Motion Control Method, Device, Equipment and Medium of an Actuator

Abstract

An embodiment of the present invention discloses a motion control method, device, equipment and medium for an actuator. Among them, the method includes: in response to a motion control instruction for the actuator, determining an initial physical quantity and a target physical quantity of the actuator; using the initial physical quantity as the starting point of the motion curve of the actuator, and determining the motion curve of the actuator according to the initial physical quantity, the target physical quantity and a preset smooth motion algorithm, so that the actuator reaches the target physical quantity according to the motion curve. The embodiment of the present invention improves the flexibility and smoothness of the motion control of the actuator.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic control, and particularly to a motion control method, device, equipment and medium for an actuator. Background Art

[0002] During the operation of a robot, it usually relies on multiple actuators, such as robotic arms, driving wheels or auxiliary wheels, etc. to complete actions such as walking and turning.

[0003] When the prior art controls the motion of an actuator, the actuator usually oscillates and jitters, making the motion process of the actuator uncoordinated, and the flexibility and smoothness of the motion control of the actuator are relatively low. Summary of the Invention

[0004] The present invention provides a motion control method, device, equipment and medium for an actuator to improve the flexibility and smoothness of the motion control of the actuator.

[0005] According to one aspect of the present invention, there is provided a motion control method for an actuator, the method comprising:

[0006] In response to a motion control instruction for the actuator, determining an initial physical quantity and a target physical quantity of the actuator;

[0007] Taking the initial physical quantity as the starting point of the motion curve of the actuator, and determining the motion curve of the actuator according to the initial physical quantity, the target physical quantity and a preset smooth motion algorithm, so that the actuator reaches the target physical quantity according to the motion curve.

[0008] According to another aspect of the present invention, there is provided a motion control device for an actuator, the device comprising:

[0009] A physical quantity determination module, configured to determine an initial physical quantity and a target physical quantity of the actuator in response to a motion control instruction for the actuator;

[0010] A motion curve determination module, configured to take the initial physical quantity as the starting point of the motion curve of the actuator, and determine the motion curve of the actuator according to the initial physical quantity, the target physical quantity and a preset smooth motion algorithm, so that the actuator reaches the target physical quantity according to the motion curve.

[0011] According to another aspect of the present invention, there is provided an electronic device, the electronic device comprising:

[0012] At least one processor; and

[0013] A memory communicatively connected to the at least one processor; wherein,

[0014] The memory stores a computer program executable by the at least one processor. When executed by the at least one processor, the computer program enables the at least one processor to execute the motion control method of the actuator according to any embodiment of the present invention.

[0015] According to another aspect of the present invention, there is provided a computer-readable storage medium storing computer instructions for causing a processor to implement the motion control method of the actuator according to any embodiment of the present invention when executed.

[0016] In the solution of the embodiment of the present invention, in response to a motion control instruction for an actuator, an initial physical quantity and a target physical quantity of the actuator are determined. Taking the initial physical quantity as the starting point of the motion curve of the actuator, according to the initial physical quantity, the target physical quantity, and a preset smooth motion algorithm, the motion curve of the actuator is determined, so that the actuator reaches the target physical quantity according to the motion curve. The above solution determines the motion curve of the actuator through a smooth motion algorithm, realizes the smooth operation of the actuator, avoids the situation of incoordination during the motion of the actuator caused by oscillation and jitter during the motion of the actuator, and improves the flexibility and smoothness of the motion control of the actuator.

[0017] It should be understood that the content described in this part is not intended to identify the key or important features of the embodiments of the present invention, nor is it used to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0019] Figure 1A is a flowchart of a motion control method for an actuator according to Embodiment 1 of the present invention;

[0020] Figure 1B is a schematic diagram of three stages of the motion curve of the actuator;

[0021] Figure 2 is a flowchart of a motion control method for an actuator according to Embodiment 2 of the present invention;

[0022] Figure 3 is a flowchart of a motion control method for an actuator according to Embodiment 3 of the present invention;

[0023] Figure 4 It is a schematic structural diagram of a motion control device for an actuator provided in Embodiment 4 of the present invention;

[0024] Figure 5 It is a schematic structural diagram of an electronic device for implementing the motion control method of the actuator in the embodiment of the present invention. Detailed implementation manners

[0025] In order to enable those skilled in the art to better understand the solution of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0026] It should be noted that the terms "first", "second", etc. in the description and claims of the present invention and the above drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these process, method, product or device.

[0027] Embodiment 1

[0028] Figure 1A This is a flowchart of a motion control method for an actuator provided in Embodiment 1 of the present invention. This embodiment is applicable to the situation of motion control of at least two actuators of a robot. This method can be executed by a motion control device of the actuator. The motion control device of the actuator can be implemented in the form of hardware and / or software, and the motion control device of the actuator can be configured in an electronic device. As Figure 1A shown, the method includes:

[0029] S110. In response to a motion control instruction for the actuator, determine the initial physical quantity and the target physical quantity of the actuator.

[0030] Among them, the actuator can be a robotic arm, a driving wheel, an auxiliary wheel, or other devices that can perform actions on the robot. There can be multiple actuators on a robot, and the physical quantities of each actuator can be physical quantities that are expected to be synchronously controlled. For example, the angles of the six motors of a six-axis robotic arm can be used as a set of physical quantities, or the speeds of the two wheels of the robot can also be used as a set of physical quantities, etc.

[0031] The initial physical quantity can be the initial value of a certain physical quantity. For example, if the physical quantity is the motor speed of the robot's wheel, the initial physical quantity can be the initial value of the motor speed of the robot's wheel. The target physical quantity can be the target value of the physical quantity that is expected to be obtained. For example, if the physical quantity is the motor speed of the robot's wheel, the target physical quantity can be the expected target value of the motor speed of the robot's wheel. Among them, the target physical quantity can be preset by relevant technical personnel according to actual needs.

[0032] The motion control instruction can be a robot walking instruction, an arm rotation instruction, etc. The motion control instruction for the actuator can be initiated by the user or by the robot at regular intervals. Exemplarily, the robot initiates a motion control instruction for the actuator at regular intervals. When the actuator obtains the motion control instruction, the initial physical quantity and the target physical quantity of the actuator are determined. The initial physical quantity can be the current value of the physical quantity when responding to the motion control instruction, and the target physical quantity can be set in the motion control instruction.

[0033] S120: Using the initial physical quantity as the starting point of the motion curve of the actuator, determine the motion curve of the actuator according to the initial physical quantity, the target physical quantity, and a preset smooth motion algorithm, so that the actuator reaches the target physical quantity according to the motion curve.

[0034] Among them, the smooth motion algorithm can be preset by relevant technical personnel according to actual needs. For example, the smooth motion algorithm can be a curve determination algorithm for a parabola, so that the actuator of the robot moves according to the curve trend of the parabola. The motion curve of the actuator can be any shape curve that satisfies the smooth motion of the actuator. For example, when the robot is moving, it can determine the speed value of the wheel according to the coordinate points on the motion curve and walk. And, a motion curve of an actuator can include stages that satisfy different curve types.

[0035] Optionally, the motion curve of the actuator is an S-shaped curve. The S-shaped curve includes a first stage, a second stage, and a third stage. The first stage and the third stage are parabolas, and the second stage is a straight line.

[0036] Exemplarily, taking the initial physical quantity as the starting point of the motion curve of the actuator, according to the initial physical quantity, the target physical quantity, and a preset smooth motion algorithm, the first stage, the second stage, and the third stage of the S-shaped motion curve of the actuator are determined. The three stages of the motion curve of the actuator are as shown in Figure 1B the figure, where the first stage and the third stage are parabolas, and the second stage is a straight line. The actuator can reach the target physical quantity according to the curves corresponding to the first stage, the second stage, and the third stage respectively.

[0037] The first stage, the second stage, and the third stage of the motion curve of the actuator can be determined respectively according to the initial physical quantity, the target physical quantity, and a preset smooth motion algorithm. Among them, the smooth motion algorithms used to determine the first stage, the second stage, and the third stage of the motion curve of the actuator can be the same or different. Specifically, the smooth motion algorithms used for the first stage, the second stage, and the third stage can be preset according to actual requirements.

[0038] Exemplarily, if the first stage and the third stage are parabolas and the second stage is a straight line, the smooth motion algorithms used to determine the parabolas of the first stage and the second stage can be the same, and the smooth motion algorithm used to determine the straight line of the second stage is different from the smooth motion algorithms used to determine the parabolas of the first stage and the second stage.

[0039] The solution of the embodiment of the present invention determines the initial physical quantity and the target physical quantity of the actuator by responding to a motion control instruction for the actuator. Taking the initial physical quantity as the starting point of the motion curve of the actuator, according to the initial physical quantity, the target physical quantity, and a preset smooth motion algorithm, the motion curve of the actuator is determined for the actuator to reach the target physical quantity according to the motion curve. The above solution determines the motion curve of the actuator through a smooth motion algorithm, realizes the smooth operation of the actuator, avoids the incoordination during the motion of the actuator caused by the oscillation and jitter during the motion of the actuator, and improves the flexibility and smoothness of the motion control of the actuator.

[0040] Embodiment 2

[0041] Figure 2 It is a flowchart of a motion control method for an actuator provided in Embodiment 2 of the present invention. On the basis of the above technical solutions, this embodiment is optimized and improved.

[0042] Further, the step of "determining the motion curve of the actuator according to the initial physical quantity, the target physical quantity, and a preset smooth motion algorithm" is refined to "determining the first stage of the motion curve according to the initial physical quantity, the target physical quantity, and a preset first-stage acceleration motion algorithm; determining the end physical quantity of the first stage, and determining the second stage of the motion curve according to the end physical quantity of the first stage and a preset speed threshold; determining the end physical quantity of the second stage, and determining the third stage of the motion curve according to the end physical quantity of the second stage, the target physical quantity, and a preset second acceleration threshold." to improve the determination process of the motion curve of the actuator.

[0043] As Figure 2 shown, the method includes the following specific steps:

[0044] S210. In response to a motion control instruction for the actuator, determine the initial physical quantity and the target physical quantity of the actuator.

[0045] S220. Taking the initial physical quantity as the starting point of the motion curve of the actuator, determine the first stage of the motion curve according to the initial physical quantity, the target physical quantity, and a preset first-stage acceleration motion algorithm.

[0046] Among them, the first-stage acceleration motion algorithm can be preset by those skilled in the art. In the first stage of the motion curve, the physical quantity of the actuator can change and adjust continuously. The physical quantity of the actuator can be a vector with magnitude and direction. For example, the physical quantity can be the speed, angular speed, or acceleration of the actuator, etc. The first stage of the motion curve of the actuator can be a parabola, that is, the first-stage acceleration motion algorithm can be a parabola determination algorithm.

[0047] Exemplarily, taking the initial physical quantity as the starting point of the motion curve of the actuator, using the initial physical quantity and the target physical quantity as the input values of a preset first-stage acceleration motion algorithm, and according to the output result of the first-stage acceleration motion algorithm, making the initial physical quantity accelerate rapidly to form a parabola with an upward trend, to obtain the first stage of the motion curve.

[0048] S230. Determine the end physical quantity of the first stage, and determine the second stage of the motion curve according to the end physical quantity of the first stage and a preset speed threshold.

[0049] Among them, the end physical quantity of the first stage can be determined according to the output result of the acceleration motion algorithm in the first stage. The preset speed threshold can be set in advance by relevant technicians. The preset speed threshold can be the threshold of the change speed of the physical quantity, rather than the motion speed threshold of the actuator. For example, it can be the threshold of the speed change rate or the angular velocity change rate, and specifically, it can be related to the physical quantity of the actuator. For example, if the actuator is a robotic arm, the physical quantity of the actuator is the angular velocity, and the corresponding speed threshold can be the threshold of the angular velocity change rate; if the physical quantity of the actuator is the motion speed of the wheel, the corresponding speed threshold is the change speed threshold of the motion speed, that is, the motion acceleration threshold of the wheel.

[0050] Exemplarily, the actuator can perform uniform acceleration motion in the second stage of the motion curve. The actuator can perform uniform acceleration linear motion in this second stage based on the end physical quantity of the first stage according to the preset speed threshold. The preset speed threshold is the threshold of the speed change rate, that is, the acceleration threshold for the actuator to perform uniform acceleration linear motion in this second stage.

[0051] In an alternative embodiment, determining the second stage of the motion curve according to the end physical quantity of the first stage and the preset speed threshold includes: determining the end physical quantity of the first stage as the starting physical quantity of the second stage; determining the second stage of uniform acceleration in the motion curve of the actuator according to the starting physical quantity of the second stage and the preset speed threshold.

[0052] Exemplarily, the end physical quantity of the first stage can be determined as the starting physical quantity of the second stage. For example, the end speed of the actuator in the first stage can be determined as the starting speed for uniform acceleration driving in the second stage. According to the starting physical quantity of the second stage and the preset speed threshold, based on the preset calculation method of uniform acceleration motion, the second stage of uniform acceleration in the motion curve of the actuator is determined.

[0053] In this alternative embodiment, by determining the end physical quantity of the first stage as the starting physical quantity of the second stage, the determination of the starting physical quantity of the second stage is realized; by determining the second stage of uniform acceleration in the motion curve of the actuator according to the starting physical quantity of the second stage and the preset speed threshold, the determination of the second stage of the actuator in the curve motion is realized.

[0054] S240. Determine the end physical quantity of the second stage, and determine the third stage of the motion curve according to the end physical quantity of the second stage, the target physical quantity, and the preset second acceleration threshold, so that the actuator reaches the target physical quantity according to the motion curve.

[0055] Among them, the end physical quantity of the second stage can be determined as the start physical quantity of the third stage. The second acceleration threshold can be preset by those skilled in the art. The second acceleration threshold can be the acceleration threshold of the change speed of the physical quantity in the third stage, and the first acceleration threshold can be preset in the first stage. It should be noted that the acceleration mentioned here is not the motion acceleration of the actuator, but the acceleration of the change speed of the physical quantity of the actuator. For example, if the physical quantity of the actuator is the motion speed of the wheel, then the acceleration here is the acceleration of the change speed of the motion speed.

[0056] Exemplarily, the actuator can perform a curvilinear motion in the third stage. The curvilinear motion mode of the actuator in the third stage can be the same as that in the first stage. The parabola in the third stage can have a downward opening, and the parabola in the first stage can have an upward opening. In the first stage and the third stage, the preset speed threshold and / or acceleration threshold can be different. For example, the first acceleration threshold in the first stage and the second acceleration threshold in the third stage can be opposite values to each other. The start physical quantity of the third stage is the end physical quantity of the second stage; the end physical quantity of the third stage is the target physical quantity.

[0057] In an alternative embodiment, determining the end physical quantity of the second stage includes: when the actuator moves according to the second stage, obtaining the current physical quantity of the actuator; determining the remaining physical quantity from the current physical quantity to the target physical quantity according to the current physical quantity and the target physical quantity; determining whether the second stage has completed its motion based on a preset third-stage judgment rule according to the remaining physical quantity, the speed threshold, and the second acceleration threshold; if completed, determining the current physical quantity as the end physical quantity of the second stage.

[0058] Specifically, the remaining physical quantity can be the difference between the current physical quantity and the target physical quantity. The third-stage judgment rule can be as follows:

[0059] v 2 + av ≥ 2ax;

[0060] Where x is the remaining physical quantity, a is the preset second acceleration threshold, and v is the preset speed threshold. When the remaining physical quantity, the speed threshold, and the second acceleration threshold satisfy the third-stage judgment rule, it is determined that the second stage has completed its motion, and the current physical quantity at the end of the second stage is determined as the end physical quantity of the second stage, which is the start physical quantity of the third stage.

[0061] In this alternative embodiment, the current physical quantity of the actuator is obtained in real time; according to the current physical quantity and the target physical quantity, the remaining physical quantity of the actuator is determined; according to the remaining physical quantity, the speed threshold, and the second acceleration threshold, based on the preset third-stage judgment rule, the method for determining whether the second stage of the movement is completed realizes the determination of the second stage of the movement curve of the actuator, and thus realizes the determination of the end physical quantity of the second stage of the movement curve, that is, the start physical quantity of the third stage.

[0062] The solution of this embodiment determines the first stage of the movement curve through the initial physical quantity, the target physical quantity, and the preset first-stage acceleration movement algorithm; determines the second stage of the movement curve according to the end physical quantity of the first stage and the preset speed threshold; determines the third stage of the movement curve according to the end physical quantity of the second stage, the target physical quantity, and the preset second acceleration threshold. The above solution realizes the accurate determination of the movement curve of the actuator by respectively determining the first stage, the second stage, and the third stage of the movement curve, and further realizes the smooth operation of the actuator, avoiding the incoordination during the movement of the actuator caused by the oscillation and jitter during the movement of the actuator, and improving the flexibility and smoothness of the movement control of the actuator.

[0063] Embodiment III

[0064] Figure 3 It is a flowchart of a movement control method for an actuator provided in Embodiment III of the present invention. On the basis of the above technical solutions, this embodiment has been optimized and improved.

[0065] Further, the step of "determining the first stage of the movement curve according to the initial physical quantity, the target physical quantity, and the preset first-stage acceleration movement algorithm" is refined as "adjusting the components in the difference between the initial physical quantity and the target physical quantity according to the preset first difference adjustment rule to obtain the current coordinate speed error vector; adjusting the components in the difference between the current coordinate speed error vector and the pre-stored historical coordinate speed error vector according to the preset second difference adjustment rule to obtain the current acceleration error vector; obtaining the output value of the smooth movement algorithm according to the initial physical quantity, the current coordinate speed error vector, and the current acceleration error vector; determining whether the first stage of the movement is completed based on the preset first-stage judgment rule according to the current coordinate speed error vector and the current acceleration error vector; if so, determining the first stage of the movement curve according to the initial physical quantity and the output value of the smooth movement algorithm." to improve the determination method of the first stage of the movement curve.

[0066] As Figure 3 shown, the method includes the following specific steps:

[0067] S310. In response to a motion control instruction for an actuator, determine the initial physical quantity and the target physical quantity of the actuator.

[0068] S320. Using the initial physical quantity as the starting point of the actuator motion curve, adjust the components in the difference between the initial physical quantity and the target physical quantity according to a preset first difference adjustment rule to obtain the current coordinate velocity error vector.

[0069] Among them, the first difference adjustment rule can be preset by those skilled in the relevant art. For example, it can be an equal - proportion adjustment of the components in the difference between the initial physical quantity and the target physical quantity. The initial physical quantity and the target physical quantity are vectors, so the components in the difference between the initial physical quantity and the target physical quantity are also vectors. For example, for coordinates of physical quantities such as velocity or angular velocity, correspondingly, the components can be the components of the difference between the initial velocity coordinates and the target velocity coordinates.

[0070] Among them, the coordinate dimension corresponding to the component of the difference can be multi - dimensional, which is related to the number of components in the difference between the initial physical quantity and the target physical quantity, and the number of components is specifically related to the number of actuators. For example, if the actuator is a six - axis robotic arm, the number of components is six. The current coordinate velocity error vector can be the coordinate velocity error vector obtained after adjusting the components in the difference between the initial physical quantity and the target physical quantity.

[0071] Exemplarily, the coordinates corresponding to the initial physical quantity and the target physical quantity can be subtracted to obtain the difference between the initial physical quantity and the target physical quantity; based on the preset first difference adjustment rule, each component in the difference is adjusted proportionally to obtain the current coordinate velocity error vector.

[0072] In an alternative embodiment, adjusting the components in the difference between the initial physical quantity and the target physical quantity according to the preset first difference adjustment rule to obtain the current coordinate velocity error vector includes: determining the difference between the initial physical quantity and the target physical quantity as the coordinate error vector; determining whether the components in the coordinate error vector are greater than a preset maximum component threshold, and if so, adjusting the components in the coordinate error vector according to the preset component size adjustment rule, and determining the adjusted coordinate error vector as the current coordinate velocity error vector.

[0073] Among them, the maximum component threshold and the component size adjustment rule can be preset by relevant technicians. Exemplarily, the number of components in the coordinate error vector can be at least two. The preset component size adjustment rule can be that when the components in the coordinate error vector meet the preset maximum component threshold judgment condition, the components in the coordinate error vector are adjusted proportionally, and the adjusted coordinate error vector is determined as the current coordinate velocity error vector. Among them, the maximum component threshold judgment condition can be that the maximum component in the coordinate error vector is greater than the preset maximum component threshold. Among them, the maximum component threshold can be preset by relevant technicians.

[0074] For example, there are two wheels, left and right, at the bottom of the robot. That is, when the wheels are used as the actuators, there are two components of the physical quantity. The initial physical quantity can be (v 1 , v 2 ), and the target physical quantity is (v 3 , v 4 ). Then the coordinate error vector is (v 3 - v 1 , v 4 - v 2 ), where v 3 - v 1 and v 4 - v 2 are respectively the components in the coordinate error vector. If the preset maximum component threshold is v 0 , then it is judged whether v 3 - v 1 and v 4 - v 2 are greater than or equal to the maximum component threshold v 0 . If so, according to the preset component size adjustment rule, the components v 3 - v 1 and v 4 - v 2 in the coordinate error vector are adjusted, and the adjusted coordinate error vector is determined as the current coordinate velocity error vector. Specifically, the components v 3 - v 1 and v 4 - v 2 can be simultaneously reduced proportionally, and the coordinate error vector after the components are reduced proportionally is determined as the current coordinate velocity error vector. If the components in the coordinate error vector are not greater than the preset maximum component threshold, the coordinate error vector is directly determined as the current coordinate velocity error vector.

[0075] In this alternative embodiment, by determining the coordinate error vector and judging whether the components in the coordinate error vector are greater than a preset maximum component threshold, an accurate judgment on whether the components in the coordinate error vector need to be adjusted is achieved. If adjustment is required, the components in the coordinate error vector are adjusted according to a preset component size adjustment rule, and the adjusted coordinate error vector is determined as the current coordinate velocity error vector, thereby realizing the determination of the current coordinate velocity error vector.

[0076] Optionally, a set of actuators includes at least two actuator units, and the coordinate error vector includes at least two components. In an alternative embodiment, judging whether a component in the coordinate error vector is greater than a preset maximum component threshold includes: determining the maximum component in the coordinate error vector and judging whether the maximum component is greater than the preset maximum component threshold.

[0077] Among them, a set of actuators may include at least two actuator units, and the actuator units execute synchronously. For example, if the actuator is a six-axis robotic arm, the actuator units may be the six axes of the robotic arm. During the movement of the robotic arm, the six axes of the robotic arm, that is, the six actuator units, execute synchronously. The number of components in the coordinate error vector may be at least two, and the number of components in the coordinate error vector is related to the number of actuator units in the actuator. For example, if the actuator is a six-axis robotic arm and the actuator units are the six axes of the robotic arm, correspondingly, the number of components of the coordinate error vector is six.

[0078] Among them, the maximum component in the coordinate error vector may be the maximum value among the components of the coordinate error vector. Exemplarily, the maximum component of the two coordinate errors can be determined and it is judged whether the maximum component is greater than the preset maximum component threshold. Among them, the maximum component threshold can be preset by those skilled in the relevant art. When the maximum component in the coordinate error vector is greater than the preset maximum component threshold, the components in the coordinate error vector need to be adjusted.

[0079] It should be noted that when the maximum component in the coordinate error vector is greater than the preset maximum component threshold, all components in the coordinate error vector, including the maximum component, need to be adjusted simultaneously and synchronously.

[0080] In this alternative embodiment, by determining the maximum component in the coordinate error vector and judging whether the maximum component is greater than the preset maximum component threshold, an accurate determination of whether the coordinate error vector needs to be adjusted in components is achieved. When the maximum component in the coordinate error vector is greater than the preset maximum component threshold, it can be determined that there are components in the coordinate error vector that meet the adjustment conditions, improving the judgment efficiency of whether the components of the coordinate error vector need to be adjusted.

[0081] In an alternative embodiment, according to a preset component size adjustment rule, the components in the coordinate error vector are adjusted, including: proportionally reducing at least two components in the coordinate error vector to control the maximum component to be less than or equal to the maximum component threshold.

[0082] When the components in the coordinate error vector need to be adjusted, at least two components in the coordinate error vector are proportionally reduced, and the maximum component is controlled to be less than or equal to the maximum component threshold. Exemplarily, if the coordinate error vector is (10, 15, 20), where 10, 15, and 20 are the components in the coordinate error vector respectively, and the preset maximum component threshold is 18. The maximum component in the coordinate error vector is 20, which is greater than the preset maximum component threshold 18. Then the coordinate error vector (10, 15, 20) is proportionally reduced so that the maximum component is less than or equal to the maximum component threshold, that is, the maximum component 20 is adjusted to 18. Therefore, it can be determined that the adjustment ratio for the maximum component to be adjusted to the maximum component threshold is 10:9, and the other components in the coordinate error vector are controlled to be proportionally reduced based on this adjustment ratio, so the adjusted coordinate error vector is (9, 13.5, 18).

[0083] In this alternative embodiment, by proportionally reducing at least two components in the coordinate error vector to control the maximum component to be less than or equal to the maximum component threshold, the adjustment of each component in the coordinate error vector is realized, the accuracy of each component in the adjusted coordinate error vector is improved, and the synchronization of the adjustment of each component in the coordinate error vector is ensured.

[0084] S330. According to a preset second difference adjustment rule, the components in the difference between the current coordinate velocity error vector and the pre-stored historical coordinate velocity error vector are adjusted to obtain the current acceleration error vector.

[0085] Among them, the second difference adjustment rule can be preset by those skilled in the relevant art. For example, it can be to proportionally adjust the components in the difference between the current coordinate velocity error vector and the pre-stored historical coordinate velocity error vector. Among them, the historical coordinate velocity error vector can be the coordinate velocity error vector obtained in a historical time period.

[0086] Exemplarily, the current coordinate velocity error vector can be subtracted from the historical coordinate velocity error quality to obtain the difference between the current coordinate velocity error vector and the historical coordinate velocity error vector; based on the preset second difference adjustment rule, each component in the difference is proportionally adjusted to obtain the current acceleration error vector.

[0087] In an alternative embodiment, according to a preset second difference adjustment rule, components in the difference between the current coordinate velocity error vector and a pre-stored historical coordinate velocity error vector are adjusted to obtain a current acceleration error vector, including: determining the difference between the current coordinate velocity error vector and the pre-stored historical coordinate velocity error vector as a coordinate acceleration error vector; determining whether the coordinate acceleration error vector is greater than a preset first acceleration threshold, and if so, adjusting the coordinate acceleration error vector according to a preset vector magnitude adjustment rule to obtain the current acceleration error vector.

[0088] Among them, the first acceleration threshold and the vector magnitude adjustment rule can be preset by those skilled in the relevant art. The preset first acceleration threshold can be a threshold for the change rate of acceleration. Exemplarily, the vector magnitude adjustment rule can be that when the coordinate acceleration error vector is greater than the preset first acceleration threshold, the coordinate acceleration error vector is adjusted, and the adjusted acceleration error vector is determined as the current acceleration error vector.

[0089] Optionally, it can also be determined whether a component in the coordinate acceleration error vector is greater than a preset maximum component threshold, and if so, the component in the coordinate acceleration error vector is adjusted according to a preset component magnitude adjustment rule to obtain the current acceleration error vector. Exemplarily, the specific manner of determining whether a component in the coordinate acceleration error vector is greater than the preset maximum component threshold can be: determining the maximum component in the coordinate acceleration error vector and determining whether the maximum component is greater than the preset maximum component threshold.

[0090] Exemplarily, a pre-stored historical coordinate velocity error vector is obtained, and the difference between the historical coordinate velocity error vector and the current coordinate velocity error vector is used as the coordinate acceleration error vector; determining whether the coordinate acceleration error vector is greater than a preset first acceleration threshold, or determining whether a component in the coordinate acceleration error vector is greater than a preset maximum component threshold, and if so, adjusting the coordinate acceleration error vector according to a preset vector magnitude adjustment rule to obtain the current acceleration error vector; or adjusting the component in the coordinate acceleration error vector according to a preset component magnitude adjustment rule to obtain the current acceleration error vector; if not, directly using the coordinate acceleration error vector as the current acceleration error vector.

[0091] In this optional embodiment, by determining the coordinate acceleration error vector and judging whether the coordinate acceleration error vector is greater than a preset first acceleration threshold, an accurate judgment on whether the coordinate acceleration error vector needs to be adjusted is achieved. If adjustment is required, then according to a preset vector magnitude adjustment rule, the coordinate acceleration error vector is adjusted, and the adjusted coordinate acceleration error vector is determined as the current acceleration error vector, thereby achieving the determination of the current acceleration error vector.

[0092] In an optional embodiment, adjusting the coordinate acceleration error vector according to a preset vector magnitude adjustment rule includes: proportionally reducing at least two components in the coordinate acceleration error vector, and controlling any component to be less than or equal to the first acceleration threshold.

[0093] When components in the coordinate acceleration error vector need to be adjusted, at least two components in the coordinate acceleration error vector are proportionally reduced, and any component is controlled to be less than or equal to the maximum component threshold. For example, the maximum component can be controlled to be less than or equal to the maximum component threshold, and when the maximum component is less than or equal to the maximum component threshold, the other components also meet the condition of being less than the maximum component threshold.

[0094] In this optional embodiment, by proportionally reducing at least two components in the coordinate acceleration error vector and controlling any component to be less than or equal to the maximum component threshold, the adjustment of each component in the coordinate acceleration error vector is achieved, the accuracy of each component in the adjusted coordinate acceleration error vector is improved, and the synchronization of the adjustment of each component in the coordinate acceleration error vector is ensured.

[0095] S340. Obtain a smooth motion algorithm output value according to the initial physical quantity, the current coordinate velocity error vector, and the current acceleration error vector.

[0096] Among them, the smooth motion algorithm output value can be the output value of the actuator in the first stage of the motion curve.

[0097] Since the initial physical quantity, the current coordinate velocity error vector, and the current acceleration error vector are all vectors with magnitude and direction, the obtained smooth motion algorithm output value is also a vector value.

[0098] In an optional embodiment, obtaining a smooth motion algorithm output value according to the initial physical quantity, the current coordinate velocity error vector, and the current acceleration error vector includes: adding the initial physical quantity, the current coordinate velocity error vector, and the current acceleration error vector to obtain the smooth motion algorithm output value.

[0099] The result obtained by adding the initial physical quantity, the current coordinate velocity error vector, and the current acceleration error vector can be used as the output value of the smooth motion algorithm. Exemplarily, the initial physical quantity is (v 1 , v 2 ), the current coordinate velocity error vector is (v 3 , v 4 ), the current acceleration error vector is (a 1 , a 2 ), then the output value of the smooth motion algorithm is (v 1 + v 3 + a 1 , v 2 + v 4 + a 2 ).

[0100] In this optional embodiment, by adding the initial physical quantity, the current coordinate velocity error vector, and the current acceleration error vector to obtain the output value of the smooth motion algorithm, the accurate determination of the output value in the first stage of the motion curve is realized.

[0101] S350. Determine whether the motion in the first stage is completed based on the current coordinate velocity error vector and the current acceleration error vector according to a preset first-stage judgment rule.

[0102] Among them, the first-stage judgment rule can be preset by those skilled in the relevant art. For example, the first-stage judgment rule can be to judge whether the vector sum of the current coordinate velocity error vector and the current acceleration error vector is greater than a preset velocity threshold, and determine whether the motion in the first stage is completed according to the judgment result.

[0103] In an optional embodiment, determining whether the motion in the first stage is completed based on the current coordinate velocity error vector and the current acceleration error vector according to a preset first-stage judgment rule includes: adding the current coordinate velocity error vector and the current acceleration error vector to obtain the current judgment value in the first stage; determining whether the current judgment value in the first stage is greater than a preset velocity threshold, and if so, determining that the motion in the first stage is completed.

[0104] Exemplarily, add the current coordinate velocity error vector and the current acceleration error vector, and determine the added result as the current judgment value in the first stage; judge whether the current judgment value in the first stage is greater than a preset velocity threshold, where the velocity threshold can be preset by those skilled in the relevant art, and the velocity threshold can be a threshold for the rate of change of velocity. If the current judgment value in the first stage is greater than the preset velocity threshold, determine that the motion in the first stage is completed; if the current judgment value in the first stage is not greater than the preset velocity threshold, determine that the motion in the first stage is not completed.

[0105] In this alternative embodiment, the current coordinate velocity error vector and the current acceleration error vector are added to obtain the current determination value in the first stage; by determining whether the current determination value in the first stage is greater than a preset velocity threshold, the determination of whether the movement in the first stage is completed is achieved.

[0106] In an alternative embodiment, after determining whether the movement in the first stage is completed, it further includes: if the movement in the first stage is not completed, storing the current coordinate velocity error vector as the historical coordinate velocity error vector, and determining the first stage of the motion curve according to the output value of the smooth motion algorithm, the target physical quantity, and the preset first-stage acceleration motion algorithm.

[0107] If the current determination value in the first stage is not greater than the preset velocity threshold, it means the movement in the first stage is not completed. Then, store the current coordinate velocity error vector as the historical coordinate velocity error vector, and continue to determine the first stage of the motion curve according to the output value of the smooth motion algorithm, the target physical quantity, and the preset first-stage acceleration motion algorithm.

[0108] In this alternative embodiment, by storing the current coordinate velocity error vector as the historical coordinate velocity error vector, and determining the first stage of the motion curve according to the output value of the smooth motion algorithm, the target physical quantity, and the preset first-stage acceleration motion algorithm, when the current determination value in the first stage is not greater than the preset velocity threshold, that is, when the movement in the first stage is not completed, the determination of the first stage of the motion curve is achieved.

[0109] S360. If so, determine the first stage of the motion curve according to the initial physical quantity and the output value of the smooth motion algorithm.

[0110] S370. Determine the end physical quantity of the first stage, and determine the second stage of the motion curve according to the end physical quantity of the first stage and the preset velocity threshold.

[0111] Optionally, if the movement in the first stage is completed, determine the output value of the smooth motion algorithm as the end physical quantity of the first stage.

[0112] S380. Determine the end physical quantity of the second stage, and determine the third stage of the motion curve according to the end physical quantity of the second stage, the target physical quantity, and the preset second acceleration threshold, so that the actuator reaches the target physical quantity according to the motion curve.

[0113] The solution of this embodiment adjusts the components in the difference between the initial physical quantity and the target physical quantity according to a preset first difference adjustment rule to obtain the current coordinate velocity error vector; adjusts the components in the difference between the current coordinate velocity error vector and the pre-stored historical coordinate velocity error vector according to a preset second difference adjustment rule to obtain the current acceleration error vector; obtains the output value of the smooth motion algorithm based on the initial physical quantity, the current coordinate velocity error vector, and the current acceleration error vector; and determines whether the first stage of the motion is completed based on the current coordinate velocity error vector and the current acceleration error vector according to a preset first-stage judgment rule, thereby achieving an accurate determination of the first stage of the motion curve of the actuator, improving the accuracy of determining the motion curve of the actuator, and then realizing the smooth operation of the actuator, avoiding the incoordination during the motion of the actuator caused by oscillations and jitters during the motion of the actuator, and improving the flexibility and smoothness of the motion control of the actuator.

[0114] Embodiment 4

[0115] Figure 4 It is a schematic structural diagram of a motion control device for an actuator provided in Embodiment 4 of the present invention. As Figure 4 shown, the device includes: A motion control device for an actuator provided in an embodiment of the present invention, which is applicable to the case of motion control of at least two actuators of a robot, and the device can be implemented in a software and / or hardware manner. As Figure 4 shown, the device specifically includes: a physical quantity determination module 401 and a motion curve determination module 402. Among them,

[0116] The physical quantity determination module 401 is configured to determine the initial physical quantity and the target physical quantity of the actuator in response to a motion control instruction for the actuator;

[0117] The motion curve determination module 402 is configured to use the initial physical quantity as the starting point of the motion curve of the actuator, and determine the motion curve of the actuator according to the initial physical quantity, the target physical quantity, and a preset smooth motion algorithm, so that the actuator reaches the target physical quantity according to the motion curve.

[0118] In the solution of the embodiment of the present invention, by responding to the motion control instruction of the actuator, the initial physical quantity and the target physical quantity of the actuator are determined. Taking the initial physical quantity as the starting point of the motion curve of the actuator, according to the initial physical quantity, the target physical quantity and the preset smooth motion algorithm, the motion curve of the actuator is determined, so that the actuator reaches the target physical quantity according to the motion curve. The above solution determines the motion curve of the actuator through the smooth motion algorithm, realizes the smooth operation of the actuator, avoids the situation of incoordination during the motion of the actuator caused by the oscillation and jitter during the motion of the actuator, and improves the flexibility and smoothness of the motion control of the actuator.

[0119] Optionally, the motion curve determination module 402 includes:

[0120] The first-stage determination sub-module is used to determine the first stage of the motion curve according to the initial physical quantity, the target physical quantity and the preset first-stage acceleration motion algorithm;

[0121] The second-stage determination sub-module is used to determine the end physical quantity of the first stage, and determine the second stage of the motion curve according to the end physical quantity of the first stage and the preset speed threshold;

[0122] The third-stage determination sub-module is used to determine the end physical quantity of the second stage, and determine the third stage of the motion curve according to the end physical quantity of the second stage, the target physical quantity and the preset second acceleration threshold.

[0123] Optionally, the motion curve of the actuator is an S-shaped curve, the S-shaped curve includes a first stage, a second stage and a third stage, the first stage and the third stage are parabolas, and the second stage is a straight line.

[0124] Optionally, the first-stage determination sub-module includes:

[0125] The velocity error vector determination unit is used to adjust the components in the difference between the initial physical quantity and the target physical quantity according to the preset first difference adjustment rule to obtain the current coordinate velocity error vector;

[0126] The acceleration error vector determination unit is used to adjust the components in the difference between the current coordinate velocity error vector and the pre-stored historical coordinate velocity error vector according to the preset second difference adjustment rule to obtain the current acceleration error vector;

[0127] The output value determination unit is used to obtain the smooth motion algorithm output value according to the initial physical quantity, the current coordinate velocity error vector and the current acceleration error vector;

[0128] A motion completion determination unit, configured to determine whether the motion in the first stage is completed based on a preset first-stage determination rule according to the current coordinate velocity error vector and the current acceleration error vector;

[0129] A first-stage first determination unit, configured to, if the motion in the first stage is completed, determine the first stage of the motion curve according to the initial physical quantity and the output value of the smooth motion algorithm.

[0130] Optionally, the velocity error vector determination unit includes:

[0131] A coordinate error vector determination subunit, configured to determine the difference between the initial physical quantity and the target physical quantity as the coordinate error vector;

[0132] A velocity error vector determination subunit, configured to determine whether the components in the coordinate error vector are greater than a preset maximum component threshold. If so, adjust the components in the coordinate error vector according to a preset component size adjustment rule, and determine the adjusted coordinate error vector as the current coordinate velocity error vector.

[0133] Optionally, the acceleration error vector determination unit includes:

[0134] A coordinate acceleration error vector subunit, configured to determine the difference between the current coordinate velocity error vector and a pre-stored historical coordinate velocity error vector as the coordinate acceleration error vector;

[0135] An acceleration error vector determination subunit, configured to determine whether the coordinate acceleration error vector is greater than a preset first acceleration threshold. If so, adjust the coordinate acceleration error vector according to a preset vector size adjustment rule to obtain the current acceleration error vector.

[0136] Optionally, at least two actuator units are included in a group of actuators, and at least two components are included in the coordinate error vector;

[0137] The velocity error vector determination subunit is specifically configured to:

[0138] Determine the maximum component in the coordinate error vector, and determine whether the maximum component is greater than a preset maximum component threshold.

[0139] Optionally, the velocity error vector determination subunit is specifically configured to:

[0140] Reduce at least two components in the coordinate error vector in equal proportion to control the maximum component to be less than or equal to the maximum component threshold.

[0141] Optionally, the acceleration error vector determination subunit is specifically configured to:

[0142] Reduce at least two components in the coordinate acceleration error vector proportionally, and control any one of the components to be less than or equal to the first acceleration threshold.

[0143] Optionally, the output value determination unit includes:

[0144] An output value determination subunit, configured to add the initial physical quantity, the current coordinate velocity error vector, and the current acceleration error vector to obtain a smooth motion algorithm output value.

[0145] Optionally, the motion completion determination unit includes:

[0146] A current determination value determination subunit, configured to add the current coordinate velocity error vector and the current acceleration error vector to obtain a first-stage current determination value;

[0147] A motion completion determination subunit, configured to determine whether the first-stage current determination value is greater than a preset velocity threshold. If so, determine that the first-stage motion is completed.

[0148] Optionally, the first-stage determination sub-module includes:

[0149] A first-stage second determination unit, configured to, if the first-stage motion is not completed, store the current coordinate velocity error vector as a historical coordinate velocity error vector, and determine the first stage of the motion curve according to the smooth motion algorithm output value, the target physical quantity, and a preset first-stage accelerated motion algorithm.

[0150] Optionally, the second-stage determination sub-module includes:

[0151] An end-point physical quantity determination unit, configured to, if the first-stage motion is completed, determine the smooth motion algorithm output value as the end-point physical quantity of the first stage.

[0152] Optionally, the second-stage determination sub-module includes:

[0153] A start-point physical quantity determination unit, configured to determine the end-point physical quantity of the first stage as the start-point physical quantity of the second stage;

[0154] A second-stage determination unit, configured to determine the second stage of uniformly accelerated motion in the motion curve of the actuator according to the start-point physical quantity of the second stage and a preset velocity threshold.

[0155] Optionally, the third-stage determination sub-module includes:

[0156] A current physical quantity determination unit, configured to obtain the current physical quantity of the actuator when the actuator moves according to the second stage.

[0157] A remaining physical quantity determination unit, configured to determine a remaining physical quantity from the current physical quantity to the target physical quantity according to the current physical quantity and the target physical quantity;

[0158] A second-stage completion determination unit, configured to determine whether the movement in the second stage is completed based on a preset third-stage judgment rule according to the remaining physical quantity, a speed threshold, and a second acceleration threshold;

[0159] An end physical quantity determination unit, configured to, if the movement in the second stage is completed, determine the current physical quantity as the end physical quantity of the second stage.

[0160] The movement control device of the above-mentioned actuator can execute the movement control method of the actuator provided in any embodiment of the present invention, and has functional modules and beneficial effects corresponding to executing the movement control method of each actuator.

[0161] Embodiment 5

[0162] Figure 5 FIG. shows a schematic structural diagram of an electronic device 50 that can be used to implement the embodiments of the present invention. The electronic device is intended to represent various forms of digital computers, such as, a laptop computer, a desktop computer, a workbench, a personal digital assistant, a server, a blade server, a mainframe computer, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as, a personal digital processor, a cellular phone, a smart phone, a wearable device (such as a helmet, glasses, a watch, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or claimed herein.

[0163] As Figure 5 shown, the electronic device 50 includes at least one processor 51, and a memory communicatively connected to at least one processor 51, such as a read-only memory (ROM) 52, a random access memory (RAM) 53, etc. Among them, the memory stores a computer program executable by at least one processor, and the processor 51 can execute various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 52 or the computer program loaded from the storage unit 58 into the random access memory (RAM) 53. In the RAM 53, various programs and data required for the operation of the electronic device 50 can also be stored. The processor 51, the ROM 52, and the RAM 53 are connected to each other through a bus 54. The input / output (I / O) interface 55 is also connected to the bus 54.

[0164] Multiple components in the electronic device 50 are connected to the I / O interface 55, including: an input unit 56, such as a keyboard, a mouse, etc.; an output unit 57, such as various types of displays, speakers, etc.; a storage unit 58, such as a disk, an optical disc, etc.; and a communication unit 59, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 59 allows the electronic device 50 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0165] The processor 51 can be various general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the processor 51 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. The processor 51 executes the various methods and processes described above, such as the motion control method of the actuator.

[0166] In some embodiments, the motion control method of the actuator can be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as the storage unit 58. In some embodiments, part or all of the computer program can be loaded and / or installed onto the electronic device 50 via the ROM 52 and / or the communication unit 59. When the computer program is loaded into the RAM 53 and executed by the processor 51, one or more steps of the motion control method of the actuator described above can be executed. Alternatively, in other embodiments, the processor 51 can be configured to execute the motion control method of the actuator in any other suitable way (e.g., by means of firmware).

[0167] The various embodiments of the systems and technologies described above in this article can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SOCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include: being implemented in one or more computer programs, which can be executed and / or interpreted on a programmable system including at least one programmable processor, and the programmable processor can be a special or general programmable processor, and can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit the data and instructions to the storage system, the at least one input device, and the at least one output device.

[0168] A computer program for implementing the method of the present invention can be written in any combination of one or more programming languages. These computer programs can be provided to a processor of a general purpose computer, a special purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowchart and / or block diagram to be implemented. The computer programs can be executed entirely on the machine, partly on the machine, as a stand-alone software package partly on the machine and partly on a remote machine, or entirely on a remote machine or server.

[0169] In the context of the present invention, a computer-readable storage medium can be a tangible medium that can contain or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer-readable storage medium can include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. Alternatively, the computer-readable storage medium can be a machine-readable signal medium. More specific examples of the machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0170] In order to provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the electronic device. Other kinds of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, speech input, or tactile input).

[0171] The systems and techniques described herein can be implemented in a computing system including backend components (e.g., as a data server), or a computing system including middleware components (e.g., an application server), or a computing system including frontend components (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described herein), or a computing system including any combination of such backend components, middleware components, or frontend components. The components of the system can be interconnected to each other by digital data communication in any form or medium (e.g., a communication network). Examples of communication networks include: local area network (LAN), wide area network (WAN), blockchain network, and the Internet.

[0172] The computing system can include clients and servers. The clients and servers are generally far from each other and typically interact through a communication network. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system, solving the defects of difficult management and weak business scalability existing in traditional physical hosts and VPS services.

[0173] It should be understood that various forms of the processes shown above can be used, with steps reordered, added, or deleted. For example, the steps recited in the present invention can be executed in parallel, sequentially, or in a different order, as long as the desired results of the technical solution of the present invention can be achieved, and no limitation is imposed herein.

[0174] The above specific embodiments do not constitute a limitation on the protection scope of the present invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A motion control method for an actuator, characterized in that, comprising: responding to a motion control instruction for the actuator, determining an initial physical quantity and a target physical quantity of the actuator; using the initial physical quantity as the starting point of the actuator motion curve, and adjusting components in the difference between the initial physical quantity and the target physical quantity according to a preset first difference adjustment rule to obtain a current coordinate velocity error vector; adjusting components in the difference between the current coordinate velocity error vector and a pre-stored historical coordinate velocity error vector according to a preset second difference adjustment rule to obtain a current acceleration error vector; obtaining a smooth motion algorithm output value according to the initial physical quantity, the current coordinate velocity error vector, and the current acceleration error vector; determining whether the first stage of motion is completed based on a preset first stage judgment rule according to the current coordinate velocity error vector and the current acceleration error vector; if so, determining the first stage of the motion curve according to the initial physical quantity and the smooth motion algorithm output value; determining an end physical quantity of the first stage, and determining the second stage of the motion curve according to the end physical quantity of the first stage and a preset velocity threshold; determining an end physical quantity of the second stage, and determining the third stage of the motion curve according to the end physical quantity of the second stage, the target physical quantity, and a preset second acceleration threshold, so that the actuator reaches the target physical quantity according to the motion curve.

2. The method according to claim 1, characterized in that, adjusting components in the difference between the initial physical quantity and the target physical quantity according to a preset first difference adjustment rule to obtain a current coordinate velocity error vector, comprising: determining the difference between the initial physical quantity and the target physical quantity as a coordinate error vector; judging whether a component in the coordinate error vector is greater than a preset maximum component threshold, and if so, adjusting the component in the coordinate error vector according to a preset component size adjustment rule, and determining the adjusted coordinate error vector as the current coordinate velocity error vector.

3. The method according to claim 1, characterized in that, adjusting components in the difference between the current coordinate velocity error vector and a pre-stored historical coordinate velocity error vector according to a preset second difference adjustment rule to obtain a current acceleration error vector, comprising: determining the difference between the current coordinate velocity error vector and the pre-stored historical coordinate velocity error vector as a coordinate acceleration error vector; judging whether the coordinate acceleration error vector is greater than a preset first acceleration threshold, and if so, adjusting the coordinate acceleration error vector according to a preset vector size adjustment rule to obtain a current acceleration error vector.

4. The method according to claim 2, characterized in that, a set of actuators includes at least two execution units, and the coordinate error vector includes at least two components; judging whether a component in the coordinate error vector is greater than a preset maximum component threshold, including: Determine the maximum component in the coordinate error vector, and determine whether the maximum component is greater than a preset maximum component threshold.

5. The method according to claim 4, wherein, According to a preset component size adjustment rule, adjust the components in the coordinate error vector, including: Reduce at least two components in the coordinate error vector in equal proportion to control the maximum component to be less than or equal to the maximum component threshold.

6. The method according to claim 3, wherein, According to a preset vector size adjustment rule, adjust the coordinate acceleration error vector, including: Reduce at least two components in the coordinate acceleration error vector in equal proportion to control any component to be less than or equal to the first acceleration threshold.

7. The method according to claim 1, wherein, According to the initial physical quantity, the current coordinate velocity error vector, and the current acceleration error vector, obtain the output value of the smooth motion algorithm, including: Add the initial physical quantity, the current coordinate velocity error vector, and the current acceleration error vector to obtain the output value of the smooth motion algorithm.

8. The method according to claim 1, wherein, According to the current coordinate velocity error vector and the current acceleration error vector, based on a preset first-stage judgment rule, determine whether the first stage of motion is completed, including: Add the current coordinate velocity error vector and the current acceleration error vector to obtain the current judgment value in the first stage; Determine whether the current judgment value in the first stage is greater than a preset velocity threshold. If so, determine that the first stage of motion is completed.

9. The method according to claim 1, wherein, After determining whether the first stage of motion is completed, it further includes: If the first stage of motion is not completed, store the current coordinate velocity error vector as the historical coordinate velocity error vector, and according to the output value of the smooth motion algorithm, the target physical quantity, and a preset first-stage accelerated motion algorithm, determine the first stage of the motion curve.

10. The method according to claim 1, wherein, Determine the end physical quantity of the first stage, including: If the first stage of motion is completed, determine the output value of the smooth motion algorithm as the end physical quantity of the first stage.

11. The method according to claim 1, wherein, According to the end physical quantity of the first stage and a preset velocity threshold, determine the second stage of the motion curve, including: Determine the end physical quantity of the first stage as the start physical quantity of the second stage; According to the start physical quantity of the second stage and a preset velocity threshold, determine the second stage of uniformly accelerated motion in the motion curve of the actuator.

12. The method according to claim 1, wherein, Determine the end physical quantity of the second stage, including: When the actuator moves according to the second stage, obtain the current physical quantity of the actuator; According to the current physical quantity and the target physical quantity, determine the remaining physical quantity from the current physical quantity to the target physical quantity; Based on the remaining physical quantity, the speed threshold, and the second acceleration threshold, determine whether the movement in the second stage is completed according to a preset third-stage judgment rule; If it is completed, determine the current physical quantity as the end physical quantity of the second stage.

13. A motion control device for an actuator, Characterized in that, It includes: A physical quantity determination module, configured to determine the initial physical quantity and the target physical quantity of the actuator in response to a motion control instruction for the actuator; A motion curve determination module, configured to use the initial physical quantity as the starting point of the motion curve of the actuator, and determine the motion curve of the actuator according to the initial physical quantity, the target physical quantity, and a preset smooth motion algorithm, so that the actuator reaches the target physical quantity according to the motion curve; The motion curve determination module includes: A first-stage determination sub-module, configured to determine the first stage of the motion curve according to the initial physical quantity, the target physical quantity, and a preset first-stage accelerated motion algorithm; A second-stage determination sub-module, configured to determine the end physical quantity of the first stage, and determine the second stage of the motion curve according to the end physical quantity of the first stage and a preset speed threshold; A third-stage determination sub-module, configured to determine the end physical quantity of the second stage, and determine the third stage of the motion curve according to the end physical quantity of the second stage, the target physical quantity, and a preset second acceleration threshold; The first-stage determination sub-module includes: A velocity error vector determination unit, configured to adjust the components in the difference between the initial physical quantity and the target physical quantity according to a preset first difference adjustment rule to obtain a current coordinate velocity error vector; An acceleration error vector determination unit, configured to adjust the components in the difference between the current coordinate velocity error vector and a pre-stored historical coordinate velocity error vector according to a preset second difference adjustment rule to obtain a current acceleration error vector; An output value determination unit, configured to obtain a smooth motion algorithm output value according to the initial physical quantity, the current coordinate velocity error vector, and the current acceleration error vector; A motion completion judgment unit, configured to determine whether the movement in the first stage is completed according to the current coordinate velocity error vector and the current acceleration error vector based on a preset first-stage judgment rule; A first-stage first determination unit, configured to, if the movement in the first stage is completed, determine the first stage of the motion curve according to the initial physical quantity and the smooth motion algorithm output value.

14. An electronic device, Characterized in that, The electronic device includes: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the motion control method for the actuator according to any one of claims 1-12.

15. A computer-readable storage medium, Characterized in that, The computer-readable storage medium stores computer instructions for implementing the motion control method of the actuator according to any one of claims 1-12 when executed by a processor.

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