内部データ非隠蔽型リアルタイムカーネルとメカトロ機器制御への適用

カテゴリ: 論文誌(論文単位)

グループ名: 【C】電子・情報・システム部門

発行日: 2012/04/01

タイトル(英語): An Internal Data Non-hiding Type Real-time Kernel and its Application to the Mechatronics Controller

著者名: 吉田　利夫（豊橋技術科学大学）

著者名(英語): Toshio Yoshida (Toyohashi University of Technology)

キーワード: 組込みシステム，リアルタイムカーネル，タスク協調，メカトロニクス，工作機械　　Embedded System，Real-time Kernel，Task Cooperation，Mechatoronics，Machine Tools

要約(英語): For the mechatronics equipment controller that controls robots and machine tools, high-speed motion control processing is essential. The software system of the controller like other embedded systems is composed of three layers software such as real-time kernel layer, middleware layer, and application software layer on the dedicated hardware. The application layer in the top layer is composed of many numbers of tasks, and application function of the system is realized by the cooperation between these tasks.In this paper we propose an internal data non-hiding type real-time kernel in which customizing the task control is possible only by change in the program code of the task side without any changes in the program code of real-time kernel.It is necessary to reduce the overhead caused by the real-time kernel task control for the speed-up of the motion control of the mechatronics equipment. For this, customizing the task control function is needed. We developed internal data non-cryptic type real-time kernel ZRK to evaluate this method, and applied to the control of the multi system automatic lathe. The effect of the speed-up of the task cooperation processing was able to be confirmed by combined task control processing on the task side program code using an internal data non-hiding type real-time kernel ZRK.

本誌: 電気学会論文誌C（電子・情報・システム部門誌） Vol.132 No.4 （2012）

本誌掲載ページ: 598-608 p

原稿種別: 論文／日本語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejeiss/132/4/132_4_598/_article/-char/ja/