Time Sensitive Networking(TSN)is an extension of Ethernet,which provides various mechanisms for real-time communication and will become the future of Ethernet real-time communication in automotive and industrial applications.Among them,the transmission of time sensitive data streams is achieved through the introduction of gate scheduling mechanism in IEEE 802.1Qbv in TSN,which is scheduled based on Gate Control List(GCL).Most TSN scheduling mechanisms require relevant devices in the network to have TSN capabilities related to time synchronization and gating scheduling.However,this requirement is often unrealistic because many distributed network devices have issues such as data heterogeneity,protocol incompatibility,and inability to support time synchronization or scheduling mechanisms.Therefore,this article combines worst-case delays(WCD)with the optimization results of scheduling solution solving time to obtain a feasible solution,achieving scheduling optimization of data flows in heterogeneous TSN networks under different conditions.The main research content of this article is as follows:(1)Firstly,the status of technical standards and scheduling strategies of time-sensitive networks at home and abroad are studied,then the traffic types contained in TSN networks are introduced,and finally the common scheduling algorithms in time-sensitive networks are described and a comparative analysis is completed with the characteristics of TSN networks.(2)A new TSN scheduling optimization strategy is proposed for the scheduling problem of heterogeneous TSN networks that do not support TSN time synchronization or scheduling mechanisms.The approach combines frame scheduling with time-aware shaper(TAS)windows and incorporates WCD analysis in scheduling to avoid unrealistic conditions of previous approaches in order to provide real-time guarantees for schedulable flows in heterogeneous TSN networks.Finally,synthetic TSN test cases are used to evaluate the optimization approach,compare it with existing optimization strategies and analyze the results in a network topology simulation built using OMNET++ to validate the generated solutions.The results show that the new optimization strategy has a significant optimization effect on the objective function and the average WCD,the resulting scheduling solution has a significantly shorter solution time,and the simulation results under OMNET++ meet the expectations.(3)The impact of schedulable traffic(ST)on Best-Effort(BE)Qo S is not considered in heterogeneous TSN networks.For this problem,a new set of optimization constraints and objective functions are proposed,and then the desired solution is found.Then,it is compared with existing solutions,and the results show that this optimization strategy effectively guarantees the Qo S of BE streams while ensuring the scheduling of ST streams.Finally,the proposed solution is evaluated experimentally using the OMNe T++ simulation platform.The results of the other objective functions are significantly better compared to minimizing the offset value of the streams.The proposed solution obtains feasible ST scheduling faster compared to the best current solution. |