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1、pension Gold 8*60 5, living allowance 13*568 four main 1, 2015, financial, education, design section, under the leadership of our accountants to study the countrys financial policies, laws, and familiarity with financial system actively studying accounting, master professional knowledge and master t
2、he accounting technique, adhere to principles, properly implement superior departments accounting requirements. 2, give full play to accounting initiative, careful budgeting annually, and do a year-end work on the budget no budget expenditure, budget expenditures, strictly control expenditures. Ofte
3、n communicating with school leaders reported financial position, and in terms of revenue ideas, ways to strictly implement the financial system, two lines of income and expenditure. 3, further standardize the schools financial management system, created the democratic financial management group, dem
4、ocratic financial group checks the school each semester accounts. Reporting annually to the schools financial income and expenses, so that all the teachers of school finances be aware. 4, with the school leadership greater control in school debt, does not give to the debt did not comply with procedu
5、res in the accounts. 5, various infrastructural projects to the school can do to teach . The poverty alleviation of poverty alleviation and training with the combination of the proposed by 2014. In the province, the city poverty alleviation and immigration office careful guidance and county Party co
6、mmittee and government of the correct leadership, the county seriously practice the scientific development view, and counties around the target, and comprehensively implement the Central Committee and the State Council on poverty alleviation immigration policy, adhere to the, strengthen infrastructu
7、re construction, accelerate the poor areas and immigration of education, health, culture and other public welfare undertakings development, the whole village advancement and the new rural construction, through the entire village advancement, poverty alleviation immigration, intellectual, social, ind
8、ustrial and other means, increasing the masses of poor and immigrant economic income a year, I do all the work staff Through joint efforts and struggle, and achieved excellent results, 2014 for 2666 million yuan project funds, and 2013 compared to increase by 60%, poverty alleviation and resettlemen
9、t work was named the citys third, Tan Lun Tan reservoir migrants synthetic immigration village as the citys economy to inspect a major bright spot, makes the contribution to the economic and social development in Qianshan. For 2020 together to achieve well-off society to make enormous contribution,
10、is now on the 2014 since the county to carry out the implementation of poverty alleviation and resettlement work are summarized as follows: A, poverty alleviation work 1, entire village advancement. Our countys agricultural population of 38 million people, poverty population of 4.9 million people, a
11、ccounting for 1 2.9%. The county, Twelfth Five Year Plan, will focus on poverty alleviation in the village of 14, since poor agricultural village has a total population of 2.55 million, poverty population 0.518 million people, accounting for 20%.2014 years, total planning project 20, 851 million yua
12、n of total investment, including 280 million yuan of poverty relief funds of central finance, county matching funds of 70 million yuan department support funds 3.76 million yuan, self分类号 密级 UDC 学 位 论 文多任务嵌入式实时控制系统软件的研究作 者 姓 名 ：朱文强指 导 教 师 ：李小平 教授东北大学流程工业综合自动化国家重点实验室申请学位级别：硕士学 科 类 别 ：工学学科专业名称：控制理论与控制工
13、程论文提交日期：2012年06月论文答辩日期：2012年06月学位授予日期：答辩委员会主席： 唐立新评 阅 人 ： 李界家、张磊 东 北 大 学 2012 年 06月A Thesis in Control Theory and Control EngineeringResearch of Multitasking Embedded Real-Time Control System SoftwareBy Zhu WenqiangSupervisor: Professor Li XiaopingNortheastern UniversityJune 2012financing and invest
14、ing with their labor 115 million yuan, 10 million other funds, in the key poverty alleviation in the village, totaled arrange 13 new areas, so that the entire village advancement and the new rural construction combined, can integrate a large amount of money to do great things, urgent, difficult, Chu
15、ng show Many bright spots, such as: Zixi Village Cultural Square is the facade of my county east gate, still without Zhu Cun is the west gate of the county happy Zhu Cun, Lake ban Cun Shan robes entirely newlook, Ma An Cun is first I County minority village. Other key poverty alleviation in the vill
16、age through the implementation of poverty alleviation projects, village appearance has been greatly improved, infrastructure have the obvious change, production and life have improved significantly, farmers income will continue to increase, masses of poverty poverty relief, 2684 people have been lif
17、ted out of poverty, the poverty population plan is 2420 people, accounted for anti-poverty programs 110.9%. over the past year, 20 projects completed, the impoverished village roads hardening 9.8 Four square kilometers, built size bridge 3, leisure activities, built canals 12 kilometers, built in pr
18、imary 2, construction of health 1, greening, lighting 5 to support the industrial development project 6, to solve the drinking water difficulties of the masses of the 300 households. 2, poor households precise identification and archiving riser. According to the State Council Poverty Alleviation Off
19、ice of poverty alleviation and development of precise identification, filing riser of poor households for accurate identification, strict requirements, time is tight, the task is heavy, the workload is large. The county repeated investigations, master the poverty situation, scientific and reasonable
20、 distribution of poverty population index, fully consider the subsistence allowances, five population of full coverage, and take care to poor poor village Trapped households in poverty alleviation and development indicators of the population. Set up a special poor households precise identification a
21、nd archiving riser group, formulated the and . Archives of poor households have poverty, caused by rich reason, helping the demand, the subject of helping and supporting measures, in poverty alleviation and development provides correct decision-making and assessment provide important basis. To the e
22、nd of June after two public announcement, my county identified poverty 14536 people, 7669 households, including 117.16 guaranteeing the population, scattered five guarantees 513, poverty alleviation and development with population of 230 7. Xiapa 2554 cadres twinning poverty door, do poor households
23、 full coverage of helping. Support of the county cadres twinning funds more than 150 million yuan. At the same time, the county also held the party secretary of the township (Center), agatanoatae each unit the main person in charge of the cadres twinning mobilization meeting. This year by the end of
24、 October the successful completion of the tasks assigned by the superior. 3, social poverty. The Twelfth Five Year Plan to our province county set package to hold the unit, filthy, Provincial Bureau of Surveying and mapping, Shanghai Pudong Development Bank. Since the beginning of this year, they we
25、re to focus on poverty alleviation in the village investigation personally, formulate a plan for poverty独创性声明本人声明，所呈交的学位论文是在导师的指导下完成的。论文中取得的研究成果除加以标注和致谢的地方外，不包含其他人己经发表或撰写过的研究成果，也不包括本人为获得其他学位而使用过的材料。与我一同工作的同志对本研究所做的任何贡献均已在论文中作了明确的说明并表示谢意。 学位论文作者签名：日 期： 学位论文版权使用授权书本学位论文作者和指导教师完全了解东北大学有关保留、使用学位论文的规定：即学
26、校有权保留并向国家有关部门或机构送交论文的复印件和磁盘，允许论文被查阅和借阅。本人同意东北大学可以将学位论文的全部或部分内容编入有关数据库进行检索、交流。作者和导师同意网上交流的时间为作者获得学位后：半年 一年 一年半 两年学位论文作者签名： 导师签名：签字日期： 签字日期：- 97 -东北大学硕士学位论文摘要多任务嵌入式实时控制系统软件的研究摘 要随着数字信息技术和网络技术的高速发展，嵌入式系统己经广泛地渗透到科学研究、工程设计和军事技术等各类产业中。传统的嵌入式系统大多为了实现某个控制功能，使用简单的控制对外界的请求进行处理。随着系统复杂性的增加及使用范围的扩大，越来越多的嵌入式系统要求实
27、现大量相关的非实时任务、软实时任务和硬实时任务的处理，然而传统的单线程嵌入式系统或多任务分时嵌入式系统难以满足实时多任务这种应用需求。为了适应发展需求，将嵌入式系统与多任务实时系统进行联合应用研究，可以进一步拓宽嵌入式系统的应用领域。本文以此为背景，采用基于模型的设计思想，设计开发出无缝连接Matlab/Simulink的多任务嵌入式实时控制系统软件。该系统软件不仅具备嵌入式、多任务、实时性、二次开发简单快捷等特点，而且具有良好的安全性、稳定性、可维护性和可扩展性。该系统软件的研究、设计及其实现将会为嵌入式系统的进一步发展和应用提供新的解决方案。本文的主要工作包括以下几个方面：1. 分析国内外
28、实时控制器和实时操作系统的研究和发展现状，总结现有控制器和实时系统的优缺点，并在此基础上设计多任务嵌入式实时控制系统软件。多任务嵌入式实时控制系统软件的设计分别为系统软件总体架构设计以及各个功能模块的具体设计。各功能模块的设计是实时内核的设计、实时设备驱动的设计和实时监控程序的设计。2. 多任务嵌入式实时控制系统软件的实现，包括实时内核的实现、实时设备驱动的实现和实时监控程序的实现。在实时内核实现环节中，对Linux内核实时性和其改进方案进行分析研究后，选定基于双内核思想的RTAI-Linux作为最终的实时内核方案；在实时设备驱动实现环节中，分析了LXRT机制后，在此基础上设计完成了实时设备驱
29、动的实现策略；在实时监控程序的实现环节中，分析了实时进程间通信RPC和MBX机制后，利用此机制分别完成对实时监控程序中控制功能模块、参数显示与修改功能模块、实时数据曲线显示功能模块的设计和开发。3. 多任务嵌入式实时控制系统软件的测试及在双容水箱设备上的应用验证。首先对实时内核、实时设备驱动和实时监控程序分别开发测试用例，对各个单元功能的有效性和实时性进行测试与分析；其次在双容水箱装置中进行应用验证，完成对整个系统软件的功能和性能的测试。实验结果表明，本文开发的多任务嵌入式实时控制系统软件不仅各单元功能有效可行，而且在系统多任务下也能满足对控制程序响应的快速性、时间的精确性和控制的可预测性的要
30、求。关键词：实时系统；RTAI； LXRT；实时监控东北大学硕士学位论文AbstractResearch of Multitasking Embedded Real-Time Control System SoftwareAbstractWith the rapid development of the digital information technology and network technology, embedded system has been widely used in various areas such as scientific research, engineeri
31、ng design, military technology, and so on. The traditional embedded system is designed to achieve a certain control function using simple control strategy. Following the increasing complexity and the extensive application of embedded system, more and more embedded system are required to realize the
32、process of a variety of tasks including non-real-time tasks, soft real-time tasks and hard real-time tasks. However, it is difficult to meet real-time multitasking application request for the traditional single-threaded embedded system and multitasking time-sharing embedded system. In order to meet
33、the needs of embedded system development, there is no doubt that the research on combined application of the embedded system and real-time multitasking system will further broaden the application field of the embedded system.Taking this as background, a multitasking embedded real-time control system
34、 software is designed and developed to realize the seamless connection of Matlab/Simulink, based on the model based design method. It not only has embedded, multitasking, real-time, simple and quick second development characteristics, but also has high safety, reliability, maintainability and expans
35、ibility. There is no doubt that it will promote the future application and development of the embedded system to study, design and implement the system software. The main contributions of the dissertation are summarized as follows:1. Based on the analysis of research and development situation of rea
36、l-time controllers and the real-time system at home and abroad, the dissertation summarize the advantages and disadvantages of the existing controller and present the design of the general structure of the multitasking embedded real-time control system software. To be specific, it consist of the des
37、ign of the real-time kernel, real-time device driver and real-time monitoring program.2. The development and realization of the multitasking embedded real-time control system software are introduced in the paper in details. Specifically, it is comprised of the implementation of real-time kernel, rea
38、l-time device driver and real-time monitor program. Respect to the real-time kernel, RTAI-Linux based on the double kernels mechanism is selected as the final real-time kernel after the research on the shortage and improvement scheme of Linux real-time performance. Besides, based on the analysis of
39、LXRT mechanism, the implementation strategy of the real-time device driver is designed and presented. Finally, the real-time monitor program is developed detailedly on the basis of analyzing and using the RPC and MBX strategy. To meet the functional requirements, three functional modules are designe
40、d and developed which are respectively the control function module, the parameter display and modification function module and real-time data curve display function module.3. This paper completes the test of the multitasking embedded real-time control system software and its application validation t
41、o the double tank. Testing cases are developed first for real-time kernel, real-time device driver and real-time monitor program, respectively. And then, test results are obtained and show that each function unit works well and has good real-time performance. At last, the system software is applied
42、to the double tank to validate the function and performance of the whole system software. Experimental results show that the multitasking embedded real-time control system software not only works well for each function unit, but only satisfies the request that real-time control system for speedy res
43、ponse, accurate time and divinable control in the environment of multiple tasks.Keywords：Real-Time System; RTAI; LXRT; Real-Time Monitoring东北大学硕士学位论文目 录目 录独创性声明I摘 要IIAbstractIV第 1 章 绪论11.1 选题背景及意义11.2 实时控制系统的发展现状21.2.1 实时控制器的发展现状21.2.2 实时操作系统的发展现状61.3 本文主要研究工作8第 2 章 多任务嵌入式实时控制系统软件的设计112.1 引言112.2 实时
44、控制系统软件的总体架构设计112.2.1 快速原型实时控制系统总体架构设计112.2.2 实时控制系统软件的总体设计132.3 实时内核的设计142.3.1 标准Linux内核实时性能分析142.3.2 增强标准Linux实时性能的关键技术分析172.3.3 基于Linux的实时内核的设计202.4 实时设备驱动的设计212.4.1 标准Linux设备驱动分析212.4.2 基于LXRT机制的实时设备驱动的设计252.5 实时监控程序的设计272.5.1 实时监控程序的功能需求分析272.5.2 实时监控程序开发语言的选择282.5.3 实时监控程序的设计292.6 本章小结34第 3 章 多
45、任务嵌入式实时控制系统软件的实现353.1 引言353.2 基于RTAI的Linux实时内核的实现353.2.1 实时内核的实现原理分析353.2.2 实时内核的具体实现403.3 基于LXRT机制的实时设备驱动的实现423.3.1 LXRT机制的研究423.3.2 基于LXRT机制的实时设备驱动的实现453.4 基于RPC和MBX机制的实时监控程序的实现493.4.1 RPC机制的研究493.4.2 MBX机制的研究523.4.3 人机界面的开发实现543.4.4 控制功能模块的开发实现553.4.5 参数显示与在线修改功能模块的开发实现553.4.6 实时数据曲线显示功能模块的开发实现57
46、3.5 本章小结59第 4 章 系统软件的测试及在双容水箱装置中的应用验证614.1 引言614.2 实时控制系统软件的测试614.2.1 实时内核的测试614.2.2 实时设备驱动的测试624.2.3 实时监控程序的测试654.3 实时控制系统软件在双容水箱装置中的应用验证674.3.1 双容水箱系统中PC104实时设备驱动的开发674.3.2 单容水箱PID液位平衡控制算法分析704.3.3 单容水箱PID液位平衡控制实验测试714.4 本章小结73第 5 章 总结与展望755.1 工作总结755.2 研究工作展望76参考文献77致 谢81硕士期间主要工作83东北大学硕士学位论文第1章 绪
47、 论第 1 章 绪论1.1 选题背景及意义在当前后PC（Post-PC）时代，数字信息技术和网络技术高速发展，嵌入式系统广泛地应用到科学研究、军事技术、工程设计和商业文化等人们的日常生活的方方面面中。随着国内外嵌入式产品的进一步开发和推广，嵌入式技术和人们生活的结合将越来越紧密。嵌入式系统的概念出现在1970年左右，此时嵌入式系统大多不采用操作系统，只为了实现某个控制功能，使用一个简单的循环控制对外界的控制请求进行处理1。随着系统复杂性的增加和利用范围的扩大，新的功能需求越来越多，每添加一项，都可能需要从头开始设计。没有操作系统的支持，开发难度越来越大，给其带来了极大的挑战。从80年代开始，各种各样的嵌入式操作系统开始出现，并呈现百家争鸣的局面。将嵌入式系统与实时系统应用紧密结合，已经成为近年来各大企业和高校研究的热点之一。所谓的实时系统就是实时系统是“一个能够在事先指定确定的时间内完成系统功能和对外部或内部、同步或异步事件做出响应的系统”。对于实时系统而言，