Real-Time Software Pipelining for Multidomain Motion Controllers
- Authors
- Kang, Hyeongseok; Kim, Kanghee; Jin, Hyun-Wook
- Issue Date
- Apr-2016
- Publisher
- IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
- Keywords
- Isochronal real-time guarantee; motion controllers; motion control systems; multicore partitioning; reservation-aware task phasing; software pipelining; task activation jitters
- Citation
- IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS, v.12, no.2, pp.705 - 715
- Journal Title
- IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS
- Volume
- 12
- Number
- 2
- Start Page
- 705
- End Page
- 715
- URI
- http://scholarworks.bwise.kr/ssu/handle/2018.sw.ssu/7645
- DOI
- 10.1109/TII.2016.2528225
- ISSN
- 1551-3203
- Abstract
- Motion control systems require an isochronal real-time guarantee that each control task should periodically produce outputs with no jitters. However, it is difficult to build up such a tight isochronal system with a multicore architecture and a general-purpose operating system, because the inherent resource sharing principle leads to large jitters to the control tasks. This paper proposes a software pipelining framework for an EtherCAT-based motion controller that achieves a tight isochronal guarantee with that combination. The tight guarantee is possible by multicore partitioning and reservation-aware task phasing, which reduce resource contentions between the tasks on each stage of the pipeline. Through experiments, we show that the proposed pipelining framework gives a tight isochronal guarantee with high scalability in terms of the number of motion transactions. On a real 8-axis motion control platform with two processor cores dedicated to the pipeline and a slight modification of the Linux operating system, it achieves a maximum jitter of 10 mu s for four motion transactions with a common period of 1.6 ms, whereas a priority-driven method gives a maximum jitter of a few hundreds of microsecond under the same condition.
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