Nekubudirira kwetekinoroji uye kushanda pamwe chete muindasitiri yese, gore ra2025 rinoonekwa zvakanyanya se "Gore reRobotics." Indasitiri yese yemarobhoti iri kukura zvakanyanya, ine mamiriro akasiyana-siyana ekushandisa achitungamira nzira dzakasiyana dzetekinoroji uye zvinodiwa zvesoftware nehardware. Nekuda kweizvozvo, zvinodiwa uye nzira dzekushandisa kudzora mafambiro panguva chaiyo zvinosiyana. Vachishandisa kunzwisisa kwakadzama kwechikamu chemarobhoti, APQ yakagadzira mhinduro dzakanangwa dzekugadzirisa kudzora panguva chaiyo.
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Kusarudza Mapuratifomu Akasiyana-siyana eRobotic Technology
Marobhoti ane muviri unoshanda semunhu ane dhizaini yakaita seyemunhu inokwanisa kuchinjika kunzvimbo dzakaoma uye kushanda pamwe chete kwemuviri wese. Marobhoti aya anowanzo da 38 kusvika 70 axes ekufamba, zvichireva kuti zvinodiwa zvakanyanya panguva chaiyo uye ma cycle ekudzora anosvika 1000Hz. APQ inoshandisa ma processor eX86 anoshanda zvakanyanya ane software yekugadzirisa kuti ienderane nezvinodiwa izvi panguva chaiyo.
Kusiyana neizvi, marobhoti ane mavhiri kana kuti emhando yebase anoshandisa dhizaini yechassis yakareruka, zvichipa mabhenefiti makuru mukutonga mitengo, kushanda zvakanaka kwekufamba, uye hupenyu hwebhatiri. Aya anowanzova nerusununguko rwunosvika madhigirii makumi matatu uye kudiwa kushoma kwekombiyuta panguva chaiyo, asi anonyanya kugadzikana nekushandiswa kwesimba. Pachikamu ichi, APQ inoshandisa mapuratifomu ane simba shoma, asingadhuri akadai seIntel® N97 kana J6412 kugadzira mhinduro dzakakwana. Izvi zvinoenzanisa kushanda zvakanaka kwesimba uye mutengo uku zvichishandisa ecosystem yekuvandudza yakapfuma yepuratifomu yeX86 kuti isangane nezvinodiwa zvakasimba zvekushanda kwenguva chaiyo, kugadzikana, kubatanidzwa, uye kubatana.
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Chidzidzo cheAPQ cheEtherCAT Real-Time Control Optimization
Ruzivo rweMashandisirwo
Marobhoti ane mavhiri/base anowanzo shandiswa mukudzora nzira dzakaoma, kubatana kwematanho akawanda, kufamba kunotungamirirwa nekuona, uye mamwe mashandisirwo akafanana. Masisitimu avo ekudzora anofanira kutsigira:
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Kutaurirana kwemabhazi ekumhanya kwepamusoro-soro eEtherCATyekudzora servo yakabatana
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OS yakaoma panguva chaiyoyemhinduro ye sub-millisecond
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Dhizaini yeindasitiri dikiyakakodzera nzvimbo yekubatanidza waya kana makabati
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Machiteshi anokurakusanganisira maports akawanda e serial ne LAN ekubatanidza kwakasiyana-siyana kwe peripheral
Mumwe mutengi, achigadzira robhoti rine axis dzakawanda, aida rutsigiro rweEtherCAT uye kushanda zvakanaka panguva chaiyo. Zvisinei, kuyedza nepuratifomu yeN97 nemadhiraivha eservo kwakaratidza kuti kutenderera kwekutaurirana kweEtherCAT kwaisagona kusvika pasi pe50μs, zvichigadzira chinetso chakakosha pakugadzirwa kwemagetsi akawanda.
Maitiro Ekugadzirisa Nguva Chaiyo
Ichishandisa mapuratifomu eN97 neJ6412, APQ yakaita kugadzirisa kwakazara system-level real-time. Muenzaniso wemaitiro epuratifomu yeN97:
1. OS Chinja kuLinux Xenomai Zvakatipoteredza:
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Ubuntu 20.04 + Linux Kernel 5.15
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Chigamba chenguva chaiyo: Xenomai 3.2 (chinoenderana neLinuxCNC)
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Kuenderana kwakaedzwa kuti kuonekwe kuti mutengi wacho aidiwa kare (Kernel 4.19 + Xenomai 3.1)
Matanho Ekugadzirisa Munguva Chaiyo:
a) Kugadzirisa BIOS
b) Kugadzirisa kernel parameter munguva chaiyo (ECI)
c) Kugadzirisa maparamita eCmdline (ECI)
d) Kugadzirisa kwakadzika kweOS-level
e) Kuyerwa kweLatency/Jitter
2. Kufamba Kwebasa Rekuyedza Munguva Yechokwadi:
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Zvishandiso:Latency, Clocktest, LinuxCNC bvunzo modules
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Zvinangwa:
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Kunonoka: Kunonoka kwakanyanya < 40μs
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Kuedza kweWachi: Kudonha ≈ 0 (koramu yechitatu iri pedyo ne zero mumhedzisiro)
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Kuitwa:Kuyedzwa kwakawanda pakati pemabheti ehardware (kusanganisira J6412 sekuenzanisa)
Mhedzisiro yeMuedzo:
Pasi peLinux Xenomai, nguva yekudzora uye kusvetuka zvakavandudzika zvakanyanya. Nguva yekunonoka yakaramba iri pasi pe40μs mukati menguva yese, nepo clocktest drift yakasvika zero - ichizadzisa zvinodiwa zveapplication.
Mhedzisiro yeKushandiswa Kwenyika Chaiyo
Kudzora Ruoko rweRobotic rweMulti-Axis
Dambudziko:
Kubatanidza kwakabatana kwe 8-axis kwaida μs-level sync; mhinduro dzechinyakare dzakakonzera zvikanganiso zvekudonha kwemvura uye nzira yekufamba nayo.
Kugadzirisa:
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J6412 neUbuntu 20.04 + Xenomai 3.2
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4x Gigabit LAN yakananga kuEtherCAT servo
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Macores ekugadzirisa enguva chaiyo akatsaurirwa neIsolcpus
Mhedzisiro:
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Batanidza Kunyatsorongeka:Kutsvedza kwekuyedza kwewachi ≤ 0.05μs; Kutsauka kwakanyanya kwenzira < 0.1mm
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Vimbiso Yenguva Yechokwadi:Kushanda kwenguva refu kwemaawa makumi manomwe nemaviri, nguva yekunonoka inosvika ≤ 38μs
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Kuderedza Mutengo:Mutengo wakaderera ne35%, simba shoma ne60% pane mhinduro ye i5
Kudzora Kufamba Kwembwa Yemarobhoti Ane Makumi Mane
Dambudziko:
Kuenzanisa kwakasimba kwemajoini gumi nemaviri kwaida mhinduro ye μs-level; kunonoka kwesystem yekare > 100μs kwakakonzera kusagadzikana
Kugadzirisa:
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N97 + Xenomai 3.2
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PREEMPT_RT + chigamba cheECI
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Cmdline yakapatsanurwa maCPU maviri emabasa eservo
Mhedzisiro:
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Kunonoka Kwakaderera:Kudzora kutenderera mukati me500μs, kunonoka ≤ 35μs
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Kusimba:Kuongororwa kwekupora mukati me -20°C, jitter < ± 8μs
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Kugona Kukura:Sensor yeIMU kuburikidza neM.2; 60% simba rinochengetwa kupfuura mhinduro yei3
Sarudzo dzeKutumira Zvinhu
Kune vatengi vane hunyanzvi hwepamusoro vanotarisa pakushanda panguva chaiyo, APQ inokurudziraLinux + XenomaiKuvanhu vanoshandisa APQ vanoda zviri nyore kushandisa, vanopawomifananidzo yesystem yakaiswa kare uye yakagadziriswanemagwaro ekugadzirisa matambudziko — kuderedza zvipingamupinyi zvekushandisa.
Sezvo marobhoti achiramba achitsiva mabasa emaoko,masisitimu ekudzora anoshanda panguva chaiyo, akagadzikana, uye asingadhurikuva chinhu chakakosha kuti zvinhu zvibudirire. APQ iri kuzadzisa chinodiwa ichi kuburikidza nesoftware-software yakabatanidzwa uye icharamba ichisimbisa kutarisisa kwayo pamakombiyuta emumucheto werobhoti uye kudzora kufamba - ichipa vatengi vakawanda vemaindasitiri mapuratifomu akagadzikana, anoshanda, uye ari nyore kubatanidzwa.
Kana muchifarira kambani yedu nezvigadzirwa zvedu, inzwa wakasununguka kubata mumiriri wedu wekune dzimwe nyika, Robin.
Email: yang.chen@apuqi.com
WhatsApp: +86 18351628738
Nguva yekutumira: Chikunguru-28-2025