主要规格及技术指标

智能机器人实时仿真平台：
采用4U/19寸铝制机箱，集成AC/DC电源，低噪音风扇，工业主板，Inte1 Xeon 6核4.0GHzCPU，8GB RAM，128GBSSD，7个板卡安装槽。工作温度范围:0至+60°C。
-1路千兆以太网端口，用于与上位机的通讯。
-2路千兆以太网端口，支持EtherCAT Master, real-time UDP，TCP/IP以及XcP Master协议。
-2路RS232端口，最高支持波特率115kbps。
-高性能FPGA I/0，基于Xilinx Artix7 FPGA芯片，200K逻辑单元。
-32路单端或16路差分模拟输入通道，分辨率:16bit。单端电压范围:士0.64V，士2.56V，士5.12V，士10.24V，士12.288V。差分电压范围:士0.64V，+1.28V，士2.56V，士5.12V，士10.24V，士20.48V，士24.576V。
-8路单端模拟输出通道，分辨率:16bit，电压范围:士2.5V，士5V，士10V。
32路高速3.3V/5V TTL I/0线(或16路TTL I/0线+8路RS422/RS485接口)。这些接口既可以做普通数字量I0接口，又可通过位流文件将其定义为PWM、SPI、I2C等特定功能通道。
-2路CAN端口，每个端口都可通过软件配置以支持CANFD或CAN HS。
-1路Profinet Device(Master)端。
PolarControl Real-Time Basic(实时基础版)：
实验管理软件Po1arControl Real-Time Basic(实时基础版)，提供丰富的常用界面控件，支持在线监控以及在线调参功能，支持实时系统的访问。

Intelligent Robot Real-time Simulation Platform:
- It adopts a 4U/19-inch aluminum chassis, integrating an AC/DC power supply, a low-noise fan, an industrial motherboard, an Intel Xeon 6-core 4.0 GHz CPU, 8 GB of RAM, a 128 GB SSD, and 7 card installation slots. The operating temperature range is from 0 to +60 °C.
- There is 1 Gigabit Ethernet port for communication with the host computer.
- There are 2 Gigabit Ethernet ports, supporting EtherCAT Master, real-time UDP, TCP/IP, and XcP Master protocols.
- There are 2 RS232 ports, with a maximum supported baud rate of 115 kbps.
- It has high-performance FPGA I/O, based on the Xilinx Artix7 FPGA chip with 200K logic units.
- There are 32 single-ended or 16 differential analog input channels, with a resolution of 16 bits. The single-ended voltage ranges are ±0.64 V, ±2.56 V, ±5.12 V, ±10.24 V, ±12.288 V. The differential voltage ranges are ±0.64 V, ±1.28 V, ±2.56 V, ±5.12 V, ±10.24 V, ±20.48 V, ±24.576 V.
- There are 8 single-ended analog output channels, with a resolution of 16 bits and voltage ranges of ±2.5 V, ±5 V, ±10 V.
- There are 32 high-speed 3.3 V/5 V TTL I/O lines (or 16 TTL I/O lines + 8 RS422/RS485 interfaces). These interfaces can be used as ordinary digital I/O interfaces and can also be defined as specific functional channels such as PWM, SPI, I2C through bitstream files.
- There are 2 CAN ports, and each port can be configured via software to support CAN FD or CAN HS.
- There is 1 Profinet Device (Master) port.

PolarControl Real-Time Basic:
The experimental management software PolarControl Real-Time Basic provides a rich set of commonly used interface controls, supports online monitoring and online parameter adjustment functions, and enables access to real-time systems.

主要功能及特色

基于模型的设计采用统一的开发和测试平台:MATLAB/Simulink，让产品开发从需求分析阶段就开始验证，并做到持续不断的验证和测试。在产品开发的初级阶段，开发者可以把主要精力放在算法和测试用例的研究上，嵌入式代码和验证过
程留给 MATLAB/Simulink 来自动化完成。在快速控制原型阶段(Rapid Control Prototyping)，使用实时仿真设备可以快速实时验证软件算法功能;在硬件在环测试阶段(Hardware-in-the-Loop)，使用实时仿真设备可以实时验证原型控制器功能。通过实时仿真可以大大缩减开发周期和成本，降低开发与测试难度，提高测试覆盖度，提高控制系统可靠性。

Model-based design employs a unified development and testing platform: MATLAB/Simulink. This enables product development to start verification from the requirements analysis phase and ensures continuous verification and testing. In the early stages of product development, developers can focus their main efforts on researching algorithms and test cases, while MATLAB/Simulink automates the generation of embedded code and the verification process. During the Rapid Control Prototyping phase, real-time simulation devices can be used to quickly and real-time verify the functionality of software algorithms. In the Hardware-in-the-Loop testing phase, real-time simulation devices can be used to verify the functionality of the prototype controller in real-time. Real-time simulation can significantly reduce the development cycle and cost, lower the difficulty of development and testing, increase test coverage, and enhance the reliability of the control system.

主要附件及配置

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