Robot multi-joint permanent magnet synchronous motor linkage control method, device and system

Abstract

The invention relates to the field of motors, in particular to a robot multi-joint permanent magnet synchronous motor linkage control method, a robot multi-joint permanent magnet synchronous motor linkage control device and a robot multi-joint permanent magnet synchronous motor linkage control system. A first equation set and a second equation set are established according to the principle that the cumulative sum of joint motion vectors is equal to the overall motion of the robot and the condition of continuous motion during task stage connection, introduced errors can be obtained by solving the equation sets, and correction of driving currents of all motors is achieved; and the actual current which considers the motor operation deviation and can enable the robot to accurately complete the target action is obtained, so that accurate control on the robot can be realized.

Description

Technical Field

[0001] The present invention relates to the field of motors, and in particular to a method, device and system for controlling a multi-joint permanent magnet synchronous motor of a robot. Background Art

[0002] The joint drive of multi-switch robots generally adopts permanent magnet synchronous motors, mainly because of their many advantages such as high efficiency, high torque density, high control accuracy, wide speed regulation range, simple structure and reliable operation; The working principle of the permanent magnet synchronous motor is the interaction between the rotating magnetic field generated by the stator after the driving current is passed through and the magnetic field of the permanent magnet on the rotor to drive the rotor to rotate; in the existing technology, when the robot needs to perform a certain target action, it is usually necessary to apply a corresponding driving current to the permanent magnet synchronous motor of each joint. This driving current is the driving current under the ideal state deduced from the target action (that is, the corresponding joint action is completely standard). However, the actual action performed by the driven joint often has deviations, which in turn will cause the overall action deviation of the robot, affecting the robot's movement accuracy and stability, and unable to meet the requirements of high-precision operations. Summary of the Invention

[0003] Based on this, it is necessary to provide a robot multi-joint permanent magnet synchronous motor linkage control method, device and system to address the above problems.

[0004] The embodiment of the present invention is implemented as follows: a method for controlling a multi-joint permanent magnet synchronous motor of a robot is provided, the method comprising: S1: Obtain the target task and determine the motion parameters of each motor in the target task; S2: Determine a master motor based on the motion parameters of each motor, and the remaining motors are slave motors; S3: Obtaining the distribution of the driving current of each motor on the time axis according to the motion parameters of each motor; S4: Construct the joint motion vector from the starting point to the end point based on the joint parameters and the motion parameters of each motor, and incorporate the error to obtain the first equation; S5: Switch the master motor and execute steps S3 to S5 to obtain first equations under different combinations of master and slave motors, and construct a first equation group consisting of several first equations; S6: Divide the target task into stages and establish the second set of equations based on the conditions for motion continuity when the stages are connected; S7: Solve the first set of equations and the second set of equations to obtain the error of each motor action; S8: Correcting the driving current of the motor according to the corresponding error, and controlling the operation of the motor according to the corrected driving current.

[0005] In one embodiment, the present invention provides a robot multi-joint permanent magnet synchronous motor linkage control method, wherein the module of the robot multi-joint permanent magnet synchronous motor linkage control device is used to execute the robot multi-joint permanent magnet synchronous motor linkage control method, including: An acquisition module is used to acquire the target task and determine the motion parameters of each motor in the target task; A first processing module is used to determine a master motor according to motion parameters of each motor, and the remaining motors are slave motors; A second processing module is used to obtain the distribution of the driving current of each motor on the time axis according to the motion parameters of each motor; a third processing module, configured to construct a joint motion vector from the starting point to the end point based on the joint parameters and the motion parameters of each motor, and incorporate the error into the first equation; A fourth processing module is configured to switch the master motor, execute steps S3 to S6, obtain first equations for different combinations of the master and slave motors, and construct a first equation group consisting of a plurality of first equations; The fifth processing module is used to divide the target task into stages and establish a second set of equations based on the conditions for motion continuity when the stages are connected; A sixth processing module, configured to solve the first set of equations and the second set of equations to obtain an error of each motor action; The seventh processing module is used to correct the driving current of the motor according to the corresponding error, and control the operation of the motor according to the corrected driving current.

[0006] In one embodiment, the present invention provides a robot multi-joint permanent magnet synchronous motor linkage control system, the method comprising: Several motors of the robot are used to drive the joints of the robot; The computer device is connected to each motor and is used to execute the robot multi-joint permanent magnet synchronous motor linkage control method.

[0007] The present invention provides a method, device and system for controlling the linkage of multi-joint permanent magnet synchronous motors of a robot, wherein the method comprises obtaining a target task, determining the motion parameters of each motor of the target task; determining a master motor according to the motion parameters of each motor, and the remaining motors as slave motors; obtaining the distribution of the driving current of each motor on the time axis according to the motion parameters of each motor; constructing a joint motion vector from a starting point to an end point according to the joint parameters and the motion parameters of each motor, and incorporating the error to obtain a first equation; switching the master motor, executing the above steps, obtaining the first equation under different combinations of master and slave motors, and constructing a first equation group consisting of a plurality of first equations; dividing the target task into stages, and establishing a second equation group according to the condition of continuous motion when the stages are connected. Equation group; solve the first equation group and the second equation group to obtain the error of each motor action; correct the driving current of the motor according to the corresponding error, and control the operation of the motor according to the corrected driving current; in the present application, errors can be introduced into the driving current of each motor according to the motion parameters of each joint corresponding to the target task, and the first equation group and the second equation group are established based on the principle that the cumulative sum of the joint motion vectors is equal to the overall motion of the robot and the conditions for continuous motion when the task stages are connected. By solving the equation group, the introduced error can be obtained, and the driving current of each motor can be corrected to obtain the actual current that takes into account the motor operation deviation and enables the robot to accurately complete the target action, thereby achieving precise control of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] Figure 1 This is a first flow chart of a method for controlling a multi-joint permanent magnet synchronous motor of a robot provided in one embodiment; Figure 2 A second flow chart of a robot multi-joint permanent magnet synchronous motor linkage control method provided in one embodiment; Figure 3 This is a module flow chart of a robot multi-joint permanent magnet synchronous motor linkage control device provided in one embodiment; Figure 4 A schematic diagram of the composition of a robot multi-joint permanent magnet synchronous motor linkage control system provided in one embodiment; Figure 5 FIG. 1 is a block diagram of the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0009] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0010] It is understood that the terms "first," "second," etc., used herein may be used to describe various elements, but unless otherwise specified, these elements are not limited by these terms. These terms are only used to distinguish a first element from another element. For example, a first xx script may be referred to as a second xx script, and similarly, a second xx script may be referred to as a first xx script without departing from the scope of the present invention.

[0011] like Figure 1-Figure 2 As shown, in one embodiment, a robot multi-joint permanent magnet synchronous motor linkage control method is proposed, the method comprising: S1: Obtain the target task and determine the motion parameters of each motor in the target task; S2: Determine a master motor based on the motion parameters of each motor, and the remaining motors are slave motors; S3: Obtaining the distribution of the driving current of each motor on the time axis according to the motion parameters of each motor; S4: Construct the joint motion vector from the starting point to the end point based on the joint parameters and the motion parameters of each motor, and incorporate the error to obtain the first equation; S5: Switch the master motor and execute steps S3 to S5 to obtain first equations under different combinations of master and slave motors, and construct a first equation group consisting of several first equations; S6: Divide the target task into stages and establish the second set of equations based on the conditions for motion continuity when the stages are connected; S7: Solve the first set of equations and the second set of equations to obtain the error of each motor action; S8: Correcting the driving current of the motor according to the corresponding error, and controlling the operation of the motor according to the corrected driving current.

[0012] In this embodiment, this method is executed in a computer device, which can be an independent physical server or terminal, or a server cluster composed of multiple physical servers, or a cloud server that provides basic cloud computing services such as cloud servers, cloud databases, cloud storage, and CDN. The robot in this embodiment is a multi-joint robot, such as a robotic arm or a humanoid robot. The multi-joint robot is provided with a plurality of motors (permanent magnet synchronous motors) for controlling joint motion, and each motor is controlled by the computer device. In this embodiment, the target task is a task performed by the coordinated movement of various joints of the robot, such as 'picking up object A'. The robot is provided with a visual device controlled by a computer device. The computer device can determine the relative position of object A and the robot itself through the visual device, and then determine the target action that the robot needs to perform to complete the target task, thereby being able to determine the motion actions that each joint needs to perform when the robot completes the target action, and then determine the motion parameters corresponding to each motion action; a specific determination method can be that the computer device generates a simulation model of the robot, and mobilizes the simulation model to perform the target action, so that the motion parameters of each joint in the model (including motion amplitude, motion speed, motion acceleration, starting time, etc.) can be identified; in this embodiment, by calculating the complexity of the motion parameters, the motor with the highest complexity can be determined as the master motor, and the remaining motors can be determined as slave motors; In this embodiment, the driving current of the permanent magnet synchronous motor is a sinusoidal current. The specific starting moment corresponds to the position of the starting point of the sinusoidal wave, and the specific movement amplitude, movement speed, and movement acceleration correspond to a specific sinusoidal wave phase. As a result, the driving current of motors with different movement parameters has different distributions on the time axis. In this embodiment, from the starting point to the end point, that is, the robot performs the starting action corresponding to the target task to the ending action; the error includes the delay time and the motion deviation. The delay time will affect the position of the driving current starting point on the time axis, and the motion deviation will affect the phase of the driving current. In this embodiment, the movement of the robot from the starting point to the end point can be regarded as the sum of the motion vectors of each joint. According to this equivalent relationship, the first equation can be established; the way to switch the main motor is to adjust The complexity of the motion parameters changes, thereby changing the complexity of the motion parameters of each motor, causing the master motor to change (this process is simulated in a computer device), so that several first equations (corresponding to specific master-slave motor combinations) can be established to form a first equation group; In this embodiment, the target task can be divided into several stages. For example, the target task of 'picking up object A' can be divided into three stages: 'approaching object A, grasping object A, and lifting object A'. The three stages are divided based on the characteristic that there is no delay in the synchronous motion of the motors when the stages are connected. Based on this characteristic, it can be known that at the transition point between stages, the acceleration of the robot's overall motion (the sum of the motion vectors of each joint) is 0, resulting in a second set of equations. From this, a second set of equations consisting of a number (the number of transition points between stages) of second equations can be established. In this embodiment, by solving the first set of equations and the second set of equations, the error in each master-slave motor combination can be obtained, and then the driving current of each motor under the master-slave motor combination can be corrected and adjusted; selecting a group of master-slave motor combinations and corresponding corrected driving currents to drive the corresponding motors, the robot can accurately perform the target task.

[0013] In the present application, errors can be introduced into the driving current of each motor based on the motion parameters of each joint corresponding to the target task, and the first set of equations and the second set of equations can be established based on the principle that the cumulative sum of the joint motion vectors is equal to the overall movement of the robot and the conditions for continuous movement when the task stages are connected. By solving the set of equations, the introduced errors can be obtained, and the driving current of each motor can be corrected to obtain the actual current that takes into account the motor operation deviation and enables the robot to accurately complete the target movement, thereby achieving precise control of the robot.

[0014] As a preferred embodiment, the motion parameters include motion amplitude, motion speed, motion acceleration, and start time; Determining a main motor based on the motion parameters of each motor includes: For each motor, the motion complexity is calculated based on the corresponding motion parameters: in, is the motion complexity, A is the normalized value of motion amplitude, V is the normalized value of motion speed, a is the normalized value of motion acceleration, and O is the normalized value of starting time; is the weight coefficient of A, is the weight coefficient of V; is the weight coefficient of a; is the weight coefficient of O; The normalized value of the startup time is calculated using the following formula: in, is the starting time of the motor, is the time when the target action starts to execute, The moment when the target action completes execution.

[0015] In this embodiment, each weight coefficient is determined according to the specific application scenario of the robot, such as The weights of movement speed and movement acceleration can be set to be greater than the movement amplitude, for example Set to 0.2, and are all set to 0.5; in addition, since the main motor needs to be changed by changing the starting time, Set to the maximum, such as 1.0; In this embodiment, in order to ensure the stability of the motion, a parameter range is pre-set for each motion parameter; the motion amplitude normalization value is calculated using the following formula: in, is the range of motion, is the maximum value of the parameter range of the motion amplitude (the minimum value is 0); The normalized value of motion speed is calculated using the following formula: in, is the movement speed, The maximum value of the parameter range of the motion speed (the minimum value is 0); The normalized value of motion acceleration is calculated using the following formula: in, is the motion acceleration, is the maximum value of motion acceleration (the minimum value is 0); In this embodiment, after obtaining the target task, the computer device will set a future moment (for example, 2 seconds after the current moment) to start executing the target task, and a moment to complete the target task (for example, 5 seconds after the current moment), and the execution period of the target task can be obtained; after determining the period, the normalized value of the start time can be determined based on the relationship between the start time and the period.

[0016] As a preferred embodiment, the joint parameters are the vector coordinates corresponding to the equivalent vector of the joint; the joint motion vector from the starting point to the end point is constructed based on the joint parameters and the motion parameters of each motor, and the error is incorporated to obtain the first equation including: Identify the starting position and end position of the joint, and then determine each process position from the starting position to the end position according to the motion parameters; Determine the joint vector coordinates corresponding to each pose and obtain the joint motion vector: in, For the The joint motion vector of each joint at time t, For the The x-coordinate function of the joint motion of the joint, For the The y-coordinate function of the joint motion of the joint, For the The z-coordinate function of the joint motion of each joint; Each joint motion vector is incorporated into two error parameters: delay duration and motion deviation; Identify the terminal pose vector of the robot end, and establish the first equation based on each terminal pose vector and each joint motion vector.

[0017] The joint motion vector incorporating the two error parameters is expressed as: in, For the The joint motion vector after incorporating the two error parameters, Incorporate delay duration into motion vectors, is motion deviation; The first equation is expressed as: in, is the end point pose vector.

[0018] The first set of equations constructed is as follows: in, is the joint motion vector of the jth joint after incorporating the error parameter when the i-th motor is used as the main motor.

[0019] In this embodiment, when the computer device generates the robot simulation model, it also generates a spatial coordinate system, and then the vector coordinates corresponding to each joint can be determined. The equivalent vector of the joint is the vector connecting the starting end and the end end of the joint (the direction is from the starting end to the end end); since the joint is constantly moving in the process of executing the target task, its joint motion vector also changes accordingly with the change of time, so the x-coordinate, y-coordinate and z-coordinate are all functions that change with time t; the starting position is the position and posture of the joint at the moment of starting to execute the target task, the end position is the position and posture of the joint at the moment of completing the execution of the target task, and the process position is the position and posture of the joint at the moment of executing the target task. Each posture can be determined by simulating the execution of the target task by the simulation model; in addition, the end position vector of the robot end is the vector connecting the starting end to the end end of the robot, which is equal to the cumulative sum of the motion vectors of each joint, thereby establishing a first equation, and then summing up the first equations into a first group of equations.

[0020] As a preferred embodiment, the target task is divided into stages, and the second set of equations is established based on the condition of motion continuity when the stages are connected, including: Divide the target task into m stages; Determine the moment when each stage ends; The second set of equations is constructed as follows: in, is the time when the pth stage ends.

[0021] The set of equations in this embodiment is the second set of equations, which includes several second equations. When any stage is connected with the next stage, there is no delay in the synchronous movement of each motor, that is, at the connection point of each stage, each motor simultaneously reaches the posture when the previous action is completed, that is, at this time the movement of each joint is synchronized, and the acceleration of the cumulative vector of the joint motion vector of each joint is 0, so that one second equation can be constructed. According to this method, a second equation can be established for each connection point between two stages, thereby obtaining a second set of equations. For example, if there are 5 stages, that is, there are four stage connections, a second set of equations including four second equations can be established.

[0022] As a preferred embodiment, the distribution of the motor driving current on the time axis is expressed by the following formula: in, is the driving current, is the amplitude of the driving current, is the phase of the driving current, is a function of time; The corrected driving current is expressed as: in, is the corrected driving current, for The phase compensation function caused by .

[0023] Also includes: For each master-slave motor combination, retrieve the corrected drive current of each motor in the combination on the time axis; Identify the starting moment of the most forward driving current curve on the time axis as a first moment, identify the starting moment of the most backward driving current curve as a second moment, and determine the moment between the first moment and the second moment as the running moment; For each operating moment, the current values ​​corresponding to each driving current curve at the operating moment are accumulated to obtain the power supply current at the operating moment; Establish a power supply current curve and identify the peak current of the curve to determine whether the peak current exceeds a preset value. If so, exclude the master-slave motor combination; If not, calculate the standard deviation of the supply current curve; The master-slave motor combination corresponding to the power supply current curve with the smallest standard deviation is determined as the target master-slave motor combination, so as to control the operation of the corresponding motors according to the corrected drive currents corresponding to the target master-slave motor combination.

[0024] In this embodiment, the joint movement driven by the phase compensation function of the modified driving current can compensate for the movement deviation, so that the joint movement meets the standard; after subtracting the delay time from the modified driving current, the starting time of the joint can be adjusted to eliminate the deviation in the joint movement time; In this embodiment, a master-slave motor combination (including a master motor and the remaining slave motors) is a master-slave motor combination, and the distribution of the corrected drive current of each motor corresponding to it on the time axis is different; the horizontal axis of the power supply current curve is the time axis, and the vertical axis is the current value. The horizontal axis of each point is a moment, and the vertical axis is the cumulative sum of the current values ​​of the drive current of each motor corresponding to the moment, which represents the instantaneous power supply current at the moment; the power supply current curve represents the change trend of the overall power supply current required for the robot during the entire target task execution process; in order to protect the safety of the circuit, the power supply current is usually preset with an upper limit value, that is, a preset value, such as 30A; if the peak current of the power supply current exceeds the upper limit value, then there is a circuit safety hazard for each motor driven according to the corresponding master-slave motor combination, and it should be eliminated; in addition, the master-slave motor combination corresponding to the power supply current curve with the smallest standard deviation is determined as the target master-slave motor combination, which can reduce the fluctuation of the power supply current and is more conducive to ensuring the stability of the circuit.

[0025] like Figure 3 As shown, in one embodiment, a robot multi-joint permanent magnet synchronous motor linkage control method is proposed, and the module of the robot multi-joint permanent magnet synchronous motor linkage control device is used to execute the robot multi-joint permanent magnet synchronous motor linkage control method, including: An acquisition module is used to acquire the target task and determine the motion parameters of each motor in the target task; A first processing module is used to determine a master motor according to motion parameters of each motor, and the remaining motors are slave motors; A second processing module is used to obtain the distribution of the driving current of each motor on the time axis according to the motion parameters of each motor; a third processing module, configured to construct a joint motion vector from the starting point to the end point based on the joint parameters and the motion parameters of each motor, and incorporate the error into the first equation; A fourth processing module is configured to switch the master motor, execute steps S3 to S6, obtain first equations for different combinations of the master and slave motors, and construct a first equation group consisting of a plurality of first equations; The fifth processing module is used to divide the target task into stages and establish a second set of equations based on the conditions for motion continuity when the stages are connected; A sixth processing module, configured to solve the first set of equations and the second set of equations to obtain an error of each motor action; The seventh processing module is used to correct the driving current of the motor according to the corresponding error, and control the operation of the motor according to the corrected driving current.

[0026] The process of each module realizing its own function in the robot multi-joint permanent magnet synchronous motor linkage control method device provided in this embodiment can be specifically referred to the aforementioned Figure 1 The description of the illustrated embodiment will not be repeated here.

[0027] like Figure 4 As shown, in one embodiment, a robot multi-joint permanent magnet synchronous motor linkage control system is proposed, and the method includes: Several motors of the robot are used to drive the joints of the robot; The computer device is connected to each motor and is used to execute the robot multi-joint permanent magnet synchronous motor linkage control method.

[0028] In the present application, the computer device cooperates with each motor to introduce errors into the driving current of each motor based on the motion parameters of each joint corresponding to the target task, and establishes the first set of equations and the second set of equations based on the principle that the cumulative sum of the joint motion vectors is equal to the overall movement of the robot and the conditions for continuous movement when the task stages are connected. By solving the set of equations, the introduced errors can be obtained, and the driving current of each motor can be corrected to obtain the actual current that takes into account the motor operation deviation and enables the robot to accurately complete the target movement, thereby achieving precise control of the robot.

[0029] Figure 5 FIG. 1 shows an internal structure diagram of a computer device in one embodiment. Figure 5 As shown, the computer device includes a processor, a memory, a network interface, an input device and a display screen connected via a system bus. The memory includes a non-volatile storage medium and an internal memory. The non-volatile storage medium of the computer device stores an operating system and may also store a computer program. When the computer program is executed by the processor, the processor may implement the robot multi-joint permanent magnet synchronous motor linkage control method provided in an embodiment of the present invention. The internal memory may also store a computer program. When the computer program is executed by the processor, the processor may implement the robot multi-joint permanent magnet synchronous motor linkage control method provided in an embodiment of the present invention. The display screen of the computer device may be a liquid crystal display or an electronic ink display screen. The input device of the computer device may be a touch layer covering the display screen, or a button, trackball or touchpad provided on the computer device housing, or an external keyboard, touchpad or mouse.

[0030] Those skilled in the art will understand that Figure 5The structure shown in the figure is merely a block diagram of a portion of the structure related to the solution of the present invention and does not constitute a limitation on the computer device to which the solution of the present invention is applied. The specific computer device may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement.

[0031] In one embodiment, the robot multi-joint permanent magnet synchronous motor linkage control device provided by the embodiment of the present invention can be implemented in the form of a computer program. The computer program can be used in Figure 5 The computer device shown in FIG. 1 is run on the computer device shown in FIG. The memory of the computer device can store various program modules that constitute the robot multi-joint permanent magnet synchronous motor linkage control device, such as: Figure 3 The acquisition module, first processing module, second processing module, third processing module, fourth processing module, fifth processing module, sixth processing module, and seventh processing module shown in the figure are computer programs composed of various program modules, which enable the processor to execute the steps of the robot multi-joint permanent magnet synchronous motor linkage control method according to various embodiments of the present invention described in this specification.

[0032] For example, Figure 5 The computer device shown can be Figure 3 The acquisition module in the robot multi-joint permanent magnet synchronous motor linkage control device shown executes step S1; the computer device can execute step S2 through the first processing module; the computer device can execute step S3 through the second processing module; the computer device can execute step S4 through the third processing module; the computer device can execute step S5 through the fourth processing module; the computer device can execute step S6 through the fifth processing module; the computer device can execute step S7 through the sixth processing module; and the computer device can execute step S8 through the seventh processing module.

[0033] In one embodiment, a computer device is provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the following steps are performed: S1: Obtain the target task and determine the motion parameters of each motor in the target task; S2: Determine a master motor based on the motion parameters of each motor, and the remaining motors are slave motors; S3: Obtaining the distribution of the driving current of each motor on the time axis according to the motion parameters of each motor; S4: Construct the joint motion vector from the starting point to the end point based on the joint parameters and the motion parameters of each motor, and incorporate the error to obtain the first equation; S5: Switch the master motor and execute steps S3 to S5 to obtain first equations under different combinations of master and slave motors, and construct a first equation group consisting of several first equations; S6: Divide the target task into stages and establish the second set of equations based on the conditions for motion continuity when the stages are connected; S7: Solve the first set of equations and the second set of equations to obtain the error of each motor action; S8: Correcting the driving current of the motor according to the corresponding error, and controlling the operation of the motor according to the corrected driving current.

[0034] In one embodiment, a computer-readable storage medium is provided. The computer-readable storage medium stores a computer program. When the computer program is executed by a processor, the processor performs the following steps: S1: Obtain the target task and determine the motion parameters of each motor in the target task; S2: Determine a master motor based on the motion parameters of each motor, and the remaining motors are slave motors; S3: Obtaining the distribution of the driving current of each motor on the time axis according to the motion parameters of each motor; S4: Construct the joint motion vector from the starting point to the end point based on the joint parameters and the motion parameters of each motor, and incorporate the error to obtain the first equation; S5: Switch the master motor and execute steps S3 to S5 to obtain first equations under different combinations of master and slave motors, and construct a first equation group consisting of several first equations; S6: Divide the target task into stages and establish the second set of equations based on the conditions for motion continuity when the stages are connected; S7: Solve the first set of equations and the second set of equations to obtain the error of each motor action; S8: Correcting the driving current of the motor according to the corresponding error, and controlling the operation of the motor according to the corrected driving current.

[0035] It should be understood that, although the various steps in the flow chart of each embodiment of the present invention are shown in sequence according to the indication of the arrows, these steps are not necessarily performed in sequence according to the order indicated by the arrows. Unless otherwise specified herein, the execution of these steps is not strictly limited in order, and these steps can be performed in other orders. Moreover, at least a portion of the steps in each embodiment may include a plurality of sub-steps or a plurality of stages, and these sub-steps or stages are not necessarily performed at the same time, but can be performed at different times, and the execution order of these sub-steps or stages is not necessarily performed in sequence, but can be performed in turn or alternately with at least a portion of other steps or sub-steps or stages of other steps. Those skilled in the art will appreciate that all or part of the processes in the above-described method embodiments can be implemented by instructing the relevant hardware through a computer program. The program can be stored in a non-volatile computer-readable storage medium. When executed, the program can include the processes of the above-described method embodiments. Any reference to memory, storage, database, or other media used in the various embodiments provided herein may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), RAMbus direct RAM (RDRAM), direct RAMbus dynamic RAM (DRDRAM), and RAMbus dynamic RAM (RDRAM).

[0036] The technical features of the above-mentioned embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above-mentioned embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0037] The above-described embodiments merely illustrate several implementations of the present invention, and while their descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art would be able to make numerous variations and improvements without departing from the spirit of the present invention, all of which fall within the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be determined by the appended claims.

Claims

1. A robot multi-joint permanent magnet synchronous motor linkage control method, characterized in that: The method comprises: S1: Obtain the target task and determine the motion parameters of each motor in the target task; S2: Determine a master motor based on the motion parameters of each motor, and the remaining motors are slave motors; S3: Obtaining the distribution of the driving current of each motor on the time axis according to the motion parameters of each motor; S4: Construct the joint motion vector from the starting point to the end point based on the joint parameters and the motion parameters of each motor, and incorporate the error to obtain the first equation; S5: Switch the master motor and execute steps S3 to S5 to obtain first equations under different combinations of master and slave motors, and construct a first equation group consisting of several first equations; S6: Divide the target task into stages and establish the second set of equations based on the conditions for motion continuity when the stages are connected; S7: Solve the first set of equations and the second set of equations to obtain the error of each motor action; S8: Correcting the driving current of the motor according to the corresponding error, and controlling the operation of the motor according to the corrected driving current.

2. The method according to claim 1, characterized in that Movement parameters include movement amplitude, movement speed, movement acceleration, and start time; Determining a main motor based on the motion parameters of each motor includes: For each motor, the motion complexity is calculated based on the corresponding motion parameters: in, is the motion complexity, A is the normalized value of motion amplitude, V is the normalized value of motion speed, a is the normalized value of motion acceleration, and O is the normalized value of starting time; is the weight coefficient of A, is the weight coefficient of V; is the weight coefficient of a; is the weight coefficient of O; The normalized value of the startup time is calculated using the following formula: in, is the starting time of the motor, is the time when the target action starts to execute, The moment when the target action completes execution.

3. The method according to claim 1, characterized in that The joint parameters are the vector coordinates corresponding to the equivalent vector of the joint; The joint motion vector from the starting point to the end point is constructed based on the joint parameters and the motion parameters of each motor, and the first equation is obtained by incorporating the error: Identify the starting position and end position of the joint, and then determine each process position from the starting position to the end position according to the motion parameters; Determine the joint vector coordinates corresponding to each pose and obtain the joint motion vector: in, is the joint motion vector of the j-th joint at time t, is the x-coordinate function of the joint motion of the j-th joint, is the y-coordinate function of the joint motion of the j-th joint, is the z-coordinate function of the joint motion of the j-th joint; Each joint motion vector is incorporated into two error parameters: delay duration and motion deviation; Identify the terminal pose vector of the robot end, and establish the first equation based on each terminal pose vector and each joint motion vector.

4. The method according to claim 3, characterized in that The joint motion vector incorporating the two error parameters is expressed as: in, is the joint motion vector of the j-th joint after incorporating two error parameters, Incorporate delay duration into motion vectors, is motion deviation; The first equation is expressed as: in, is the end point pose vector.

5. The method according to claim 4, characterized in that The first set of equations constructed is as follows: in, is the joint motion vector of the jth joint after incorporating the error parameter when the i-th motor is used as the main motor.

6. The method according to claim 5, characterized in that The target task is divided into stages, and the second set of equations is established based on the conditions for continuous motion when the stages are connected, including: Divide the target task into m stages; Determine the moment when each stage ends; The second set of equations is constructed as follows: in, is the time when the pth stage ends.

7. The method according to claim 6, characterized in that The distribution of the motor's drive current on the time axis is expressed by the following formula: in, is the driving current, is the amplitude of the driving current, is the phase of the driving current, is a function of time; The corrected driving current is expressed as: in, is the corrected driving current, for The phase compensation function caused by .

8. The method according to claim 7, characterized in that Also includes: For each master-slave motor combination, retrieve the corrected drive current of each motor in the combination on the time axis; Identify the starting moment of the most forward driving current curve on the time axis as a first moment, identify the starting moment of the most backward driving current curve as a second moment, and determine the moment between the first moment and the second moment as the running moment; For each operating moment, the current values ​​corresponding to each driving current curve at the operating moment are accumulated to obtain the power supply current at the operating moment; Establish a power supply current curve and identify the peak current of the curve to determine whether the peak current exceeds a preset value. If so, exclude the master-slave motor combination; If not, calculate the standard deviation of the supply current curve; The master-slave motor combination corresponding to the power supply current curve with the smallest standard deviation is determined as the target master-slave motor combination, so as to control the operation of the corresponding motors according to the corrected drive currents corresponding to the target master-slave motor combination.

9. A robot multi-joint permanent magnet synchronous motor linkage control method, characterized in that: The module of the robot multi-joint permanent magnet synchronous motor linkage control device is used to execute the robot multi-joint permanent magnet synchronous motor linkage control method, including: An acquisition module is used to acquire the target task and determine the motion parameters of each motor in the target task; A first processing module is used to determine a master motor according to motion parameters of each motor, and the remaining motors are slave motors; A second processing module is used to obtain the distribution of the driving current of each motor on the time axis according to the motion parameters of each motor; a third processing module, configured to construct a joint motion vector from the starting point to the end point based on the joint parameters and the motion parameters of each motor, and incorporate the error into the first equation; A fourth processing module is configured to switch the master motor, execute steps S3 to S6, obtain first equations for different combinations of the master and slave motors, and construct a first equation group consisting of a plurality of first equations; The fifth processing module is used to divide the target task into stages and establish a second set of equations based on the conditions for motion continuity when the stages are connected; A sixth processing module, configured to solve the first set of equations and the second set of equations to obtain an error of each motor action; The seventh processing module is used to correct the driving current of the motor according to the corresponding error, and control the operation of the motor according to the corrected driving current.

10. A robot multi-joint permanent magnet synchronous motor linkage control system, characterized in that: The method comprises: Several motors of the robot are used to drive the joints of the robot; A computer device is connected to each motor and is used to execute the robot multi-joint permanent magnet synchronous motor linkage control method as described in any one of claims 1 to 8.

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