Ngokuthuthuka kwezobuchwepheshe kanye nokusebenzisana kwemboni yonke, u-2025 ubonwa kabanzi ngokuthi “Unyaka Wamarobhothi.” Yonke imboni yamarobhothi ibhekene nokukhula okukhulu, ngezimo ezihlukene zohlelo lokusebenza ezishayela izindlela zobuchwepheshe ezihlukene kanye nezidingo zazo zombili isoftware nehardware. Ngenxa yalokho, izidingo nezindlela zokuqalisa zokulawula ukunyakaza kwesikhathi sangempela ziyahlukahluka. Ngokusebenzisa ukuqonda okujulile komkhakha wamarobhothi, i-APQ ithuthukise izixazululo ezihlosiwe zokulawula isikhathi sangempela.
01
I-Diverging Robotic Technology Routes kanye Nokukhethwa Kweplathifomu Yokucubungula
Amarobhothi e-Bipedal humanoid anomklamo ofana nomuntu osebenza kahle kakhulu ekuzivumelaniseni nesimo sezwe esiyinkimbinkimbi kanye nokusebenza okudidiyelwe komzimba wonke. Lawa marobhothi ngokuvamile adinga ama-eksisi angu-38 kuya kwangu-70 okulawula ukunyakaza, okusho ukuthi izimfuneko zesikhathi sangempela eziphezulu kakhulu kanye nemijikelezo yokulawula efika ku-1000Hz. I-APQ isebenzisa amaphrosesa e-X86 asebenza kahle ngokulungiswa kwesofthiwe ukuze ahlangabezane nalezi zidingo zesikhathi sangempela.
Ngokuphambene, amarobhothi anamasondo noma ohlobo lwesisekelo asebenzisa idizayini ye-chassis engasindi, enikeza izinzuzo ezinkulu ekulawuleni izindleko, ukusebenza kahle kokunyakaza, nempilo yebhethri. Lawa ngokuvamile anamadigri enkululeko angaba ngu-30 kanye nesidingo esiphansi sekhompuyutha yesikhathi sangempela, kodwa azwela kakhulu ekusetshenzisweni kwamandla. Kulesi sigaba, i-APQ isebenzisa amandla aphansi, izinkundla ezingabizi kakhulu njenge-Intel® N97 noma i-J6412 ukwakha izixazululo eziphelele. Lokhu kulinganisa ukusebenza kahle kwamandla kanye nezindleko kuyilapho kusebenzisa i-ecosystem yokuthuthukisa enothile yeplathifomu ye-X86 ukuze kuhlangatshezwane nezidingo eziqinile zokusebenza kwesistimu ngesikhathi sangempela, ukuzinza, ukuhlanganisa, nokubumbana.
02
Icala le-APQ's EtherCAT Real-Time Control Optimization Case Study
Isendlalelo sohlelo lokusebenza
Amarobhothi anamasondo/ayisisekelo ngokuvamile asetshenziswa ekulawuleni umzila oyinkimbinkimbi, ukuxhumanisa ama-eksisi amaningi, ukunyakaza okuqondiswa umbono, nezinhlelo zokusebenza ezifanayo. Amasistimu abo okulawula kufanele asekele:
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I-EtherCAT yokuxhumana ngebhasi enesivinini esikhuluyokulawula i-servo evumelanisiwe
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I-OS yesikhathi sangempela esiqinileimpendulo ye-sub-millisecond
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Compact industrial designilungele izintambo eziqinile noma isikhala sekhabhinethi
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Izimbobo ezinwebekayokufaka phakathi ama-serial amaningi kanye nezimbobo ze-LAN zokuhlanganiswa okuhlukahlukene kwe-peripheral
Iklayenti elilodwa, elithuthukisa irobhothi le-multi-axis, lidinga ukusekelwa kwe-EtherCAT nokusebenza okuphezulu kwesikhathi sangempela. Kodwa-ke, ukuhlola nge-platform ye-N97 kanye nabashayeli be-servo kubonise ukuthi umjikelezo wokuxhumana we-EtherCAT awukwazanga ukufinyelela ngaphansi kwe-50μs, okwenza ibhodlela elibalulekile lokukhiqiza ngobuningi.
Indlela Yokuthuthukisa Isikhathi Sangempela
Isebenzisa amapulatifomu e-N97 kanye ne-J6412, i-APQ yenza ukushuna kwesikhathi sangempela kwezinga lesistimu. Isibonelo senqubo yenkundla ye-N97:
1. I-OS Shintshela ku-Linux Xenomai Environment:
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Ubuntu 20.04 + Linux Kernel 5.15
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Isiqeshana sesikhathi sangempela: Xenomai 3.2 (ihambisana ne-LinuxCNC)
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Ukusebenzisana kuhlolelwe isidingo sefa leklayenti (Kernel 4.19 + Xenomai 3.1)
Izinyathelo zokushuna kwesikhathi sangempela:
a) Ukushuna kwe-BIOS
b) Ukwenziwa ngcono kwepharamitha ye-kernel yesikhathi sangempela (ECI)
c) Ukushuna kwepharamitha ye-Cmdline (ECI)
d) Ukwenza ngokwezifiso izinga le-OS elijulile
e) Izilinganiso ze-latency/Jitter
2. Ukugeleza Okujwayelekile Kokuhlola Isikhathi Sangempela:
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Amathuluzi:Ukubambezeleka, i-Clocktest, amamojula okuhlola we-LinuxCNC
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Okuhlosiwe:
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Ukubambezeleka: Ukubambezeleka okukhulu <40μs
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Ukuhlolwa kwewashi: I-Drift ≈ 0 (ikholomu yesi-3 iseduze nomphumela onguziro)
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Ukwenza:Imijikelezo eminingi yokuhlola kuwo wonke ama-hardware batches (kufaka phakathi i-J6412 njengokuqhathanisa)
Umphumela Wokuhlola:
Ngaphansi kwemvelo ye-Linux Xenomai, isikhathi somjikelezo wokulawula kanye ne-jitter kube ngcono kakhulu. Ukubambezeleka kwahlala kungaphansi kwama-40μs kulo lonke, kuyilapho iwashi lewashi lisondela ku-zero - ukuhlangabezana nezidingo zohlelo lokusebenza.
Imiphumela Yohlelo Lokusebenza Lomhlaba Wangempela
I-Multi-Axis Robotic Arm Control
Inselelo:
Ukushisela okuvunyelanisiwe okungu-8-eksisi kuyadingeka ukuvumelanisa kwezinga elingu-μs; izixazululo zendabuko zidale ukukhukhuleka kanye namaphutha endlela.
Ukuthuthukisa:
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I-J6412 eno-Ubuntu 20.04 + Xenomai 3.2
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4x Gigabit LAN ngqo EtherCAT servo
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I-Isolcpus izinikezele ama-cores wokucubungula wesikhathi sangempela
Imiphumela:
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Vumelanisa Ukunemba:I-Clocktest Drift ≤ 0.05μs; Ukuchezuka okukhulu kwe-trajectory <0.1mm
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Isiqinisekiso Sesikhathi Sangempela:Ukusebenza okuqhubekayo okungu-72h, ukubambezeleka okuphezulu ≤ 38μs
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Ukwehliswa Kwezindleko:35% izindleko eziphansi, 60% amandla angaphansi kunesixazululo se-i5
I-Quadruped Robot Dog Motion Control
Inselelo:
Ukulinganisa okunamandla okuhlangene okungu-12 kuyadingeka impendulo yeleveli engu-μs; ukubambezeleka kwesistimu yefa > 100μs kubangele ukungazinzi
Ukuthuthukisa:
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I-N97 + Xenomai 3.2
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PREEMPT_RT + ECI ipheshi
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I-Cmdline ihlukanise ama-CPU ama-cores amabili wemisebenzi ye-servo
Imiphumela:
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Ukubambezeleka Okuphansi:Lawula umjikelezo phakathi kuka-500μs, ukubambezeleka ≤ 35μs
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Ukuqina:Ku- -20°C ukuhlolwa kokululama, i-jitter < ±8μs
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Ukunwetshwa:Inzwa ye-IMU nge-M.2; 60% ukonga amandla phezu kwesixazululo esisekelwe ku-i3
Izinketho Zokuthunyelwa
Kumakhasimende anekhono lobuchwepheshe agxile ekusebenzeni kwesikhathi sangempela, i-APQ iyancomaI-Linux + Xenomaiukuthunyelwa. Kubasebenzisi bokugcina abancamela ukusebenziseka ngaphandle kwebhokisi, i-APQ iphinde inikezeizithombe zesistimu ezifakwe ngaphambili nezithuthukisiwengemibhalo yokususa iphutha - ukwehlisa imigoqo yokuthunyelwa.
Njengoba amarobhothi ethatha indawo yemisebenzi eyenziwa ngesandla,ngesikhathi sangempela, ezinzile, futhi amasistimu okulawula angabizizibaluleke kakhulu empumelelweni. I-APQ ihlangabezana nalesi sidingo ngezixazululo ezididiyelwe ze-Hardware-software futhi izoqhubeka nokujulisa ukugxila kwayo ku-robotic edge computing kanye nokulawula ukunyakaza - ukunika amandla amaklayenti amaningi ezimboni ngezinkundla ezishumekiwe ezizinzile, ezisebenza kahle nezididiyelwe kalula.
Uma unentshisekelo enkampanini nakwimikhiqizo yethu, zizwe ukhululekile ukuxhumana nommeleli wethu waphesheya kwezilwandle, u-Robin.
Email: yang.chen@apuqi.com
WhatsApp: +86 18351628738
Isikhathi sokuthumela: Jul-28-2025