Horumarrada tignoolajiyada iyo iskaashiga warshadaha oo dhan, 2025 waxaa si weyn loogu arkaa "Sannadkii Robotics." Dhammaan warshadaha robotics waxay la kulmaayaan korriin qarxa, oo leh xaalado codsiyo kala duwan oo wata wadooyin teknoloji oo kala duwan iyo baahida software iyo hardware labadaba. Sidaa awgeed, shuruudaha iyo hababka hirgelinta ee xakamaynta dhaqdhaqaaqa wakhtiga-dhabta ah way kala duwan yihiin. Ka faa'iidaysiga faham qoto dheer oo ku saabsan qaybta robotics-ka, APQ waxay samaysay xalalka hagaajinta xakamaynta waqtiga-dhabta ah ee bartilmaameedsan.
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Kala-duwanaanshaha Waddooyinka Tignoolajiyada Robotic & Xulashada Madal Hagaajinta
Robots bini'aadamka bini'aadamka ah ayaa leh nashqad u eg bini'aadam kaas oo aad uga sarreeya la qabsiga dhulka adag iyo hawlaha isku dubaridka ah ee jirka oo dhan. Robots-yadani waxay caadi ahaan u baahan yihiin 38 ilaa 70 faashas oo ah xakamaynta dhaqdhaqaaqa, taas oo macnaheedu yahay shuruudaha wakhtiga-dhabta ah ee aad u sarreeya iyo wareegyada xakamaynta ilaa 1000Hz. APQ waxay isticmaashaa soo-saareyaal X86 wax-qabad sare leh oo wata qalab software-ka-habayn si ay u buuxiso shuruudahan-waqtiga-dhabta ah.
Taa bedelkeeda, robot-yada taayirrada leh ama nooca saldhigga ah waxay qaataan nashqad qafiif ah oo khafiif ah, oo siinaya faa'iidooyin waaweyn xakamaynta qiimaha, hufnaanta dhaqdhaqaaqa, iyo nolosha batteriga. Kuwani caadi ahaan waxay leeyihiin ku dhawaad 30 darajo oo xorriyad ah iyo baahida hoose ee xisaabinta waqtiga-dhabta ah, laakiin aad bay ugu nugul yihiin isticmaalka tamarta. Qaybtan, APQ waxay isticmaashaa awood yar, qalabyo jaban sida Intel® N97 ama J6412 si loo dhiso xalal dhammaystiran. Tani waxay miisaamaysaa hufnaanta awoodda iyo kharashka iyada oo ka faa'iidaysanaysa horumarinta deegaanka hodanka ah ee deegaanka ee madal X86 si ay u buuxiso shuruudaha adag ee nidaamka xakamaynta waxqabadka wakhtiga dhabta ah, xasiloonida, isdhexgalka, iyo is-afgarashada.
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APQ's EtherCAT Daraasadda Kiiska Kordhinta-Waqtiga-dhabta ah ee Xakamaynta
Asalka Codsiga
Robots taayir leh/saldhig ah ayaa sida caadiga ah loo adeegsadaa kontoroolka socodka adag, isku xirka dhidibada badan, dhaqdhaqaaqa aragga lagu hagayo, iyo codsiyada la midka ah. Nidaamyadooda xakamaynta waa inay taageeraan:
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EtherCAT isgaarsiinta baska xawaaraha sare lehloogu talagalay kontoroolka servo-ga ee la wada siman yahay
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OS-da-waqtiga adagsi loogu jawaabo hal-ilbiriqsi-hoosaad
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Naqshadaynta warshadaha is haystaku habboon xargaha cidhiidhiga ah ama booska golaha
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Dekado la fidin karooo ay ku jiraan dekedo taxane ah oo badan iyo LAN oo loogu talagalay is dhexgalka durugsan ee kala duwan
Hal macmiil, oo horumarinaya robot dhidibo badan leh, ayaa u baahday taageerada EtherCAT iyo waxqabadka waqtiga-dhabta ah ee sarreeya. Si kastaba ha noqotee, tijaabinta madal N97 iyo darawallada servo waxay muujiyeen in wareegga isgaarsiinta EtherCAT uusan gaari karin wax ka hooseeya 50μs, taasoo abuuraysa cilad muhiim u ah wax soo saarka ballaaran.
Habka Hagaajinta Waqtiga-dhabta ah
Isticmaalka aaladaha N97 iyo J6412, APQ waxay fulisay habayn heer-buuxa ah oo nidaam-waqtiga-dhabta ah. Tusaalaha nidaamka N97:
1. OS U beddelo Deegaanka Xenomai Linux:
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Ubuntu 20.04 + Linux Kernel 5.15
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balastar-waqtiga dhabta ah: Xenomai 3.2 (ku habboon LinuxCNC)
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Waafaqid la tijaabiyay baahida dhaxalka ee macmiilka (Kernel 4.19 + Xenomai 3.1)
Talaabooyinka hagaajinta-waqtiga dhabta ah:
a) Habaynta BIOS
b) Hagaajinta halbeegga kernel-waqtiga-dhabta ah (ECI)
c) Cmdline parameter tuning (ECI)
d) Qoto-habaynta heerka OS-ga
e) Cabbiraadaha daahitaanka/Jitter-ka
2. Heerka Socodka Shaqada ee Imtixaanka-Waqtiga dhabta ah:
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Qalabka:Latency, Clocktest, Qaybaha imtixaanka LinuxCNC
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Bartilmaameedyada:
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Daahida: Dib u dhaca ugu badan <40μs
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Saacadaha ugu dambeeya: Drift ≈ 0 (Tiirka 3aad ee u dhow eber natiijada)
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Fulinta:Wareegyo badan oo tijaabo ah oo ka kooban qaybaha qalabka (oo ay ku jirto J6412 marka la barbardhigo)
Natiijada Imtixaanka:
Marka la eego deegaanka Linux Xenomai, waqtiga wareegga xakamaynta iyo jitter si weyn ayaa loo hagaajiyay. Daahitaanku waxa uu ahaa mid ka hooseeya 40μs oo dhan, halka clocktest qulqulatada uu ku dhawaaday eber - buuxinta dalabaadka codsiga.
Natiijooyinka Codsiga Adduunka ee Dhabta ah
Xakamaynta Gacmaha Robotic-Axis ee Multi-Axis
Loollan:
8- dhidib alxan isku-dhafan ayaa loo baahan yahay isku-dheellitirnaan heerka-μs; xalal dhaqameedku waxay sababeen marin-habaabin iyo khaladaad raadraaceed.
Hagaajinta:
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J6412 oo leh Ubuntu 20.04 + Xenomai 3.2
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4x Gigabit LAN si toos ah EtherCAT servo
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Isolcpus waxay u heellan tahay kombuyuutar farsamaynta waqtiga-dhabta ah
Natiijooyinka:
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Saxnaanta Isku-dhafka:Socodka saacada ≤ 0.05μs; leexashada ugu badan <0.1mm
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Xaqiijinta-Waqtiga dhabta ah:Hawlgalka joogtada ah ee 72h, daahitaanka ugu sarreeya ≤ 38μs
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Dhimista Qiimaha:35% qiimo hoose, 60% awood ka yar xalka i5
Xakamaynta Dhaqdhaqaaqa Ey Robot oo afar jibaaran
Loollan:
12-isku-dheellitirka firfircoonida wadajirka ah ee loo baahan yahay jawaab celinta heerka-μs; daahitaanka nidaamka dhaxalka> 100μs ayaa sababay xasillooni darro
Hagaajinta:
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N97 + Xenomai 3.2
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PREMPT_RT + balastar ECI
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Cmdline waxay go'doomisay 2 kooraska CPU ee hawlaha servo
Natiijooyinka:
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Latency hooseeya:Wareegga xakamaynta gudaha 500μs, daahitaan ≤ 35μs
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Adag:In -20°C tijaabada soo kabashada, jitter <± 8μs
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Balaadhinta:Dareemaha IMU iyada oo loo marayo M.2; 60% kaydinta awooda in kabadan i3-ku-salaysan
Fursadaha Dirista
Macaamiisha karti farsamo u leh diiradda saaraya waxqabadka wakhtiga-dhabta ah, APQ waxay ku talinaysaaLinux + Xenomaigeyn. Isticmaalayaasha dhamaadka doorbidaya ku habboonaanta sanduuqa ka baxsan, APQ waxay sidoo kale bixisaasawirada nidaamka horay loo rakibay oo la hagaajiyayoo wata dukumeenti khalad ah - hoos u dhigista caqabadaha geynta.
Iyadoo robots ay sii kordhayaan beddelka hawlaha gacanta,hababka kontoroolka waqtiga-dhabta ah, xasiloon, iyo kharash-ool ahnoqo mid muhiim u ah guusha. APQ waxay buuxinaysaa baahidan iyada oo loo marayo xalal isku-dhafan oo hardware-software ah waxayna sii wadi doontaa inay sii xoojiso diiradda ay ku hayso xisaabinta cirifka robotka iyo xakamaynta dhaqdhaqaaqa - awoodsiinta macaamiil badan oo warshado leh oo leh goobo xasiloon, hufan, iyo si fudud isku dhafan.
Haddii aad xiisaynayso shirkaddayada iyo alaabtayada, xor u noqo inaad la xidhiidho wakiilkayaga dibadda, Robin.
Email: yang.chen@apuqi.com
WhatsApp: +86 18351628738
Waqtiga boostada: Jul-28-2025