| 摘要 |
In a distributed control method of executing distributed control such that a lot of tasks distributively executed in a lot of nodes connected to a network and made to implement multitasking operations communicate a message with each other to operate cooperatively in time sequence, an estimated completion time of the distributed control is calculated by summing up the worst execution times of the processing times of all tasks pertaining to the distributed control and the communication times of all messages between the tasks and an initial value of a margin time with respect to a deadline is determined by subtracting the estimated completion time from a control cycle of the distributed control. This margin time is set for each of all the distributed control to be executed on the system and is sequentially updated in accordance with the states of the tasks and messages. The processing on the tasks or the transmission of the messages is made preferentially in the order of lengthening margin time. This assures a response time and deadline condition to be required in distributed control without imposing an excessive burden on a designer of a distributed control system.
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