Control and scheduling co-design method for embedded control system by designing and simulating the Hydraulic Control System (HCS) is presented. Based on analyzing the function and performance requirements of the HCS, the effect of real-time system choice and control task division on performance of embedded control system is investigated Subsequently, the scheduling algorithms of Fixed.Priority Scheduling (FPS), Rate Monotonic Scheduling (RMS) and Earliest Deadline First (EDF) are analyzed and jitter control for task is studied. Finally,the multitask schedulability of the HCS is simulated and verified by adjusting task divisions, model, scheduling algorithms and etc to seek the best parameters with MATLAB toolbox Simulink and TrueTime. The simulation results demonstrate that the optimum scheduling algorithm and task division, the reducing output jitter and etc can be obtained, which testifies that the method of the control and scheduling co-design is efficient.%针对嵌入式控制系统,通过液压机控制系统的设计与仿真,提出了控制与调度协同设计方法.首先,分析液压机控制系统功能和性能需求,研究了实时系统的选择和控制任务划分对嵌入式控制系统性能的影响;接着分析固定优先级算法、单调速率算法、最短时间限优先算法及抖动控制;最后,采用Matllab/Simulink和Truetime工具箱,通过调整任务划分、模型及调度算法等,对液压机控制系统的多任务进行仿真验证.仿真结果表明:可以获得最优的调度算法、任务划分及减小的输出抖动,这证明了控制与调度协同设计方法是有效的.
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