Nā ngā whanaketanga hangarau me te mahi tahi puta noa i te umanga, e kiia whānuitia ana te tau 2025 ko te "Tau o ngā Robotics." Kei te pāngia te umanga robotics katoa e te tipu tere, me ngā āhuatanga tono rerekē e akiaki ana i ngā ara hangarau rerekē me ngā tono mō ngā pūmanawa me ngā taputapu. Nō reira, he rerekē ngā whakaritenga me ngā tikanga whakatinanatanga mō te whakahaere nekehanga wā-tūturu. Mā te whakamahi i te māramatanga hohonu ki te rāngai robotics, kua whakawhanakehia e APQ ngā otinga arotau whakahaere wā-tūturu kua arotahihia.
01
Te Whakawhitiwhiti i ngā Ara Hangarau Robotic me te Kōwhiringa Pūhara Tukatuka
He hoahoa rite ki te tangata ngā karetao tangata-rua e tino pai ana ki te urutau ki ngā whenua uaua me ngā mahi ā-tinana katoa. Ko te tikanga, e 38 ki te 70 ngā toki whakahaere nekehanga e hiahiatia ana e ēnei karetao, ko te tikanga he tino teitei ngā whakaritenga wā-tūturu me ngā huringa whakahaere tae atu ki te 1000Hz. Ka whakamahia e APQ ngā tukatuka X86 mahi-teitei me te whakatikatika pūmanawa hei whakatutuki i ēnei tono wā-tūturu.
He rerekē, ko ngā karetao wira, momo-tūturu rānei, he hoahoa anga mama ake, e tuku ana i ngā painga nui ake i roto i te whakahaere utu, te whai huatanga o te nekehanga, me te roa o te pākahiko. He tata ki te 30 nekehanga te herekore o ēnei, ā, he iti ake te hiahia mō te rorohiko wā-tūturu, engari he tairongo ake ki te whakapaunga hiko. Mō tēnei kāwai, ka whakamahia e te APQ ngā tūāpapa iti-mana, iti-utu pērā i te Intel® N97, J6412 rānei hei hanga otinga katoa. Ka whakatauritehia e tēnei te whai huatanga o te mana me te utu me te whakamahi i te pūnaha whanaketanga whai rawa o te tūāpapa X86 hei whakatutuki i ngā whakaritenga pakari mō te mahi wā-tūturu o te pūnaha whakahaere, te pumau, te whakauru, me te kiato.
02
Te Akoranga Take mō te Arotautanga Mana Whakahaere Wā-Tūturu a EtherCAT a APQ
Papamuri Taupānga
Ko ngā karetao wira/tūranga e whakamahia ana i roto i te whakahaere ara uaua, te hononga tuaka-maha, te nekehanga ārahi-tirohanga, me ngā tono rite. Me tautoko ā rātou pūnaha whakahaere i:
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Whakawhitiwhitinga pahi tere-teitei a EtherCATmō te whakahaere servo tukutahi
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Pūnaha Whakahaere Pūnaha Wā-tūturumō te urupare i raro i te mirihekona
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Hoahoa ahumahi kiatohe pai mō ngā waea piripono, mō te wāhi kāpata rānei
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Ngā tauranga whakawhanuitae atu ki ngā tauranga raupapa me ngā tauranga LAN maha mō te whakaurunga ā-taha rerekē
I hiahiatia e tētahi kiritaki, e whakawhanake ana i tētahi karetao maha-tuaka, te tautoko EtherCAT me te mahi wā-tūturu teitei. Heoi, i whakaatuhia i roto i ngā whakamātautau me te tūāpapa N97 me ngā taraiwa servo kāore e taea e te huringa whakawhitiwhiti kōrero EtherCAT te eke ki raro iho i te 50μs, ka hangaia he arai nui mō te hanga papatipu.
Huarahi Arotau-Wā-Tūturu
Mā te whakamahi i ngā tūāpapa N97 me J6412, i whakahaerehia e APQ te whakahāngaitanga wā-tūturu taumata-pūnaha katoa. Hei tauira tukanga mō te tūāpapa N97:
1. Whakawhiti OS ki Linux Xenomai Taiao:
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Ubuntu 20.04 + Linux Kernel 5.15
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Papaki wā-tūturu: Xenomai 3.2 (hototahi ki te LinuxCNC)
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Kua whakamatautauria te hototahitanga mō ngā hiahia tawhito a te kiritaki (Kernel 4.19 + Xenomai 3.1)
Ngā Hipanga Whakarerekētanga Wā-Tūturu:
a) Te whakatikatika i te BIOS
b) Te arotautanga tawhā kernel wā-tūturu (ECI)
c) Te whakatikatika tawhā Cmdline (ECI)
d) Whakaritenga taumata-pūnaha whakahaere hōhonu
e) Ngā inenga o te whakaroa/te wiri
2. Rerenga Mahi Whakamātautau Wā-tūturu Paerewa:
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Ngā Utauta:Ngā kōwae whakamātautau Whakaroa, Whakamātautau Karaka, LinuxCNC
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Ngā Whāinga:
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Whakaroa: Te whakaroa mōrahi < 40μs
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Whakamātautau Karaka: Te Hurihuri ≈ 0 (ko te pou tuatoru e tata ana ki te kore i roto i te hua)
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Te Whakatutukitanga:He maha ngā whakamātautau puta noa i ngā puranga taputapu (tae atu ki te J6412 hei whakataurite)
Hua Whakamātautau:
I raro i te taiao Linux Xenomai, i tino pai ake te wā huringa whakahaere me te wiri. I noho tonu te whakaroa i raro i te 40μs puta noa, i te mea kua tata te nekehanga whakamātautau karaka ki te kore - e tutuki ana i ngā tono tono.
Ngā Huanga Taupānga o te Ao Tūturu
Mana Whakahaere Ringa Robotic Maha-Tuaka
Wero:
I hiahiatia he tukutahi taumata μs mō te whakarewatanga tukutahi tuaka-8; i puta ai ngā hapa nekeneke me ngā hapa ara i ngā otinga tuku iho.
Arotautanga:
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J6412 me Ubuntu 20.04 + Xenomai 3.2
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4x Gigabit LAN tika ki te servo EtherCAT
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Ngā matua tukatuka wā-tūturu i whakatapua ki a Isolcpus
Ngā Hua:
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Te Tika Tukutahi:Te nekehanga karaka ≤ 0.05μs; Te pehanga ara mōrahi < 0.1mm
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Whakapūmautanga Wā-Tūturu:72h te mahi tonu, te roanga o te wā whakaroa ≤ 38μs
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Te Whakaiti Utu:35% te utu iti iho, 60% te mana iti iho i te otinga i5
Mana Nekehanga Kurī Robot Quadruped
Wero:
Ko te taurite hihiri hononga-12 e hiahiatia ana he urupare taumata-μs; ko te whakaroa o te pūnaha tawhito > 100μs i hua ai te kore pumau
Arotautanga:
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N97 + Xenomai 3.2
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PREEMPT_RT + papaki ECI
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E rua ngā matua CPU i wehea e Cmdline mō ngā mahi servo
Ngā Hua:
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Te Whakaroa Iti:Huringa whakahaere i roto i te 500μs, whakaroa ≤ 35μs
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Pakari:I roto i te whakamātautau whakaora -20°C, te wiri < ±8μs
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Whakawhanui:Pūoko IMU mā M.2; 60% penapena hiko i runga i te otinga i3
Ngā Kōwhiringa Whakatakotoranga
Mō ngā kiritaki whai pūkenga hangarau e aro ana ki te mahi ā-wā tonu, e taunaki ana a APQLinux + Xenomaite whakatinanatanga. Mō ngā kaiwhakamahi mutunga e pai ake ana ki te watea o waho o te pouaka, ka tukuna hoki e APQngā whakaahua pūnaha kua tāutahia, kua arotauhia hokime ngā tuhinga patuiro — te whakaiti i ngā arai whakatinanatanga.
I te mea kei te piki haere te whakakapinga o ngā mahi ā-ringa e ngā karetao,ngā pūnaha whakahaere wā-tūturu, pumau, me te whai huaka noho hei mea nui mō te angitu. Kei te whakatutukihia e APQ tēnei hiahia mā roto i ngā otinga taputapu-pūmanawa whakauru, ā, ka haere tonu tana arotahi ki te rorohiko taha karetao me te whakahaere nekehanga — ka whakamanahia he maha atu o ngā kiritaki ahumahi me ngā tūāpapa whakauru pumau, whai hua, me te ngāwari ki te whakauru.
Mena kei te hiahia koe ki tā mātou kamupene me ngā hua, tēnā whakapā atu ki tō mātou māngai o tāwāhi, ki a Robin.
Email: yang.chen@apuqi.com
Waea: +86 18351628738
Te wā tuku: Hurae-28-2025