基于Xenomai/RTnet的Linux系统实时性分析  

Real-time Analysis of Linux System Based on Xenomai/RTnet

作　　者：绳鹏 石春[1] 吴刚[1] 秦琳琳[1] SHENG Peng;SHI Chun;WU Gang;QIN Linlin(Department of Automation,University of Science and Technology of China,Hefei 230027,China)

机构地区：[1]中国科学技术大学自动化系,安徽合肥230027

出　　处：《仪表技术》2022年第5期43-48,共6页Instrumentation Technology

摘　　要：Linux系统高速发展,逐渐被运用到智能网联汽车等领域,但是GNU/Linux的实时性不足和通信延迟不可控,限制了其在实时环境中的运用。对比分析了目前Linux系统主流的实时性改进方法,提出了基于Xenomai/Linux的实时操作系统和基于RTnet协议栈的实时网络系统的方案,采用了对数正态分布模型研究该方案的实时性与稳定性。分析结果表明,该方案的任务响应延迟与网络传输时延可以用对数正态分布模型精确表示,且具有良好的实时性与稳定性,可以有效提升Linux系统的硬实时性。With the rapid development of Linux system,it has been gradually applied to fields of Intelligent Connected Vehicle(ICV),etc.Due to the shortcomings of insufficient real-time performance and unpredictable communication delay of GNU/Linux,its application in real-time environment is limited.This paper compares and analyzes the current main real-time performance improvement methods of Linux,and proposes a solution for a real-time operating system based on Xenomai/Linux and a real-time network system based on the RTnet protocol stack.The lognormal distribution model is used to study the stability and real-time performance of the solution.The analysis results show that the lognormal distribution model can accurately represent the task response delay and network transmission delay of the solution.The solution has good real-time performance and stability and can effectively improve the hard real-time performance of Linux.

关 键 词：LINUX XENOMAI RTNET 实时性 对数正态分布 

分 类 号：TP277[自动化与计算机技术—检测技术与自动化装置]