The requirement of real time is very high, all control tasks ;ire classified into relatively independent subprogramme by executive frequency and function to time-sharing execute.
动机抓‘制刊-实时性要求很
,
动机的所有控制任
,按照任
的功能、执行频率、实时性划丫
对独立的子程序,按照实时性要求,
时执行。