An importance of the portability factor for configuring the cycle of real-time actuator control system

The paper studies the problem of optimization of real-time control systems described within the actor model. The optimization problem is formulated as a problem of optimal configuration of the control cycle, i.e., distribution of functional elements-actors by groups, flows and execution sequence. We propose a configuration algorithm, which, although it does not reduce the number of analyzed configuration variants, reduces the amount of calculations for each of the variants. In addition to the optimization variants with a limit on the total cycle time and with a limit on the control system resources considered in the authors' previous works, the paper considers the problem of reducing the number of input and output ports through which the element-actors exchange data. The research shows that the number of ports can be reduced without compromising the functionality of the control system. This is due to the sequential nature of element-actors execution within one group of one flow. As a result, the same input or output ports can be used to communicate an actor element with several others. In addition to matching different control loop configurations, the problem of reducing the number of ports can also be solved by using shared memory for element-actor communication. When the control system is built according to memory-oriented architecture, small amounts of data are transferred through high-speed shared memory, which reduces the acuteness of the problem of queue formation.

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