Ngenxa yophuhliso lwetekhnoloji kunye nentsebenziswano kushishino lonke, u-2025 ubonwa ngokubanzi njengo "Nyaka weeRobhothi." Lonke ishishini leerobhothi likhula ngokukhawuleza, kunye neemeko ezahlukeneyo zezicelo eziqhuba iindlela ezahlukeneyo zobuchwepheshe kunye neemfuno zesoftware kunye nehardware. Ngenxa yoko, iimfuno kunye neendlela zokuphumeza ulawulo lwentshukumo ngexesha langempela ziyahluka. Isebenzisa ukuqonda okunzulu kwicandelo leerobhothi, i-APQ iphuhlise izisombululo zokuphucula ulawulo ngexesha langempela ezijolise kuzo.
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Iindlela ezahlukeneyo zeTekhnoloji yeRobotic kunye noKhetho lwePlatform yokuCwangcisa
Iirobhothi ezisebenzisa umzimba womntu ezibizwa ngokuba yiBipedal humanoid zinoyilo olufana nolwabantu olugqwesileyo ekuzivumelaniseni nomhlaba onzima kunye nokusebenza okudibeneyo komzimba wonke. Ezi robhothi zihlala zifuna ulawulo lwentshukumo oluyi-38 ukuya kwi-70, nto leyo ethetha ukuba kufuneka ixesha langempela eliphezulu kakhulu kunye nemijikelo yokulawula ukuya kuthi ga kwi-1000Hz. I-APQ isebenzisa iiprosesa ze-X86 ezisebenzayo kakhulu kunye nokulungiswa kwesoftware ukuhlangabezana nezi mfuno zangempela.
Ngokwahlukileyo koko, iirobhothi ezinamavili okanye uhlobo olusisiseko zisebenzisa uyilo lwetshasi olukhaphukhaphu ngakumbi, zibonelela ngeenzuzo ezinkulu kulawulo lweendleko, ukusebenza kakuhle kwentshukumo, kunye nobomi bebhetri. Ezi zihlala zinenkululeko emalunga nama-30 degrees kunye nemfuno ephantsi yokubala ngexesha langempela, kodwa zinovelwano ngakumbi ekusebenziseni amandla. Kolu didi, i-APQ isebenzisa amaqonga anamandla aphantsi, angabizi kakhulu afana ne-Intel® N97 okanye i-J6412 ukwakha izisombululo ezipheleleyo. Oku kulinganisela ukusebenza kakuhle kwamandla kunye neendleko ngelixa kusetyenziswa inkqubo yophuhliso etyebileyo yeqonga le-X86 ukuhlangabezana neemfuno ezingqongqo zokusebenza kwenkqubo yokulawula ngexesha langempela, ukuzinza, ukuhlanganiswa, kunye nokuxinana.
02
Isifundo seTyala lokuLungiselela ulawulo lweXesha langempela le-APQ's EtherCAT
Imvelaphi yesicelo
Iirobhothi ezinamavili/ezisekelweyo zihlala zisetyenziswa kulawulo oluntsonkothileyo lwendlela, unxibelelwano olune-axis ezininzi, intshukumo ekhokelwa ngumbono, kunye nokusetyenziswa okufanayo. Iinkqubo zabo zolawulo kufuneka zixhase:
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Unxibelelwano lweebhasi ezikhawulezayo ze-EtherCATulawulo lwe-servo oluhambelanayo
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I-OS enzima ngexesha langempelaimpendulo ye-sub-millisecond
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Uyilo oluncinci lwemizi-mvelisoifanelekile kwiintambo eziqinileyo okanye kwindawo yekhabhinethi
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Iiports ezinwebekayokuquka amazibuko amaninzi e-serial kunye ne-LAN ukuze kudityaniswe iindlela ezahlukeneyo zokunxibelelana kwe-peripheral
Umthengi omnye, owayesenza irobhothi ene-axis ezininzi, wayefuna inkxaso ye-EtherCAT kunye nokusebenza okuphezulu ngexesha langempela. Nangona kunjalo, uvavanyo ngeqonga le-N97 kunye nabaqhubi be-servo lubonise ukuba umjikelo wonxibelelwano lwe-EtherCAT awunakufikelela ngaphantsi kwe-50μs, nto leyo edala ingxaki ebalulekileyo kwimveliso enkulu.
Indlela Yokwenza Ulungelelwaniso Lwexesha Langempela
Isebenzisa amaqonga e-N97 kunye ne-J6412, i-APQ yenze uhlengahlengiso olupheleleyo lwexesha langempela kwinqanaba lenkqubo. Umzekelo wenkqubo yeqonga le-N97:
1. I-OS Tshintshela kwimo engqongileyo yeLinux Xenomai:
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Ubuntu 20.04 + Linux Kernel 5.15
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Ipetshi yexesha langempela: Xenomai 3.2 (iyahambelana neLinuxCNC)
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Ukuhambelana okuvavanyiweyo kwiimfuno zomthengi zakudala (iKernel 4.19 + Xenomai 3.1)
Amanyathelo Okulungisa Ngexesha Langempela:
a) Ukulungiswa kwe-BIOS
b) Ukulungiswa kweparameter yekernel yexesha langempela (ECI)
c) Ukulungiswa kweeparameter zeCmdline (ECI)
d) Ukwenziwa ngokwezifiso kwinqanaba le-OS elinzulu
e) Ukulinganiswa kweLatency/Jitter
2. Uhambo oluqhelekileyo lovavanyo lweXesha langempela:
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Izixhobo:Iimodyuli zovavanyo zeLatency, Clocktest, LinuxCNC
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Iithagethi:
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Ulindelo: Ukulibaziseka okuphezulu < 40μs
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Uvavanyo lwewotshi: Ukushukuma ≈ 0 (ikholamu yesi-3 isondele ku-zero kwisiphumo)
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Ukuphunyezwa:Iindibano ezininzi zovavanyo kwiibhetshi zehardware (kuquka i-J6412 njengothelekiso)
Iziphumo zovavanyo:
Phantsi kwemeko-bume yeLinux Xenomai, ixesha lomjikelo wolawulo kunye ne-jitter ziphucuke kakhulu. Ulindelo luhlale lungaphantsi kwama-40μs kulo lonke ixesha, ngelixa i-clocktest drift isondela ku-zero - ukuhlangabezana neemfuno zesicelo.
Iziphumo zoSetyenziso lweHlabathi lokwenyani
Ulawulo lwengalo yeRobhothi ene-Multi-Axis
Umngeni:
Ukuwelda okuvumelanisiweyo kwe-8-axis kwakufuna ukuvumelanisa kwenqanaba le-μs; izisombululo zemveli zabangela iimpazamo zokutyibilika kunye nokuhamba kwendlela.
Ukuphucula:
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I-J6412 ene-Ubuntu 20.04 + i-Xenomai 3.2
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I-4x Gigabit LAN ngqo kwi-servo ye-EtherCAT
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Ii-cores zokucubungula ezinikezelwa yi-Isolcpus ngexesha langempela
Iziphumo:
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Ulungelelwaniso lwe-Sync:Uvavanyo lwewotshi lujika ≤ 0.05μs; Ukuphambuka okukhulu kwendlela < 0.1mm
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Isiqinisekiso seXesha langempela:Ukusebenza okuqhubekayo kweeyure ezingama-72, ukubambezeleka okuphezulu ≤ 38μs
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Ukuncitshiswa kweendleko:Ixabiso eliphantsi ngama-35%, amandla angaphantsi ngama-60% kunesisombululo se-i5
Ulawulo lokuhamba kwenja yerobhothi enezine
Umngeni:
Ukulinganisela okunamandla okudibeneyo okuli-12 kufuna impendulo yenqanaba le-μs; ukubambezeleka kwenkqubo endala > 100μs kubangele ukungazinzi
Ukuphucula:
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I-N97 + iXenomai 3.2
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I-PREEMPT_RT + ipetshi ye-ECI
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Ii-cores ezimbini ze-CPU ezihlukaniswe yi-Cmdline zemisebenzi ye-servo
Iziphumo:
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Ulindelo oluphantsi:Umjikelo wolawulo ngaphakathi kwe-500μs, i-latency ≤ 35μs
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Ukuqina:Uvavanyo lokubuyisela kwimeko yesiqhelo kwi--20°C, i-jitter < ± 8μs
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Ukwanda:I-sensor ye-IMU nge-M.2; Ukonga amandla ngama-60% ngaphezulu kwesisombululo esisekelwe kwi-i3
Iinketho Zokusasaza
Kubathengi abanobuchule bobuchwephesha abagxile ekusebenzeni ngexesha langempela, i-APQ icebisaI-Linux + Xenomaiukusasazwa. Kubasebenzisi bokugqibela abakhetha ukusebenziseka lula ngaphandle kwebhokisi, i-APQ ikwabonelelaimifanekiso yenkqubo efakwe kwangaphambili nelungiselelwe kakuhlekunye noxwebhu lokulungisa iimpazamo — ukunciphisa imiqobo yokusasazwa.
Njengoko iirobhothi zitshintsha imisebenzi yezandla,iinkqubo zolawulo zexesha langempela, ezizinzileyo, nezingabizi kakhuluiba yeyona nto ibalulekileyo kwimpumelelo. I-APQ iyahlangabezana nale mfuno ngezisombululo zesoftware ezidityanisiweyo kwaye iya kuqhubeka nokugxila ngakumbi kwi-robotic edge computing kunye nolawulo lokuhamba - inika amandla abathengi abaninzi bemizi-mveliso ngamaqonga azinzileyo, asebenzayo, kwaye adityaniswe ngokulula.
Ukuba unomdla kwinkampani yethu kunye neemveliso zethu, zive ukhululekile ukuqhagamshelana nommeli wethu waphesheya, uRobin.
Email: yang.chen@apuqi.com
I-WhatsApp: +86 18351628738
Ixesha leposi: Julayi-28-2025