Ngokuthuthuka kwezobuchwepheshe kanye nokusebenzisana embonini yonke, u-2025 ubhekwa kabanzi njengo-“Nyaka Wamarobhothi.” Imboni yonke yamarobhothi ibhekene nokukhula okukhulu, ngezimo ezahlukahlukene zohlelo lokusebenza eziqhuba izindlela zobuchwepheshe ezahlukene kanye nezidingo zesofthiwe kanye nehadiwe. Ngenxa yalokho, izidingo nezindlela zokusebenzisa zokulawula ukunyakaza kwesikhathi sangempela ziyahlukahluka. Isebenzisa ukuqonda okujulile komkhakha wamarobhothi, i-APQ ithuthukise izixazululo zokuthuthukisa ukulawula kwesikhathi sangempela eziqondiwe.
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Izindlela Zobuchwepheshe Berobhothi Ezihlukahlukene Nokukhethwa Kwepulatifomu Yokucubungula
Amarobhothi anombala ofana nomuntu anesakhiwo esifana nesomuntu esingcono kakhulu ekuzivumelaniseni nendawo eyinkimbinkimbi kanye nokusebenza okuhlelekile komzimba wonke. Lawa marobhothi ngokuvamile adinga ama-axis angu-38 kuya kwangu-70 okulawula ukunyakaza, okusho izidingo eziphezulu kakhulu zesikhathi sangempela kanye nemijikelezo yokulawula efinyelela ku-1000Hz. I-APQ isebenzisa amaprosesa e-X86 asebenza kahle kakhulu ngokulungiswa kwesofthiwe ukuze kuhlangatshezwane nalezi zidingo zesikhathi sangempela.
Ngokuphambene nalokho, amarobhothi anamasondo noma uhlobo oluyisisekelo asebenzisa umklamo we-chassis olula kakhulu, anikeza izinzuzo ezinkulu ekulawuleni izindleko, ukusebenza kahle kokunyakaza, kanye nokuphila kwebhethri. Lawa ngokuvamile anenkululeko engaba ngu-30 degrees kanye nesidingo esiphansi sokubala ngesikhathi sangempela, kodwa azwela kakhulu ekusetshenzisweni kwamandla. Kulesi sigaba, i-APQ isebenzisa amapulatifomu anamandla aphansi, angabizi kakhulu njenge-Intel® N97 noma i-J6412 ukwakha izixazululo eziphelele. Lokhu kulinganisela ukusebenza kahle kwamandla kanye nezindleko ngenkathi kusetshenziswa uhlelo olucebile lokuthuthukiswa kwepulatifomu ye-X86 ukuze kuhlangatshezwane nezidingo eziqinile zokusebenza kwesikhathi sangempela kohlelo lokulawula, ukuzinza, ukuhlanganiswa, kanye nokubumbana.
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Ucwaningo Lwecala Lokwenza Ukulawula Kwesikhathi Sangempela lwe-APQ lwe-EtherCAT
Ingemuva Lohlelo Lokusebenza
Amarobhothi anamasondo/ayisisekelo ngokuvamile asetshenziswa ekulawuleni i-trajectory okuyinkimbinkimbi, ukuxhumana kwe-multi-axis, ukunyakaza okuqondiswa umbono, kanye nezinhlelo zokusebenza ezifanayo. Izinhlelo zabo zokulawula kumele zisekele:
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Ukuxhumana ngebhasi elisheshayo le-EtherCATyokulawula i-servo evumelanisiwe
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I-OS yesikhathi sangempela enzimaimpendulo ye-sub-millisecond
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Umklamo wezimboni ohlangenekufanelekile ukuxhuma izintambo noma isikhala sekhabhinethi
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Amachweba anwebekayokufaka phakathi amachweba amaningi e-serial kanye ne-LAN okuhlanganiswa okuhlukahlukene kwe-peripheral
Iklayenti elilodwa, elakha irobhothi elinomugqa omningi, lalidinga ukwesekwa kwe-EtherCAT kanye nokusebenza okuphezulu ngesikhathi sangempela. Kodwa-ke, ukuhlola ngeplatifomu ye-N97 kanye nabashayeli be-servo kubonise ukuthi umjikelezo wokuxhumana we-EtherCAT awukwazi ukufinyelela ngaphansi kwama-50μs, okudala isithiyo esibalulekile sokukhiqizwa ngobuningi.
Indlela Yokwenza Kusebenze Kahle Ngesikhathi Sangempela
Kusetshenziswa amapulatifomu e-N97 kanye ne-J6412, i-APQ yenze ukulungiswa kwesikhathi sangempela okugcwele kwezinga lesistimu. Inqubo yesibonelo yepulatifomu 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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I-patch yesikhathi sangempela: I-Xenomai 3.2 (iyahambisana ne-LinuxCNC)
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Ukuhambisana kuhlolwe isidingo seklayenti esidala (i-Kernel 4.19 + Xenomai 3.1)
Izinyathelo Zokuhlela Zesikhathi Sangempela:
a) Ukulungiswa kwe-BIOS
b) Ukulungiswa kwamapharamitha e-kernel ngesikhathi sangempela (ECI)
c) Ukulungiswa kwamapharamitha e-Cmdline (ECI)
d) Ukwenza ngokwezifiso izinga le-OS elijulile
e) Ukulinganiswa kwe-Latency/Jitter
2. Ukuhamba Komsebenzi Okuvamile Kokuhlola Isikhathi Sangempela:
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Amathuluzi:Amamojula okuhlola e-Latency, Clocktest, LinuxCNC
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Ama-Target:
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Ukubambezeleka: Ukulibaziseka okuphezulu < 40μs
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Ukuhlolwa kwewashi: Ukushelela ≈ 0 (ikholomu yesi-3 iseduze no-zero kumphumela)
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Ukwenziwa:Izivivinyo eziningi kuzo zonke izinhlobo zehadiwe (kufaka phakathi i-J6412 njengokuqhathanisa)
Umphumela Wokuhlola:
Ngaphansi kwendawo ye-Linux Xenomai, isikhathi somjikelezo wokulawula kanye ne-jitter kuthuthuke kakhulu. Ukubambezeleka kuhlale kungaphansi kwama-40μs kulo lonke, kuyilapho i-clocktest drift isondela ku-zero — ihlangabezana nezidingo zesicelo.
Imiphumela Yokusetshenziswa Kwangempela
Ukulawulwa Kwengalo Yamarobhothi E-Multi-Axis
Inselele:
Ukushisela okuvumelanisiwe okune-axis engu-8 kwakudinga ukuvumelanisa kwezinga le-μs; izixazululo zendabuko zabangela amaphutha okukhukhuleka kanye nomzila.
Ukuthuthukisa:
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I-J6412 ene-Ubuntu 20.04 + Xenomai 3.2
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I-4x Gigabit LAN iqondisa ngqo ku-servo ye-EtherCAT
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Ama-cores okucubungula ngesikhathi sangempela anikezelwe yi-Isolcpus
Imiphumela:
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Ukuqondanisa Okunembile:Ukuzulazula kwewashi ≤ 0.05μs; Ukuphambuka okuphezulu kwethrekhi < 0.1mm
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Isiqinisekiso Sesikhathi Sangempela:Ukusebenza okuqhubekayo kwamahora angu-72, ukubambezeleka okuphezulu ≤ 38μs
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Ukwehliswa Kwezindleko:Izindleko eziphansi ngo-35%, amandla angaphansi ngo-60% kunesisombululo se-i5
Ukulawula Ukunyakaza Kwenja Yerobhothi Eline-quadruped
Inselele:
Ukulinganisela okuguquguqukayo okuhlanganisiwe okungu-12 kudinga impendulo yezinga le-μs; ukubambezeleka kwesistimu ye-legacy > 100μs kubangele ukungazinzi
Ukuthuthukisa:
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I-N97 + i-Xenomai 3.2
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I-PREEMPT_RT + i-ECI patch
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Ama-core amabili e-CPU ahlukaniswe yi-Cmdline emisebenzi ye-servo
Imiphumela:
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Ukubambezeleka Okuphansi:Umjikelezo wokulawula ungaphakathi kwama-500μs, ukubambezeleka ≤ 35μs
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Ukuqina:Ukuhlolwa kokululama ku--20°C, i-jitter < ±8μs
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Ukunwebeka:Inzwa ye-IMU nge-M.2; ukonga amandla okungu-60% kunesisombululo esisekelwe ku-i3
Izinketho Zokusebenzisa
Kumakhasimende anekhono lobuchwepheshe agxile ekusebenzeni kwesikhathi sangempela, i-APQ iyatusaI-Linux + Xenomaiukuthunyelwa. Kubasebenzisi bokugcina abakhetha ukusebenziseka kalula, i-APQ inikeza futhiizithombe zesistimu ezifakwe kusengaphambili futhi ezilungiselelwe kahlengemibhalo yokulungisa amaphutha — ukwehlisa izithiyo zokusetshenziswa.
Njengoba amarobhothi eqhubeka nokushintsha imisebenzi yezandla,izinhlelo zokulawula zesikhathi sangempela, ezizinzile, nezingabizi kakhuluiba yinto ebalulekile empumelelweni. I-APQ ihlangabezana nalesi sidingo ngezixazululo zehadiwe-software ezihlanganisiwe futhi izoqhubeka nokujulisa ukugxila kwayo ekubhaleni okusemaphethelweni kwerobhothi kanye nokulawula ukunyakaza — inika amandla amakhasimende amaningi ezimboni ngamapulatifomu azinzile, asebenzayo, futhi ahlanganiswe kalula.
Uma unentshisekelo enkampanini yethu kanye nemikhiqizo yethu, zizwe ukhululekile ukuxhumana nommeleli wethu waphesheya kwezilwandle, uRobin.
Email: yang.chen@apuqi.com
I-WhatsApp: +86 18351628738
Isikhathi sokuthunyelwe: Julayi-28-2025