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Consolidate the research materials into numbered overview, framework, planning, partner, deliverable, and archive sections so the repository reflects the current RTOS-focused narrative and reading order.
494 lines
15 KiB
Markdown
494 lines
15 KiB
Markdown
# 方向6: 能耗感知调度与热管理
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## 1. 问题陈述
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当人工智能目标负载进入任务关键系统后，能耗和热会直接进入实时保障约束：
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```
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LLM推理能耗 = 计算能耗 + 内存带宽能耗 + 传输能耗
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Example (Qwen2.5-1.5B, 100 tokens):
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Compute (CPU): ~50mW × 2s = 100mJ
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Memory (DDR): ~30mW × 2s = 60mJ
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NPU (if used): ~200mW × 0.5s = 100mJ
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Total: ~260mJ per inference (~200ms, 100 tokens)
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Constraints:
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- Battery: 3000mAh @ 3.8V = 40.68Wh = 146kJ
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- Thermal: Tj < 85°C (Junction temperature)
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- Form Factor: Passive cooling (no fan)
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```
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### 1.1 本方向在总课题中的角色
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本方向聚焦：
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- 如何避免热漂移、降频和功率封顶破坏人工智能目标负载的时效性；
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- 如何避免功耗控制策略反向侵蚀关键保障负载的实时边界；
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- 如何把能耗与热管理纳入 SylixOS 的长期稳定运行机制。
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因此，这一方向服务的是总课题中的“长稳运行与热功率边界”主线。
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### 1.2 与验证矩阵的对应关系
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能耗与热管理在 `T5~T1` 中的表现差异显著，因此需要按部署形态看重点：
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| 部署形态 | 能耗与热管理侧重点 |
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|---|---|
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| `T5` 控制端 | 电池/电源预算、深睡眠与快速恢复 |
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| `T4` 终端设备 | 被动散热下的持续推理与温升控制 |
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| `T3` 边缘节点 | 多核+加速器协同下的热热点迁移 |
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| `T2` 单机工作站 | 长时间高负载下的降频与风扇策略 |
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| `T1` 服务器/集群 | 机架功率、PUE 与多设备热耦合 |
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## 2. 能耗模型
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### 2.1 各组件的能耗模型
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```
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┌─────────────────────────────────────────────────────────────┐
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│ Component | Power (mW) | Active | Idle | Sleep │
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├────────────────┼────────────┼────────┼──────┼───────────────┤
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│ CPU Core | 80-200 | Active | 5 | 0.1 │
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│ NPU | 100-500 | Active | 10 | 1 │
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│ DDR | 50-150 | RW | 20 | 5 │
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│ NPU Memory | 20-50 | Active | 5 | 1 │
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│ Interconnect | 10-30 | Active | 2 | 0.5 │
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│ GPU | 100-800 | Active | 15 | 5 │
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└─────────────────────────────────────────────────────────────┘
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Total Active Power: 300-1300mW
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Total Idle Power: 40-100mW
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Total Sleep Power: 1-10mW
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Energy per inference step:
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E = P_active × t_active + P_idle × t_idle + P_sleep × t_sleep
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```
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### 2.2 DVFS (Dynamic Voltage and Frequency Scaling) 模型
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```
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DVFS States (以Cortex-A72为例):
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State | Frequency | Voltage | Power | Latency
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-------|-----------|---------|---------|---------
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S0 | 2.0 GHz | 1.2V | 200mW | 1x (baseline)
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S1 | 1.5 GHz | 1.1V | 150mW | 1.33x
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S2 | 1.0 GHz | 1.0V | 100mW | 2.0x
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S3 | 0.5 GHz | 0.9V | 50mW | 4.0x
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S4 | 100MHz | 0.8V | 15mW | 20x
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Switching overhead: ~10-100μs (frequency ramp time)
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Power-Frequency relationship:
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P ∝ f × V² ∝ f × f^α ≈ f^(1+α)
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where α ≈ 1-2 (depends on architecture)
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So doubling frequency ≈ 2-4x power increase
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```
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### 2.3 能耗-延迟权衡
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```
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DVFS State | Latency | Power | Energy (per step) | Throughput
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-----------|---------|-------|-------------------|----------
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S0 (max) | 10ms | 200mW | 2.0mJ | 100 tok/s
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S1 | 13ms | 150mW | 1.95mJ | 77 tok/s
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S2 | 20ms | 100mW | 2.0mJ | 50 tok/s
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S3 | 40ms | 50mW | 2.0mJ | 25 tok/s
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S4 (min) | 200ms | 15mW | 3.0mJ | 5 tok/s
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Insight:
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- S1-S3 energy per step is similar (better power efficiency)
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- S0: highest throughput, highest energy rate
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- S4: lowest throughput, higher energy per step (overhead)
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- Optimal: S1-S2 for latency-constrained, S2-S3 for energy-constrained
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```
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## 3. 能耗感知调度策略
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### 3.1 静态调度策略
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```
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Strategy 1: Frequency Provisioning (固定频率)
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1. Offline: Analyze workload, determine required frequency
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2. Run at fixed DVFS state for entire inference
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3. Simple, deterministic, but may waste energy
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Example: Qwen2.5-1.5B inference at S1
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- Guaranteed to meet 500ms deadline
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- Uses 150mW instead of 200mW → 25% energy saved
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- No runtime adaptation
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Strategy 2: Power Capping
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1. Set maximum power budget (e.g., 500mW)
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2. Monitor power consumption
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3. Scale frequency if exceeding budget
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4. Reactive, but guarantees thermal safety
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Example:
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Power: ████████████████████░░░░░
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^ ^
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Starts at S0 Hits cap → Drops to S2
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```
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### 3.2 动态调度策略
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```
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Strategy 3: Adaptive DVFS (运行时调整)
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1. Monitor: CPU load, temperature, battery level
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2. Decide: Adjust DVFS state
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3. Act: Switch frequency
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4. Repeat: At each inference step
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Decision variables:
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- Current temperature (T)
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- Battery level (B)
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- Latency requirement (D)
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- Thermal headroom (T_junction_max - T_current)
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Decision function:
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DVFS_state = f(T, B, D, thermal_headroom)
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Pseudo-code:
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if (temperature > 75°C):
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drop_to_dvfs_state(S2)
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elif (temperature > 70°C):
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drop_to_dvfs_state(S1)
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elif (battery < 20%):
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drop_to_dvfs_state(S2)
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elif (latency_requirement == strict):
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run_at_dvfs_state(S0)
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else:
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run_at_dvfs_state(S1) # balanced
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Strategy 4: Prediction-based Scheduling
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1. Predict: Future workload (based on input size, sequence length)
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2. Schedule: Set DVFS state in advance
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3. Reduce: Switching overhead (pre-emptive adjustment)
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Example:
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Input: 2048 tokens (long input)
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Predict: Prefill will be heavy → Set S0
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During decode: Predict lighter → Drop to S1/S2
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Before output: Predict completion → Drop to S3
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Implementation:
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Use RTOS timer + callback for predictive scheduling
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```
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### 3.3 任务级功耗控制
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```
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Task Power Profiling:
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Task | Avg Power (mW) | Active Time (ms) | Energy (mJ)
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--------------------|----------------|------------------|------------
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Attention | 150 | 10 | 1.5
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FFN | 180 | 8 | 1.44
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KV Cache Write | 50 | 5 | 0.25
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Tokenizer | 20 | 2 | 0.04
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Control | 10 | 1 | 0.01
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Task-level power control:
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- Scale specific task's frequency based on urgency
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- Attention: High frequency (latency-critical)
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- KV Cache: Low frequency (IO-bound, less compute)
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- Tokenizer: Variable (depends on input size)
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RTOS Implementation:
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void task_set_power_profile(task_t *task, PowerProfile profile) {
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switch (profile) {
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case PERFORMANCE:
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task->frequency = MAX_FREQ;
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task->voltage = MAX_VOLTAGE;
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break;
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case BALANCED:
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task->frequency = MID_FREQ;
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task->voltage = MID_VOLTAGE;
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break;
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case POWER_SAVING:
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task->frequency = LOW_FREQ;
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task->voltage = LOW_VOLTAGE;
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break;
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case ULTRA_LOW:
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task->frequency = MIN_FREQ;
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task->voltage = MIN_VOLTAGE;
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break;
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}
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}
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```
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## 4. 热管理
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### 4.1 热模型
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```
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Thermal Model (Simplified):
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T_junction = T_ambient + P_total × R_thermal
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Where:
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T_junction: 芯片结温
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T_ambient: 环境温度
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P_total: 总功耗
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R_thermal: 热阻 (package + heatsink + air)
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Example (RK3588, passive cooling):
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T_ambient = 40°C
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R_thermal = 5°C/W
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P_total = 5W (typical)
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T_junction = 40 + 5 × 5 = 65°C
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At P_total = 10W (LLM heavy):
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T_junction = 40 + 5 × 10 = 90°C → Too hot!
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Solution: Throttle to P_total = 6W
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T_junction = 40 + 5 × 6 = 70°C → Acceptable
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```
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### 4.2 热感知调度
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```
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Thermal Throttling Strategy:
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┌─────────────────────────────────────────────────────┐
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│ Temperature Zone | Action │
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├──────────────────────────────────────────────────────┤
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│ Zone 1: < 60°C (Cool) | Full performance │
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│ Zone 2: 60-70°C (Warm) | Light throttle (S1) │
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│ Zone 3: 70-80°C (Hot) | Aggressive throttle (S2) │
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│ Zone 4: 80-85°C (Hot) | Max throttle (S3) │
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│ Zone 5: > 85°C (Critical)| Emergency shutdown │
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└─────────────────────────────────────────────────────┘
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Implementation:
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Thermal Zone Controller (low-priority RTOS task):
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void thermal_controller_task(void *params) {
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for (;;) {
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float temp = read_temperature_sensor();
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ThermalZone zone = classify_temperature(temp);
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// Adjust DVFS based on zone
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switch (zone) {
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case ZONE_COOL:
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set_dvfs_state(S0);
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break;
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case ZONE_WARM:
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set_dvfs_state(S1);
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break;
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case ZONE_HOT:
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set_dvfs_state(S2);
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reduce_llm_priority();
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break;
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case ZONE_HOTTER:
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set_dvfs_state(S3);
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reduce_llm_priority();
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break;
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case ZONE_CRITICAL:
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emergency_shutdown();
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break;
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}
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vTaskDelay(pdMS_TO_TICKS(100)); // Check every 100ms
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}
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}
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```
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### 4.3 热-调度联合优化
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```
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Joint Thermal-Scheduling Optimization:
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Objective: Minimize energy, subject to thermal constraints
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Variables:
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- DVFS state per time slot
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- Task scheduling per time slot
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- Task placement (core assignment)
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Constraints:
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- T_junction(t) ≤ 85°C for all t
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- Latency ≤ deadline
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- Throughput ≥ minimum
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Solution approach:
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1. Model thermal dynamics (heat equation)
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2. Predict temperature profile for each scheduling option
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3. Select scheduling that minimizes energy without thermal violation
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Simplified approach (RTOS-friendly):
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- Use PID controller for temperature
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- Setpoint: 75°C (target), 85°C (max)
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- Control variable: DVFS state
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- Disturbance: Task load changes
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```
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## 5. 空闲与低功耗状态管理
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### 5.1 推理间隙的低功耗
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```
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LLM推理的idle间隙:
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Prefill (20ms) → Decode (10ms × 100) → Idle
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Decode间隙: 每层计算之间有微秒级间隙
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Prefill-Decode间隙: 20ms的完全空闲
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Power-down opportunities:
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- NPU can enter sleep during decode间隙
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- DDR can enter self-refresh during间隙
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- CPU cores can sleep (if no pending tasks)
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RTOS低功耗策略:
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1. Tickless idle: 不使用固定tick, 动态调整tick间隔
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2. Deep sleep: 推理间隙进入深睡眠
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3. Clock gating: 禁用未使用外设的时钟
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4. RAM retention: 深睡眠时保持RAM内容
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Implementation:
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// 推理间隙功耗管理
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void manage_inference_power(void) {
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if (npu_idle && cpu_idle) {
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// Enter low-power mode
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enter_deep_sleep();
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// Wake on NPU interrupt or timer
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sleep_until(wake_source);
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// Restore state
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restore_from_deep_sleep();
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}
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}
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```
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### 5.2 动态功耗监控
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```
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Power Monitoring (RTOS Task):
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void power_monitor_task(void *params) {
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for (;;) {
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// Read power sensors
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float cpu_power = read_power_sensor(CPU);
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float npu_power = read_power_sensor(NPU);
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float ddr_power = read_power_sensor(DDR);
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float total_power = cpu_power + npu_power + ddr_power;
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// Update power model
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update_power_model(total_power);
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// Check thresholds
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if (total_power > POWER_LIMIT) {
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trigger_throttling();
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}
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if (battery_level < BATTERY_WARN) {
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notify_low_battery();
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}
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vTaskDelay(pdMS_TO_TICKS(10)); // Check every 10ms
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}
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}
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```
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## 6. 各平台的功耗-调度差异
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### 6.1 MCU级
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```
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功耗特性:
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- Sleep: < 1μW (deep sleep)
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- Active: 50-200mW
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- DVFS: 有限 (2-4 states)
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- 热: 被动散热, R_thermal ~10°C/W
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策略:
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- 大量使用sleep模式
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- 计算密集型任务集中执行, 然后sleep
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- DVFS简单, 调度变化小
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```
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### 6.2 SoC级
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```
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功耗特性:
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- Sleep: ~10mW (peripheral sleep)
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- Active: 300-1300mW
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- DVFS: 丰富 (8+ states)
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- 热: 被动散热, R_thermal ~5°C/W
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策略:
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- 精细的DVFS控制
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- 多核独立频率
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- NPU专属低功耗模式
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- 热感知调度 (关键)
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```
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### 6.3 Edge盒子
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```
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功耗特性:
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- Sleep: ~50mW (standby)
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- Active: 500-2000mW
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- DVFS: 丰富 (10+ states)
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- 热: 主动+被动散热
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策略:
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- 精细的热管理
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- CPU-NPU负载均衡
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- 功耗capping
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- 预测性调度
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```
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### 6.4 Server级
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```
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功耗特性:
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- Sleep: ~1W
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- Active: 100-500W
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- DVFS: 极丰富
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- 热: 主动散热 (fan + heatsink)
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策略:
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- PUE优化
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- GPU NVLink功耗管理
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- NUMA功耗均衡
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- 数据中心级功耗管理
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```
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## 7. 本方向的验证关注点
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为了让本方向与总课题的双目标评价框架对齐，能耗与热管理至少要回答下面三个问题：
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1. 人工智能目标负载在长稳运行下的 `TTFT`、`TPOT` 和吞吐是否因降频与热保护发生持续退化；
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2. 关键保障负载是否会因为 DVFS、休眠唤醒或热限额而出现额外抖动和截止期违约；
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3. 功率与热管理机制是否能把 24 h 稳定性、恢复时间和能效指标变成可测量、可复现的证据。
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## 8. 关键设计决策
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| 决策点 | 选项 | 推荐 | 理由 |
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|-------|------|-----|------|
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| DVFS粒度 | Global / Per-core / Per-device | **Per-core** | 灵活性+实时性可接受 |
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| 热管理 | PID / Rule-based / ML | **PID** | 确定性+可分析 |
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| 空闲管理 | Tickless / Deep-sleep / Clock-gate | **混合** | 按场景选择 |
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| 功耗监控 | Hardware / Software | **Hardware** | 精度+低开销 |
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| 热感知 | Reactive / Predictive | **Predictive** | 减少延迟抖动 |
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| 模式切换 | Manual / Auto / Hybrid | **Auto** | 自适应环境变化 |
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## 9. 开放研究问题
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1. **Predictive Power**: 基于输入预测功耗, 提前调整DVFS？
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2. **Thermal-aware Task Placement**: 多核场景下的热均衡调度？
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3. **Battery-aware Scheduling**: 电池电量变化时的调度策略自适应？
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4. **Cross-component Thermal**: CPU+NPU+DDR的联合热建模？
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5. **Power-perf SLA**: 同时满足性能和功耗SLA的调度？
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---
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*最后更新: 2026-09-17*
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