Research on the model design and simulation for training platform based on network control

In order to solve the problem of slow response and packet loss which are caused by the introduction of the bus in our robot control system, In this paper, we used Matlab/Simulink T rueTime toolbox to build a bus-based control system simulation platform. The system controlled three objects, which were taken as three closed-loop control tasks. Scheduling algorithms are using the classic RM and EDF algorithm, the simulation results shown in Figure 1 (RM) and Figure 2 (EDF). RM static scheduling algorithm would cause some low-priority tasks that were always in the state of waiting and lacking of implementation, while EDF dynamic scheduling algorithm could dynamically adjuste the priority of the task according to its deadline, it greatly improved the system's stability of the low priority tasks, and significantly reduced the system's overshoot and rising time. Therefore, the EDF dynamic scheduling algorithm was very necessary to be applied to the system.