本文分析了控制系统任务的特点,给出了控制系统中各种实时任务模型。分析了 控制系统性能与任务参数之间的关系,给出了参数的设置方法。最后,研究了控制系统中实时任务之间存在关系,包括资源共享、执行顺序及一致性限制,给出了处理这些关系的方法。 关键词:实时控制系统,任务模型,资源共享,一致性约束 Abstract: The characteristic of tasks in control systems is analyzed in this paper and the task models are presented. The relationship between the performance of control system and parameters of tasks is investigated and the method for setting up them parameters is given. Finally, the relationship between tasks is studied. It is pointed that there exist resource sharing, execution order and consistency constraint among tasks. The methods for handling these relationships are given. Keywords: Real-time Control system, task model, resource sharing, consistency constraint