Tare da ci gaban fasaha da haɗin gwiwar masana'antu, 2025 ana kallon ko'ina a matsayin "Shekarar Robotics." Gaba dayan masana'antar robotics suna fuskantar haɓakar fashewar abubuwa, tare da yanayin aikace-aikace daban-daban waɗanda ke haifar da bambance-bambancen hanyoyin fasaha da buƙatu na software da kayan masarufi. Saboda haka, buƙatu da hanyoyin aiwatarwa don sarrafa motsi na lokaci-lokaci sun bambanta. Yin amfani da zurfin fahimtar sashin robotics, APQ ya haɓaka hanyoyin inganta sarrafa lokaci na niyya.
01
Rarraba Hanyoyi Fasaha na Robotic & Zaɓin Tsarin Tsarin Gudanarwa
Mutum-mutumin mutum-mutumi na Bipedal yana da ƙira mai kama da ɗan adam wanda ya yi fice wajen daidaitawa zuwa hadaddun ƙasa da ayyukan haɗin gwiwar gaba ɗaya. Waɗannan robots yawanci suna buƙatar gatari 38 zuwa 70 na sarrafa motsi, wanda ke nufin matuƙar buƙatu na ainihin lokaci da hawan keke har zuwa 1000Hz. APQ tana amfani da manyan na'urori masu sarrafawa na X86 tare da daidaita software don biyan waɗannan buƙatun na ainihin lokaci.
Sabanin haka, mutum-mutumi masu ƙafafu ko nau'in tushe suna ɗaukar ƙirar chassis mafi sauƙi, suna ba da fa'idodi mafi girma a sarrafa farashi, ingancin motsi, da rayuwar baturi. Waɗannan yawanci suna da kusan digiri 30 na 'yanci da ƙarancin buƙatun ƙididdiga na lokaci-lokaci, amma sun fi kula da amfani da wutar lantarki. Don wannan rukunin, APQ tana amfani da ƙaramin ƙarfi, dandamali masu rahusa kamar Intel® N97 ko J6412 don gina cikakkiyar mafita. Wannan yana daidaita ƙarfin ƙarfin ƙarfi da farashi yayin da yake haɓaka wadataccen yanayin haɓaka yanayin yanayin dandamali na X86 don biyan buƙatu masu tsauri don aiwatar da tsarin sarrafawa na ainihin lokacin, kwanciyar hankali, haɗin kai, da haɓakawa.
02
APQ's EtherCAT Nazari na Inganta Ingantaccen Lokaci na Gaskiya
Bayanan Aikace-aikacen
Ana amfani da mutum-mutumi masu tayar da ƙafafu/tushe a cikin hadaddun sarrafa yanayi, haɗin kai mai yawan axis, motsi mai jagoran hangen nesa, da makamantan aikace-aikace. Dole ne tsarin sarrafa su ya goyi bayan:
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EtherCAT sadarwar bas mai sauridon sarrafa servo mai aiki tare
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Hard real-lokaci OSdomin amsa sub-mikini biyu
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Ƙirƙirar ƙirar masana'antudace da m wayoyi ko majalisar sarari
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Tashoshi masu faɗaɗagami da serial da yawa da tashoshin jiragen ruwa na LAN don haɗin kai daban-daban
Abokin ciniki ɗaya, yana haɓaka mutum-mutumi na axis da yawa, yana buƙatar tallafin EtherCAT da babban aiki na ainihin lokaci. Koyaya, gwaji tare da dandamali na N97 da direbobin servo sun nuna cewa sake zagayowar sadarwa na EtherCAT ba zai iya isa ƙasa da 50μs ba, yana haifar da ƙulli mai mahimmanci don samar da taro.
Hanyar Haɓaka Lokaci na Gaskiya
Yin amfani da dandamali na N97 da J6412, APQ ta aiwatar da cikakken daidaitaccen matakin-tsari. Misalin tsari don dandalin N97:
1. Canja wurin OS zuwa Linux Xenomai muhalli:
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Ubuntu 20.04 + Linux Kernel 5.15
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Faci na ainihi: Xenomai 3.2 (mai jituwa tare da LinuxCNC)
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An gwada dacewa don buƙatar gadon abokin ciniki (Kernel 4.19 + Xenomai 3.1)
Matakan Gyaran Lokaci na Gaskiya:
a) BIOS tuning
b) Haɓaka siginar kwaya na ainihi (ECI)
c) Cmdline parameter tuning (ECI)
d) Zurfafa OS-matakin gyare-gyare
e) Ma'aunin latency/Jitter
2. Daidaitaccen Gwajin Gwajin Aiki na Lokaci:
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Kayan aiki:Latency, Clocktest, LinuxCNC gwajin kayayyaki
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Manufa:
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Latency: Matsakaicin jinkiri <40μs
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Clocktest: Drift ≈ 0 (shafi na 3 kusa da sifili a sakamakon)
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Kisa:Zagaye da yawa na gwaji a cikin batches na hardware (ciki har da J6412 a matsayin kwatance)
Sakamakon Gwaji:
A ƙarƙashin yanayin Linux Xenomai, lokacin zagayowar sarrafawa da jitter sun inganta sosai. Latency ya kasance ƙasa da 40μs ko'ina, yayin da ƙwanƙwasa clocktest ya kusanci sifili - biyan bukatun aikace-aikacen.
Sakamakon Aikace-aikacen Duniya na Gaskiya
Multi-Axis Robotic Arm Control
Kalubale:
8-axis aiki tare waldi da ake buƙatar daidaita matakin-μs; Maganganun al'ada sun haifar da ɓata lokaci da kurakurai.
Ingantawa:
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J6412 tare da Ubuntu 20.04 + Xenomai 3.2
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4x Gigabit LAN kai tsaye zuwa EtherCAT servo
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Isolcpus ya sadaukar da kayan aikin sarrafa lokaci na gaske
Sakamako:
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Daidaiton Daidaitawa:Matsakaicin agogo ≤ 0.05μs; Matsakaicin karkatar da yanayin <0.1mm
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Tabbacin-Lokaci:72h ci gaba da aiki, babban latency ≤ 38μs
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Rage farashi:35% ƙananan farashi, 60% ƙasa da iko fiye da i5 bayani
Ikon Motsin Kare Robot Quadruped
Kalubale:
12-haɗin gwiwa mai ƙarfi daidaitawa da ake buƙatar amsa matakin-μs; Latency tsarin gado> 100μs ya haifar da rashin kwanciyar hankali
Ingantawa:
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N97 + Xenomai 3.2
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PREEMPT_RT + ECI patch
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Cmdline keɓe 2 CPU cores don ayyukan servo
Sakamako:
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Ƙananan Latency:Zagayowar sarrafawa tsakanin 500μs, latency ≤ 35μs
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Karfi:A cikin -20°C gwajin dawowa, jitter <± 8μs
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Faɗawa:IMU firikwensin ta hanyar M.2; 60% tanadin wutar lantarki akan maganin tushen i3
Zaɓuɓɓukan turawa
Don ƙwararrun abokan ciniki sun mai da hankali kan aiwatar da ainihin lokacin, APQ yana ba da shawararLinux + Xenomaiturawa. Ga masu amfani na ƙarshe waɗanda ke fifita dacewa daga cikin akwatin, APQ kuma tana bayarwaHotunan tsarin da aka riga aka shigar da sutare da takaddun cirewa - rage shingen turawa.
Yayin da mutum-mutumi ke ƙara maye gurbin ayyukan hannu,ainihin lokaci, barga, da tsarin sarrafawa masu ingancizama m ga nasara. APQ tana saduwa da wannan buƙatar ta hanyar haɗaɗɗen hanyoyin samar da kayan masarufi-software kuma za ta ci gaba da zurfafa mai da hankali kan ƙididdige ƙididdiga na mutum-mutumi da sarrafa motsi - ƙarfafa ƙarin abokan ciniki na masana'antu tare da ingantaccen, inganci, da sauƙaƙe haɗaɗɗen dandamali.
Idan kuna sha'awar kamfaninmu da samfuranmu, jin daɗin tuntuɓar wakilinmu na ketare, Robin.
Email: yang.chen@apuqi.com
WhatsApp: +86 18351628738
Lokacin aikawa: Yuli-28-2025