
The expense of switching if more using DPM technology, switches the processor into low power consumpting state；Otherwise, it is not processed.Tool
Body, as long as idle interval is greater than the expense of processor state switching, it will automatically switch.
As shown in Fig. 2, being arranged under the execution time (WCET) under the worst case of task and best-case in the present embodiment
The execution time (BCET) ratio be 5, system availability be 0.1 to 0.6, step-length 0.05, it is assumed that processor speed switching
The constant of expense is 0.1.Three kinds of methods are compared in Fig. 2, first, RM/DPP method, this method task is always with maximum place
Device speed is managed to execute；Second, SFPSASR method assume that task is executed with the execution time under its worst case in this method, no
The dynamic idle time can be recycled, DVS technical energy saving is only utilized；Third, method of the invention, this method is in combination with DVS skill
Art and DPM technology consider processor speed handover overhead, can reduce energy consumption using the dynamic idle time；Exist in RM/DPP method
It is normalized on the basis of energy consumption when system availability is 0.6.From figure 2 it can be seen that the methodical energy consumption of institute all by
The influence of system availability, system availability rise, and the methodical normalization energy consumption of institute rises；This is because system availability is got over
The execution time of height, each task increases.Method of the invention has been compared with other methods apparent advantage, with RM/DPP method
Compared to the energy consumption for saving 73.68%~85.22%, 49.08%~64.89% energy consumption is saved compared with SFPSASR.
As shown in figure 3, it is 0.31812 that system availability, which is arranged, in Fig. 3 in the present embodiment, task real load is investigated to energy
The ratio of the influence of consumption, WCET and BCET are from 1 to 10, step-length 1, it is assumed that and the constant of processor speed handover overhead is 0.1, with
RM/DPP algorithm is normalized on the basis of the ratio of WCET and BCET is 1 energy consumption.The method and Fig. 2 compared in Fig. 3
It is identical.From figure 3, it can be seen that the energy consumption of RM/DPP method is influenced by the ratio of WCET and BCET；WCET and BCET
Ratio rise, normalization energy consumption decline；This is because the ratio of WCET and BCET is higher, the true execution time of task is got over
It is small.The variation of the ratio of WCET and BCET, the influence to SFPSASR method and method of the invention are little.This is primarily due to
Rate limitation of the speed of service of both methods task by task-set off-line phase.The energy consumption of method of the invention is below
The energy consumption of other methods is saved 79.37%~82.94% energy consumption compared with RM/DPP method, is saved compared with SFPSASR
42.14%~51.73% energy consumption about.
The foregoing is merely presently preferred embodiments of the present invention, is not intended to limit the invention, it is all in spirit of the invention and
Within principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of accidental task low energy consumption dispatching method based on RM strategy characterized by comprising
The initial priority and execution priority of distribution task；
Processor demand under the maximum obstruction time of calculating task and worst case；
Task-set is divided into the task-set and the not no task-set of resource requirement of resource requirement, has calculated separately resource requirement
Task-set and minimum operation speed without resource requirement task-set；
The speed of service of calculating task collection off-line phase；
Establish free time management queue；Recycling task does sth. in advance the free time for completing to generate, and will distribute to free time currently
The task of highest priority in moment queue, the computation processor current time speed of service；Processor current time is run into speed
Degree is compared with preset critical speed, and adjusting the processor speed of service using DVS technology ensures it not less than critical speed.
2. the accidental task low energy consumption dispatching method according to claim 1 based on RM strategy, which is characterized in that described point
Initial priority and execution priority with task include:
The initial priority of task is distributed according to RM strategy, the minimum release interval of task is smaller, and initial priority is higher；
Task-set is divided into resource requirement and not the task subset of resource requirement；
Calculate the maximum value in all initial priorities for sharing same resource tasks；
If task belongs to the task in no resource requirement task subset, its execution priority is distributed equal to initial priority；If
Task belongs to having in resource requirement task subset for task, distribute its execution priority be equal to it is described it is all share same resource appoint
Maximum value in the initial priority of business.
3. the accidental task low energy consumption dispatching method according to claim 1 based on RM strategy, which is characterized in that the meter
In processor demand step under the maximum obstruction time of calculation task and worst case, task TiMaximum obstruction time B (Ti) table
It is shown as:
Wherein, IPiExpression task TiInitial priority, EPjAnd IPjRespectively indicate task TjExecution priority and initial priority
Grade, ejExpression task TjExecution time under maximum processor speed under worst case, rjExpression task TjResource requirement, k
For integer, value range is 1≤k≤m, and m indicates the number of task sharing resource；
Task TiProcessor demand D under section [0, L] worst case0,LIt indicates are as follows:
Wherein, wherein eiExpression task TiExecution time under maximum processor speed under worst case, L are the reality greater than 0
Number, value are It indicates to use resourceAll task minimums discharge interval, piExpression task TiMinimum
Release interval, riExpression task TiResource requirement.
4. the accidental task low energy consumption dispatching method according to claim 3 based on RM strategy, which is characterized in that described to incite somebody to action
Task-set is divided into the task-set and the not no task-set of resource requirement of resource requirement, and has calculated separately resource requirement task
Collect and includes: without the minimum operation speed of resource requirement task-set
Task-set is divided into the task-set and the not no task-set of resource requirement of resource requirement；
There is the minimum operation speed LS of resource requirement task-setRT(i) according to the processor demand meter under the worst case of task-set
It calculates, is indicated with following formula:
Wherein, SRT(i, L) indicates that the task-set of resource requirement meets the minimum operation of its deadline in all tasks of moment L
Speed, value areejExpression task TjWhen execution under worst case
Between, pjExpression task TjMinimum release interval；
There is no the minimum operation speed S of the task-set of resource requirementNRT(i) it is calculated according to the load of task-set, with following formula table
Show:
Wherein, DTS indicates the task-set of sustained release, and the interval of each task release time in DTS is both greater than its minimum and releases
Put interval, Fc(n) the feasible utilization rate upper bound of RM strategy scheduler task collection is indicated.
5. the accidental task low energy consumption dispatching method according to claim 4 based on RM strategy, which is characterized in that the meter
The speed of service for calculating task-set off-line phase is indicated with following formula:
Wherein, Slub(i) indicate that accidental task-set in the minimum speed of service of section [0, L], is indicated with following formula:
6. the accidental task low energy consumption dispatching method according to claim 5 based on RM strategy, which is characterized in that the sky
It is indicated between idle with following formula:
Wherein, WiExpression task TiRemaining execution time under worst case, UiExpression task TiRemaining execute time, τiIt indicates
Processor speed handover overhead before this moment.
7. the accidental task low energy consumption dispatching method according to claim 6 based on RM strategy, which is characterized in that the meter
Calculating the processor current time speed of service includes:
Computation processor current time speed of service S, wherein
By itself and speed SsfpsasrIt is compared；If S > Ssfpsasr, S=S is setsfpsasr；Otherwise the S is remained unchanged.
8. the accidental task low energy consumption dispatching method according to claim 7 based on RM strategy, which is characterized in that the speed
Spend SsfpsasrCalculation method is as follows:
If when the processor free time, S is arrangedsfpsasr=Smin, the SminFor processor minimum operation speed；
As task TiAn example is discharged, and when it belongs to DTS, improves Ssfpsasr, the amount of raising is
As task TiExample is not discharged, and when it is not belonging to DTS, and when current time interval is more than its minimum release interval,
Reduce Ssfpsasr, reduced amount is
9. the accidental task low energy consumption dispatching method according to claim 2 based on RM strategy, which is characterized in that described
The initial priority of business is indicated with following formula:
IPi=n-i+1
Wherein, n indicates the number of accidental task in accidental task-set, and i is the integer for being less than or equal to n more than or equal to 1.
10. the accidental task low energy consumption dispatching method according to claim 3 based on RM strategy, which is characterized in that described
Maximum value in all initial priorities for sharing same resource tasks is indicated with following formula:
Wherein, 1≤i≤m, m indicate the number of task sharing resource, rjExpression task TjResource requirement.
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| CN106445070B (en) * | 2016-09-12 | 2019-04-02 | 华侨大学 | Energy consumption optimization scheduling method for hard real-time system resource-limited sporadic tasks |
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