Ngempumelelo yetekhnoloji kunye nentsebenziswano kushishino ngokubanzi, u-2025 ubonwa ngokubanzi "njengoNyaka weRobhothi." Ishishini lonke lerobhothi lifumana ukukhula okugqabhukileyo, kunye neemeko ezahlukeneyo zokusebenza eziqhuba iindlela ezahlukeneyo zobuchwepheshe kunye neemfuno zazo zombini isoftware kunye nehardware. Ngenxa yoko, iimfuno kunye neendlela zokuphunyezwa kokulawulwa kwexesha lokwenyani ziyahluka. Ukusebenzisa ukuqonda okunzulu kwecandelo leerobhothi, i-APQ iye yaphuhlisa izisombululo ezijoliswe kwixesha langempela lokulawula ulawulo.
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Iindlela zeTekhnoloji eziDiverging Robotic kunye noKhetho lweQonga lokuLungiselela
Iirobhothi zeBipedal humanoid zibonakalisa uyilo olufana nomntu olugqwesa ukuziqhelanisa nomhlaba ontsonkothileyo kunye nokusebenza ngokulungelelanisiweyo komzimba wonke. Ezi robhothi zifuna i-38 ukuya kwi-70 axes yolawulo lwentshukumo, nto leyo ethetha ukuba ziphezulu kakhulu iimfuno zexesha lokwenyani kunye nemijikelo yokulawula ukuya kuthi ga kwi-1000Hz. I-APQ isebenzisa iiprosesa ze-X86 ezisebenza ngokuphezulu ngokulungiswa kwesoftware ukuhlangabezana nezi mfuno zexesha lokwenyani.
Ngokwahlukileyo, iirobhothi ezinamavili okanye ezisisiseko zisebenzisa uyilo lwe-chassis olukhaphukhaphu ngakumbi, lubonelela ngeenzuzo ezinkulu kulawulo lweendleko, ukusebenza kakuhle, kunye nobomi bebhetri. Ezi ngokuqhelekileyo zinee-degrees ze-30 zenkululeko kunye nemfuno ephantsi ye-computing yexesha lokwenyani, kodwa zinovakalelo ngakumbi kusetyenziso lwamandla. Kulo luhlu, i-APQ isebenzisa amandla aphantsi, amaqonga aphantsi aphantsi njenge-Intel® N97 okanye i-J6412 ukwakha izisombululo ezipheleleyo. Oku kulinganisa ukusebenza kakuhle kwamandla kunye neendleko ngelixa kusetyenziswa inkqubo yophuhliso etyebileyo yeqonga le-X86 ukuhlangabezana neemfuno ezingqongqo zenkqubo yolawulo yokusebenza ngexesha lokwenyani, uzinzo, indibaniselwano, kunye nokubumbana.
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I-APQ ye-EtherCAT ye-Real-Time Control Optimization Case Study
Imvelaphi yeSicelo
Iirobhothi ezinamavili / ezisisiseko ziqhele ukusetyenziswa kulawulo oluntsonkothileyo lwendlela, unxibelelwano lwe-multi-axis, intshukumo ekhokelwa ngumbono, kunye nezicelo ezifanayo. Iinkqubo zabo zolawulo kufuneka zixhase:
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Unxibelelwano lwebhasi oluhamba ngesantya esiphezulu e-EtherCATkulawulo lwe-servo oludityanisiweyo
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Hard real-time OSimpendulo ye-millisecond engaphantsi
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Uyilo lwemizi-mveliso olubambeneyoilungele iingcingo eziqinileyo okanye indawo yekhabhinethi
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Amazibuko anokwandiswakuquka ezininzi ze-serial kunye ne-LAN izibuko zokudityaniswa kweeperipheral ezahlukeneyo
Omnye umxhasi, ukuphuhlisa i-robot ye-multi-axis, efuna inkxaso ye-EtherCAT kunye nokusebenza kwexesha langempela. Nangona kunjalo, ukuvavanywa kunye neqonga le-N97 kunye nabaqhubi be-servo babonise ukuba umjikelo wonxibelelwano we-EtherCAT awukwazanga ukufikelela ngaphantsi kwe-50μs, udala ibhotile ebalulekileyo yokuvelisa ubuninzi.
Indlela yoPhuculo lweXesha lokwenyani
Isebenzisa iiplatifti ze-N97 kunye ne-J6412, i-APQ yenze i-system-level full-time toning. Inkqubo yomzekelo weqonga le-N97:
1. I-OS Tshintshela kwi-Linux Xenomai Environment:
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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 kuvavanywa kwimfuno yelifa lomxumi (Kernel 4.19 + Xenomai 3.1)
Amanyathelo oLungiso lweXesha lokwenyani:
a) Ukulungiswa kweBIOS
b) Ukwenziwa kweparamitha yekernel yexesha lokwenyani (ECI)
c) Cmdline parameter tuning (ECI)
d) Ubunzulu bomgangatho we-OS
e) Imilinganiselo yeLatency/Jitter
2. Ukuhamba koMsebenzi woVavanyo lweXesha langempela:
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Izixhobo:Latency, Clocktest, LinuxCNC iimodyuli zovavanyo
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Ekujoliswe kuko:
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Ukubambezeleka: Ubuninzi bokulibaziseka <40μs
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Uvavanyo lwewotshi: Drift ≈ 0 (uluhlu lwesithathu lusondele ku-zero kwisiphumo)
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Uzalisekiso:Imijikelo emininzi yovavanyo kwiibhetshi zehardware (kubandakanywa iJ6412 njengothelekiso)
Iziphumo zovavanyo:
Ngaphantsi kwemeko-bume ye-Linux Xenomai, ixesha lomjikelo wokulawula kunye nejitter iphuculwe kakhulu. I-latency yahlala ingaphantsi kwe-40μs yonke, ngelixa i-clocktest drift isondela kwi-zero - ukuhlangabezana neemfuno zesicelo.
IziPhumo zeSicelo sokwenyani zeHlabathi
Ulawulo lweArm ye-Multi-Axis Robotic
Umngeni:
I-8-axis ye-welding edityanisiweyo efunekayo ungqamaniso lwe-μs-level; izisombululo zemveli zabangela iimposiso zokukhukuliseka kunye neetrajectory.
Ukuphucula:
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J6412 kunye Ubuntu 20.04 + Xenomai 3.2
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4x Gigabit LAN ngqo EtherCAT servo
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I-Isolcpus izinikele ngexesha langempela lokulungisa ii-cores
Iziphumo:
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Sync Precision:Eyona clocktest drift ≤ 0.05μs; Ubukhulu bokutenxa kwi-trajectory <0.1mm
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Isiqinisekiso sexesha lokwenyani:I-72h yokusebenza eqhubekayo, i-latency ephezulu ≤ 38μs
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Unciphiso lweendleko:I-35% yeendleko eziphantsi, i-60% amandla angaphantsi kunesisombululo se-i5
I-Quadruped Robot Dog Motion Control
Umngeni:
Ulungelelaniso oluguqukayo oludityanisiweyo olu-12 olufunekayo ingxelo yenqanaba le-μs; ukubambezeleka kwenkqubo yelifa> 100μs kubangele ukungazinzi
Ukuphucula:
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N97 + Xenomai 3.2
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PREEMPT_RT + ECI patch
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Cmdline ibekwe yodwa 2 CPU cores imisebenzi servo
Iziphumo:
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Ukubambezeleka okuPhantsi:Umjikelo wokulawula ngaphakathi kwe-500μs, i-latency ≤ 35μs
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Ukomelela:Kwi -20 ° C uvavanyo lokubuyisela, i-jitter < ± 8μs
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Ukwandiswa:Uluvo lwe-IMU nge-M.2; 60% ukonga amandla phezu kwesisombululo i3-based
Iinketho zokusasaza
Kubathengi abanobuchule bobuchule obugxile ekusebenzeni kwexesha lokwenyani, i-APQ iyacebisaLinux + Xenomaiukusasazwa. Kubasebenzisi bokugqibela abakhetha ukuphuma ngaphandle kwebhokisi, i-APQ ikwabonelelaefakwe ngaphambili kunye nemifanekiso yenkqubo ephuculweyongamaxwebhu okulungisa iimpazamo - ukunciphisa imiqobo yokusasazwa.
Njengoko iirobhothi zithatha indawo yemisebenzi yezandla,ixesha lokwenyani, oluzinzileyo, kunye neenkqubo zolawulo ezingabizi kakhuluYiba baluleke kakhulu kwimpumelelo. I-APQ ihlangabezana nale mfuno ngokusebenzisa izisombululo ze-hardware-software edibeneyo kwaye iya kuqhubeka igxininisa kwi-robotic edge computing kunye nokulawula ukunyakaza - ukuxhobisa abathengi abaninzi bezoshishino kunye neeplatifti ezidibeneyo ezizinzile, ezisebenzayo kunye nezilula ezidibeneyo.
Ukuba unomdla kwinkampani yethu kunye neemveliso, zive ukhululekile ukuqhagamshelana nommeli wethu waphesheya, uRobin.
Email: yang.chen@apuqi.com
WhatsApp: +86 18351628738
Ixesha lokuposa: Jul-28-2025