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US 10,281,892 B2Granted
Pipelining for cyclic control systems
AssigneeSiemens Aktiengesellschaft
InventorsArquimedes Martinez Canedo, Livio Dalloro, Hartmut Ludwig
Life of this patent
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Abstract
A method of managing a control system includes: executing a first iteration of a program in a first processor core of a multi-core computer system during a first period (S1501), executing a second iteration of the program in a second processor core of the multi-core system during a second period that overlaps the first period (S1502); and using outputs of the iterations to control the control system (S1503).
Claims8
A method of managing a control system, the method comprising:
- in a computer processor of the control system:
- receiving at least one input from at least one sensor associated with the control system to a processing image stored in a shared memory;
- executing a first iteration of a program in a first processing core of a multi-core computer system during a first period, wherein the program reads the at least one input from the shared memory and an output from a prior iteration of the program from the shared memory to generate a new output;
- storing the new output to the process image in the shared memory;
- controlling an aspect of the control system based on the new output;
- receiving new inputs from the at least one sensor and storing the new inputs in the processing image in the shared memory;
- executing a second iteration of the program in a second processing core of the multi-core system during a second period that overlaps the first period, the second iteration receiving as input the new output and the new inputs from the processing image in the shared memory;
- and
- re-performing the program in the second iteration using the new output from the first iteration and the new inputs from the at least one sensor to produce a new second output;
- controlling an aspect of the control system based on the new second output;
- and
- wherein read and write operations to the shared memory by the program are atomic and the overlap is determined based on read and write chains of variables associated with the atomic read and write operations.
9 more elements
A method of managing a control system, the method comprising:
- in a computer processor of the control system:
- receiving at least one input from at least one sensor associated with the control system to a processing image stored in a shared memory;
- executing a first iteration of a first part of a program in a first processing core of a multi-core computer system during a first period, wherein the first part reads as the at least one input to the control system and an output from a prior iteration of the first part from the shared memory to generate a new first output;
- storing the new first output in the processing image in the shared memory;
- receiving new inputs from the at least one sensor associated with the control system and storing the new inputs in the processing image in the shared memory;
- executing a first iteration of a second part of the program in a second processing core of the multi-core system during a second period that overlaps the first period, wherein the second part reads the new inputs and an output from a prior iteration of the second part from the shared memory to generate a new second output;
- using the first and second new outputs to control an aspect of the control system by reading the new first output and the new second output from the processing image and applying the outputs to the aspect of the control system,
- wherein read and write operations to the shared memory by the first and second program parts are atomic and the overlap is determined based on read and write chains of variables associated with the atomic read and write operations.
5 more elements
Dependencies are inferred from the claim text.