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Guca Umupaka wa 50μs! APQ itanga ibisubizo byo gukoresha EtherCAT mu gihe nyacyo ku ma robots

Guca Umupaka wa 50μs! APQ itanga ibisubizo byo gukoresha EtherCAT mu gihe nyacyo ku ma robots

Hamwe n’iterambere ry’ikoranabuhanga n’ubufatanye mu nganda, 2025 ifatwa cyane nk’ “Umwaka wa Robotike.” Inganda zose za robotike zirimo zikura cyane, aho uburyo butandukanye bwo gukoresha butuma habaho inzira zitandukanye z’ikoranabuhanga ndetse n’ibisabwa kuri porogaramu na hardware. Kubera iyo mpamvu, ibisabwa n’uburyo bwo gushyira mu bikorwa igenzura ry’ingendo mu gihe nyacyo biratandukanye. Ikoresheje ubumenyi bwimbitse ku rwego rwa robotike, APQ yashyizeho uburyo bwo kunoza igenzura ry’igihe nyacyo.

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Uburyo butandukanye bwo gukoresha ikoranabuhanga rya roboti no guhitamo urubuga rwo gutunganya

Roboti zikoresha umubiri umeze nk'umuntu zifite imiterere isa n'iy'umuntu, zishoboye guhangana n'ubutaka bugoye no gukora neza kw'umubiri wose. Izi roboti ubusanzwe zikenera umurongo wa 38 kugeza kuri 70 wo kugenzura ingendo, bivuze ko zikenera cyane mu gihe nyacyo n'imikorere yazo kugeza kuri 1000Hz. APQ ikoresha poroseseri za X86 zikora neza hamwe na porogaramu zitunganya kugira ngo zihuze n'ibyo zikenera mu gihe nyacyo.

Ku rundi ruhande, robots zifite amapine cyangwa ubwoko bw'ibanze zikoresha imiterere yoroheje ya chassis, zitanga inyungu nyinshi mu kugenzura ikiguzi, gukoresha neza imikorere, no kumara igihe bateri ikora. Izi robot zifite ubwisanzure bwa dogere 30 kandi zikaba nke mu gukoresha mudasobwa mu gihe nyacyo, ariko zirushaho kwitabwaho n'ikoreshwa ry'ingufu. Kuri iki cyiciro, APQ ikoresha platforms zifite ingufu nke kandi zihendutse nka Intel® N97 cyangwa J6412 kugira ngo zubake ibisubizo byuzuye. Ibi bihuza imikorere myiza y'ingufu n'ikiguzi mu gihe bikoresha ikoranabuhanga ryinshi rya platform ya X86 kugira ngo zuzuze ibisabwa bikomeye kugira ngo sisitemu yo kugenzura ikore neza mu gihe nyacyo, ihamye, ihuzwe, kandi ifatanye.

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Inyigo y'inyigo yo kunoza igenzura rya EtherCAT rya APQ mu gihe nyacyo

Inkomoko y'Ikoreshwa

Robot zifite amapine/base zikoreshwa mu kugenzura inzira zigoye, guhuza ibintu byinshi, kugenda hifashishijwe icyerekezo, n'ibindi bisa. Sisitemu zazo zo kugenzura zigomba gushyigikira:

  • Itumanaho rya bisi ryihuta rya EtherCATku igenzura rya servo rihujwe

  • Porogaramu ikomeye ikora mu gihe nyacyoku gisubizo cya sub-millisecond

  • Igishushanyo mbonera cy'inganda gitobibereye insinga zikomeye cyangwa umwanya w'akabati

  • Ibyambu bishobora kwagukaharimo imiyoboro myinshi ya serivise na LAN yo guhuza ibintu bitandukanye

Umukiriya umwe, wakoze robo ifite imiterere myinshi, yakeneraga ubufasha bwa EtherCAT no gukora neza mu gihe nyacyo. Ariko, igeragezwa ryakozwe na platform ya N97 na servo drivers ryagaragaje ko uruziga rw'itumanaho rwa EtherCAT rudashobora kugera munsi ya 50μs, bigatuma habaho imbogamizi ikomeye mu gukora ibintu byinshi.

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Uburyo bwo kunoza imikorere mu gihe nyacyo

Ikoresheje platforme za N97 na J6412, APQ yashyizeho uburyo bwose bwo guhindura porogaramu mu buryo bwihuse. Urugero rw'uburyo platforme ya N97 ikora:

1. OS Hindura kuri Linux Xenomai Ibidukikije:

  • Ubuntu 20.04 + Intangiriro ya Linux 5.15

  • Patch ikora mu gihe nyacyo: Xenomai 3.2 (ikorana na LinuxCNC)

  • Hageragejwe uburyo bwo guhuza abakiriya n'ibyo bakeneye (Kernel 4.19 + Xenomai 3.1)

Intambwe zo Gutunganya mu Gihe Nyacyo:
a) Gutunganya BIOS
b) Gutunganya ibipimo bya kernel mu gihe nyacyo (ECI)
c) Gutunganya ibipimo bya Cmdline (ECI)
d) Guhindura urwego rwa OS mu buryo bwimbitse
e) Ibipimo by'ubutindanyi/uburibwe

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2. Imikorere isanzwe yo gupima mu gihe nyacyo:

  • Ibikoresho:Uburyo bwo gutegereza, ikizamini cy'isaha, module za LinuxCNC

  • Intego:

    • Ubukererwe: Gutinda ntarengwa < 40μs

    • Ikizamini cy'isaha: Gutembera ≈ 0 (Inkingi ya 3 hafi ya zeru mu gisubizo)

  • Ishyirwa mu bikorwa:Igerageza ryinshi mu byiciro by'ibikoresho (harimo na J6412 nk'igereranya)

Ibisubizo by'ikizamini:
Mu gihe cya Linux Xenomai, igihe cyo kugenzura no gutitira byarushijeho kuba byiza cyane. Igihe cyo gutinda cyagumye munsi ya 40μs mu gihe cyose, mu gihe igihe cyo gupima isaha cyari kigeze kuri zeru - gihuye n'ibyo porogaramu isaba.

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Ibisubizo ku ikoreshwa ry'ibintu nyabyo

Kugenzura ukuboko kwa Robotike ifite umurongo munini

Ikibazo:
Gusudira hakoreshejwe axis 8 byasabaga guhuza μs ku rwego rwa μs; ibisubizo gakondo byateje amakosa yo kunyerera no kugenda.

Gutunganya:

  • J6412 hamwe na Ubuntu 20.04 + Xenomai 3.2

  • Gigabit LAN ya 4x ijya kuri serivo ya EtherCAT

  • Isolcpus yagenewe gutunganya ibice by'umubiri mu gihe nyacyo

Ibisubizo:

  • Huza neza:Igerageza ry'isaha ≤ 0.05μs; Ihindagurika ry'inzira ntarengwa < 0.1mm

  • Ingwate mu gihe nyacyo:Imikorere ihoraho y'amasaha 72, gutinda cyane ≤ 38μs

  • Kugabanya Ikiguzi:Igiciro gito cya 35%, ingufu nkeya za 60% ugereranyije n'igisubizo cya i5

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Igenzura ry'Imbwa ya Robot Ifite Imbwa enye

Ikibazo:
Guhuza imbaraga kw'amajwi 12 byari bikenewe kugira ngo habeho μs-review; gutinda kwa sisitemu y'ubuhanga > 100μs byateje kudahinduka

Gutunganya:

  • N97 + Xenomai 3.2

  • PREEMPT_RT + agapapuro ka ECI

  • Cmdline yatoranyije CPU ebyiri zo gukora imirimo ya servo

Ibisubizo:

  • Ubukererwe buke:Igenzura riri muri 500μs, igihe cyo gutinda ≤ 35μs

  • Ubudahangarwa:Ikizamini cyo kugarura ubushyuhe muri -20°C, jitter < ± 8μs

  • Kwaguka:Sensoreri ya IMU ikoresheje M.2; 60% by'ingufu zigabanuka ugereranyije n'igisubizo gishingiye kuri i3

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Amahitamo yo Kohereza

Ku bakiriya bafite ubushobozi mu bya tekiniki bibanda ku mikorere igezweho, APQ irabagira inamaLinux + Xenomaigukwirakwiza. Ku bakoresha porogaramu za nyuma bakunda korohereza abantu mu buryo butunguranye, APQ inatangaamashusho ya sisitemu yashyizweho mbere kandi yanogejwehamwe n'inyandiko zo gukemura ibibazo - kugabanya inzitizi zo gutanga amakuru.

Uko robots zigenda zisimbura imirimo y'amaboko,sisitemu zo kugenzura zikora mu gihe nyacyo, zihamye kandi zihendutsekuba ingenzi kugira ngo itsinde. APQ irimo guhaza iki cyifuzo binyuze mu bisubizo bya porogaramu za mudasobwa zihujwe kandi izakomeza kwibanda cyane ku gukoresha mudasobwa za robotique no kugenzura imikorere yazo — iha abakiriya benshi b’inganda ubushobozi bwo gukoresha porogaramu zihamye, zikora neza kandi zoroshye kuzishyira hamwe.

Niba ushishikajwe n'ikigo cyacu n'ibicuruzwa byacu, hamagara uhagarariye mu mahanga, Robin.

Email: yang.chen@apuqi.com

WhatsApp: +86 18351628738

Igihe cyo kohereza: 28 Nyakanga-2025
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