To make manufacturers more intelligent in the production of cyber-physical systems (CPS), the IEEE 802.1 working group proposes a Time-Sensitive Network (TSN) standard based on traditional Ethernet. TSN can help the industrial environment to realize intelligent real-time transmission requirements. At present, the research on TSN focuses mainly on how to optimize the scheduling table synthesis to reduce the end-to-end delay of the frame. Routing selection typically uses the common shortest path first (SPF) and weighted shortest path first (wtSPF) algorithms. The path chosen by these algorithms can only ensure a low end-to-end delay of newly added streams, but they cannot guarantee the success rate of scheduling newly added streams or determine whether the delay will have a serious impact on other streams. Therefore, this paper proposes a scheduling routing algorithm for the TSN environment, named Real-Time Routing Scheduler (RTRS), which is applicable to Time-Triggered (TT) streams with immediate constraints. Based on the calculation of the end-to-end maximum delay time, the RTRS is used as a basis for routing to ensure that all TT streams are transmitted within the deadline. The experimental results show that the RTRS algorithm can provide an excellent real-time performance of CPS, improve the scheduling success rate, optimize the maximum end-to-end delay, and ensure that newly added streams do not easily affect the transmission of other streams.

为了使制造商在生产电子物理系统（CPS）时更加智能，IEEE 802.1工作组提出了一种基于传统以太网的时敏网络（TSN）标准。TSN可以帮助工业环境实现智能实时传输需求。目前，关于TSN的研究主要集中在如何优化调度表综合以减少帧的端到端延迟。路由选择通常使用公共最短路径优先（SPF）和加权最短路径优先（wtSPF）算法。这些算法选择的路径只能确保新添加的流的低端到端延迟，但不能保证调度新添加的流的成功率或确定该延迟是否会对其他流产生严重影响。所以，本文提出了一种针对TSN环境的调度路由算法，称为实时路由调度程序（RTRS），适用于具有即时约束的时间触发（TT）流。基于端到端最大延迟时间的计算，RTRS用作路由选择的基础，以确保所有TT流在截止期限内传输。实验结果表明，RTRS算法可提供出色的CPS实时性能，提高调度成功率，优化最大端到端延迟，并确保新添加的流不会轻易影响其他流的传输。基于端到端最大延迟时间的计算，RTRS用作路由选择的基础，以确保所有TT流在截止期限内传输。实验结果表明，RTRS算法可提供出色的CPS实时性能，提高调度成功率，优化最大端到端延迟，并确保新添加的流不会轻易影响其他流的传输。基于端到端最大延迟时间的计算，RTRS用作路由选择的基础，以确保所有TT流在截止期限内传输。实验结果表明，RTRS算法可提供出色的CPS实时性能，提高调度成功率，优化最大端到端延迟，并确保新添加的流不会轻易影响其他流的传输。