A motor control method, device, storage medium and robot therefor
A technology of motor control and robot body, applied in the field of control, can solve the problems of swinging back and forth, unstable motor stop, etc.
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no. 1 example
[0034] like figure 1 As shown, the present application provides a motor control method, which specifically includes the following steps:
[0035] Step S100: Obtain the current given speed of the motor.
[0036] Step S102: Judging whether the current given speed of the motor is equal to the preset stop value, if yes, go to step S104; if not, go to step S1074.
[0037] Step S104: Obtain the current working speed of the motor.
[0038] Step S106: judge whether the current working speed of the motor is equal to the preset stop value, if so, go to step S108;
[0039]Step S108: Correct the integral output of the proportional-integral control of the motor to the preset stop value, and obtain a corrected proportional-integral output, which is the sum of the proportional output and the corrected integral output.
[0040] Step S110: Control the motor according to the corrected proportional-integral output to stop the motor.
[0041] The motor control method implemented by the above ...
no. 2 example
[0073] Figure 5 A schematic structural block diagram of the motor control device provided by the present application is shown, and it should be understood that the device is similar to the above-mentioned Figure 1 to Figure 4 Corresponding to the method embodiment in , the steps involved in the method in the first embodiment can be performed. For the specific functions of the device, refer to the above description. To avoid repetition, the detailed description is appropriately omitted here. The device includes at least one software function module that can be stored in a memory in the form of software or firmware (firmware) or fixed in an operating system (OS) of the device. Specifically, the device includes: an acquisition module 200 for acquiring the current given speed of the motor; a judgment module 202 for judging whether the current given speed is equal to a preset stop value; After judging that the current given speed is equal to the preset stop value, the current wo...
no. 3 example
[0081] like Image 6 As shown, the present application provides a robot, which includes a robot body 10, a motor 20 and a processor 30, the processor 30 is electrically connected to the motor 20, and the motor 20 is used to drive the robot body 10 to move, the robot body When the motor is used for moving, decelerating and stopping, the processor executes the motor control method in any of the optional implementation manners of the first embodiment to control the motor, so that the robot body stops smoothly when stopped.
[0082] In the above-designed robot, the motor control method in the first embodiment is executed by the processor, which solves the problem that the robot will shake back and forth when the robot stops using the classic PI feedback control, so that the robot can stop smoothly at one time. parking.
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