Torque control method, device, apparatus, storage medium and program product

Abstract

The application discloses a torque control method, device, equipment, storage medium and program product, and belongs to the technical field of electromechanics. The method comprises the following steps: acquiring an expected output torque, an actual output torque and a current control value of a driving device, wherein the driving device comprises a rotating motor; determining an updated current control value based on the expected output torque and the actual output torque; determining a disturbance current compensation value based on the actual output torque, the current control value and a current compensation model; adjusting the updated current control value based on the disturbance current compensation value to obtain an adjusted updated current control value; and controlling the rotating motor to operate based on the adjusted updated current control value. According to the application, the adjusted updated current control value is more accurate, the number of control adjustments is reduced, and the adjustment efficiency is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of electromechanical technology, and in particular to a torque control method and device, equipment, a storage medium and a program product. BACKGROUND

[0002] At present, rotating electric machines are widely used in industrial production and life, for driving other components to rotate to realize the operation of machines. Usually, rotating electric machines are also linked with other devices to set up other driving devices meeting requirements. For example, a rotating electric machine can be linked with a speed reducer, and the rotating electric machine still serves as a main power output component, which can drive the speed reducer to rotate to make the speed reducer output torque to drive the load to rotate slowly.

[0003] Usually, a closed-loop control method is adopted for the output torque of a driving device, that is, a controller first acquires the expected output torque of the driving device under the current state, then calculates the current control value of the rotating electric machine in the driving device according to a pre-stored algorithm, controls the rotating electric machine to operate based on the current control value, thereby driving the whole driving device to operate and further driving the load connected with the driving device to rotate. In this process, due to the influence of nonlinear factors such as friction and damping in the transmission process of the driving device and the influence of external interference (for example, the tool of a worker accidentally hits the driving device), the actual output torque of the driving device is not equal to the expected output torque. At this time, the controller can calculate the torque difference between the expected output torque and the actual output torque, and input the torque difference into the algorithm to determine the updated current control value, so as to change the actual output torque of the rotating electric machine by changing the current control value, and further make the actual output torque of the driving device more close to the expected output torque.

[0004] However, the updated current control value obtained each time in the above process is not accurate, and therefore multiple adjustments may be required to ensure the control accuracy of the driving device, which is low in efficiency. SUMMARY

[0005] The embodiments of the present application provide a torque control method, which can solve the problem of low adjustment efficiency of a driving device in the prior art.

[0006] In a first aspect, a torque control method is provided, and the method comprises:

[0007] acquiring an expected output torque, an actual output torque and a current current control value of a driving device, wherein the driving device comprises a rotating electric machine;

[0008] determining an updated current control value based on the expected output torque and the actual output torque;

[0009] determine a disturbance current compensation value based on the actual output torque, the current control value and a current compensation model;

[0010] adjust the updated current control value based on the disturbance current compensation value to obtain an adjusted updated current control value;

[0011] control the rotating motor to operate based on the adjusted updated current control value.

[0012] In a possible implementation, the determining the updated current control value based on the expected output torque and the actual output torque comprises:

[0013] input the actual output torque into an ESO (Extended State Observer) model to obtain a filtered actual output torque;

[0014] determine the updated current control value based on the expected output torque and the filtered actual output torque.

[0015] In a possible implementation, the determining the updated current control value based on the expected output torque and the filtered actual output torque comprises:

[0016] input a torque difference value of the expected output torque and the filtered actual output torque into a PID (Proportion Integration Differentiation) algorithm to obtain the updated current control value.

[0017] In a possible implementation, the current compensation model is an ESO model.

[0018] In a possible implementation, the determining the disturbance current compensation value based on the actual output torque, the current control value and a current compensation model comprises:

[0019] input a first disturbance coefficient, the actual output torque and the current control value into the ESO model to obtain a to-be-determined disturbance current compensation value;

[0020] determine a ratio of the to-be-determined disturbance current compensation value and a second disturbance coefficient as the disturbance current compensation value.

[0021] In a possible implementation, the ESO model comprises a first parameter.

[0022] The inputting a first disturbance coefficient, the actual output torque and the current control value into the ESO model to obtain a to-be-determined disturbance current compensation value comprises:

[0023] multiplying a system bandwidth of a control system of the driving device and the first parameter to obtain an ESO bandwidth;

[0024] determining the to-be-determined disturbance current compensation value based on the first disturbance coefficient, the actual output torque, the current current control value and the ESO bandwidth.

[0025] In a possible implementation, the determining the to-be-determined disturbance current compensation value based on the first disturbance coefficient, the actual output torque, the current current control value and the ESO bandwidth comprises:

[0026] establishing a third-order ESO mathematical model based on the first disturbance coefficient, the actual output torque, the current current control value and the ESO bandwidth to obtain the to-be-determined disturbance current compensation value, the third-order ESO mathematical model being:

[0027]

[0028] wherein, τ s is the actual output torque, is a derivative of z1, is a derivative of z2, is a derivative of z3, z3 is the to-be-determined disturbance current compensation value, a1, a2 and a3 are all preset parameters, ω0 is an ESO bandwidth, b1 is the first disturbance coefficient, and i is the current current control value.

[0029] In a possible implementation, the method further comprises:

[0030] determining a feedforward current adjustment value based on a feedforward coefficient and the expected output torque;

[0031] the adjusting the updated current control value based on the disturbance current compensation value to obtain an adjusted updated current control value comprises:

[0032] adding the feedforward current adjustment value, the disturbance current compensation value and the updated current control value to obtain the adjusted updated current control value.

[0033] In a second aspect, a torque control device is provided, the device comprising:

[0034] an acquisition module configured to acquire an expected output torque, an actual output torque and a current current control value of a driving device, wherein the driving device comprises a rotating motor;

[0035] a first determination module configured to determine an updated current control value based on the expected output torque and the actual output torque;

[0036] a second determining module, configured to determine a disturbance current compensation value based on the actual output torque, the current control value and a current compensation model;

[0037] an adjusting module, configured to adjust the updated current control value based on the disturbance current compensation value to obtain an adjusted updated current control value;

[0038] a control module, configured to control the rotating motor to operate based on the adjusted updated current control value.

[0039] In a possible implementation, the first determining module is configured to:

[0040] input the actual output torque into an ESO model to obtain a filtered actual output torque;

[0041] determine the updated current control value based on the expected output torque and the filtered actual output torque.

[0042] In a possible implementation, the first determining module is configured to:

[0043] input a torque difference value of the expected output torque and the filtered actual output torque into a PID algorithm to obtain the updated current control value.

[0044] In a possible implementation, the current compensation model is an ESO model.

[0045] In a possible implementation, the second determining module is configured to:

[0046] input a first disturbance coefficient, the actual output torque and the current control value into the ESO model to obtain a to-be-determined disturbance current compensation value;

[0047] determine a ratio of the to-be-determined disturbance current compensation value and a second disturbance coefficient as the disturbance current compensation value.

[0048] In a possible implementation, the ESO model includes a first parameter.

[0049] The second determining module is configured to:

[0050] multiply a system bandwidth of a control system of the driving device and the first parameter to obtain an ESO bandwidth;

[0051] determine the to-be-determined disturbance current compensation value based on the first disturbance coefficient, the actual output torque, the current control value and the ESO bandwidth.

[0052] In a possible implementation, the second determining module is configured to:

[0053] based on the first disturbance coefficient, the actual output torque, the current current control value and the ESO bandwidth, a third-order ESO mathematical model is established to obtain the to-be-determined disturbance current compensation value, the third-order ESO mathematical model is as follows:

[0054]

[0055] wherein, τ s is the actual output torque, is a derivative of z1, is a derivative of z2, is a derivative of z3, z3 is the to-be-determined disturbance current compensation value, a1, a2 and a3 are all preset parameters, ω0 is an ESO bandwidth, b1 is the first disturbance coefficient, and i is the current current control value.

[0056] In a possible implementation, the device further includes a feedforward module configured to:

[0057] based on a feedforward coefficient and the expected output torque, a feedforward current adjustment value is determined;

[0058] the adjusting module is configured to:

[0059] the feedforward current adjustment value, the disturbance current compensation value and the updated current control value are added to obtain the adjusted updated current control value.

[0060] In a third aspect, a computer device is provided, the computer device including a processor and a memory, the memory storing at least one instruction, the instruction being loaded and executed by the processor to implement operations performed by the torque control method.

[0061] In a fourth aspect, a computer readable storage medium is provided, the storage medium storing at least one instruction, the instruction being loaded and executed by the processor to implement operations performed by the torque control method.

[0062] In a fifth aspect, a computer program product is provided, the computer program product including at least one instruction, the at least one instruction being loaded and executed by the processor to implement operations performed by the torque control method.

[0063] The technical scheme provided by the embodiments of the present application has the beneficial effects that: the scheme mentioned in the embodiments of the present application can determine an updated current control value based on the expected output torque and the actual output torque, determine a disturbance current compensation value based on the actual output torque, the current control value and a current compensation model, and then adjust the updated current control value based on the disturbance current compensation value to obtain an adjusted updated current control value. In this way, the updated current control value is adjusted based on the disturbance current compensation value, so that the adjusted current control value is more accurate, and when the rotating motor is controlled to operate based on the adjusted updated current control value, the actual output torque can be made to be closer to the expected output torque more quickly, thereby improving the adjustment efficiency of the driving device. BRIEF DESCRIPTION OF DRAWINGS

[0064] In order to more clearly illustrate the technical scheme in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative effort.

[0065] Figure 1 is a flow chart of a torque control method provided by the embodiments of the present application;

[0066] Figure 2 is a flow chart of a torque control method provided by the embodiments of the present application;

[0067] Figure 3 is a flow chart of a torque control method provided by the embodiments of the present application;

[0068] Figure 4 is a structural schematic diagram of a torque control device provided by the embodiments of the present application;

[0069] Figure 5 is a structural block diagram of a terminal provided by the embodiments of the present application;

[0070] Figure 6 is a structural block diagram of a server provided by the embodiments of the present application. DETAILED DESCRIPTION

[0071] In order to make the purpose, technical scheme and advantages of the present application more clear, the embodiments of the present application will be further described in detail below with reference to the drawings.

[0072] The embodiments of the present application provide a torque control method, which can be implemented by a computer device. The computer device can be a terminal and a server, etc., and the terminal can be a desktop computer, a notebook computer, a tablet computer, a mobile phone, etc.

[0073] The computer device can include a processor, a memory, an input component, an output component, a communication component, and the like.

[0074] The processor can be a central processing unit (CPU), which can be configured to read instructions and process data, such as determining an updated current control value based on a desired output torque and an actual output torque, determining a disturbance current compensation value based on the actual output torque, a current control value, and a current compensation model, adjusting the updated current control value based on the disturbance current compensation value, controlling the rotating motor to operate based on the adjusted updated current value, and the like.

[0075] The memory can be various volatile memories or non-volatile memories, such as a solid state disk (SSD), a dynamic random access memory (DRAM) memory, and the like. The memory can be configured to store data, such as data of the acquired desired output torque, actual output torque, and current control value, data of intermediate data generated in the process of determining the updated current control value, data of the determined updated current control value, data of intermediate data generated in the process of determining the disturbance current compensation value, data of the determined disturbance current compensation value, data of the obtained adjusted updated current value, and the like.

[0076] The communication component can be a wired network connector, a wireless fidelity (WiFi) module, a Bluetooth module, a cellular network communication module, and the like. The communication component can be configured to transmit data with other devices.

[0077] Figure 1 is a flowchart of a torque control method provided by an embodiment of the present application. Referring to Figure 1 The embodiment includes the following steps.

[0078] 101. Acquire a desired output torque, an actual output torque, and a current control value of a driving device.

[0079] The driving device includes a rotating motor.

[0080] In implementation, the driving device can include a rotating motor, which serves as a main power source to drive other components in the driving device to rotate, thereby driving a load fixedly connected to the end of the driving device to rotate.

[0081] The expected output torque is a torque required to be outputted by the end of the driving device according to the rotational demand of the load, and the expected output torque is adjusted according to the change of the load or the change of the load demand. The controller of the driving device determines a current control value based on the expected output torque, and controls the rotary motor to operate based on the current control value, so that the rotary motor drives other components in the driving device to rotate, thereby realizing the rotational demand of the load. The actual output torque is a torque outputted by the end of the driving device with the rotation of the rotary motor.

[0082] The actual output torque can be obtained in various ways. For example, a torque sensor can be installed at the end of the driving device, and the torque sensor can be electrically connected to the controller. In this way, the torque sensor can periodically detect the actual output torque of the driving device and send it to the controller, so that the controller can periodically obtain the actual output torque of the driving device.

[0083] 102. Determine an updated current control value based on the expected output torque and the actual output torque.

[0084] In implementation, the controller can determine the updated current control value based on the expected output torque and the obtained actual output torque after obtaining the actual output torque. That is, the actual output torque is taken as a feedback, the torque difference between the expected output torque and the actual output torque is calculated, and a new current control value is calculated based on the difference torque, the current control value and the first preset algorithm. In the embodiment of the present application, the new current control value is referred to as the updated current control value. The updated current control value takes into account the torque difference between the actual output torque and the expected output torque caused by the friction, damping or external disturbance of the driving device, and compensates the previous current value, so that the current control value can be updated according to the actual output torque.

[0085] In a possible implementation, the first preset algorithm can be a PID algorithm, and the PID algorithm can also be a PD algorithm or a PI algorithm, etc. The specific algorithm is not limited in the embodiment of the present application, and a reasonable algorithm can be selected according to the specific situation.

[0086] 103. Determine a disturbance current compensation value based on the actual output torque, the current control value and the current compensation model.

[0087] The current compensation model herein is an adjusted current compensation model. One or more parameters are set in the current compensation model. Before the current compensation model is used, the parameters in the current compensation model need to be adjusted through multiple experiments, so as to obtain the determined parameter value, that is, the adjusted current compensation model.

[0088] In implementation, the actual output torque and the current control value can be input into the disturbance current compensation model to determine the disturbance current compensation value.

[0089] 104. Adjust the update current control value based on the disturbance current compensation value to obtain an adjusted update current control value.

[0090] In implementation, after the disturbance current compensation value is determined, the update current control value can be adjusted using the disturbance current compensation value to obtain an adjusted update current control value, so that the adjusted update current control value can be more accurate.

[0091] 105. Control the operation of the rotary motor based on the adjusted update current control value.

[0092] In implementation, the rotary motor is controlled to operate based on the adjusted update current control value, and other components in the driving device are driven to rotate, so that the actual output torque of the driving device is closer to the expected output torque after overcoming the torque difference and the error caused by internal and external disturbances, thereby improving the adjustment efficiency of the driving device and the accuracy of the torque output of the driving device.

[0093] Structure and dynamics model of the driving device

[0094] In the embodiments of the present application, the driving device can have various structural settings, including different components, and the corresponding dynamics model is also different. Hereinafter, one of them will be introduced as an example:

[0095] In one possible implementation, the driving device includes a rotary motor and a reducer, the output shaft of the rotary motor is fixedly connected with the reducer, and the output shaft of the reducer, as the terminal of the driving device, can be connected with a load to drive the load to rotate. The dynamics model of the driving device is:

[0096]

[0097] τ m = Nk t i (2)

[0098]

[0099] wherein, formula (1) and (2) are the dynamics model of one end of the driving device, formula (3) is the dynamics model of one end of the load, k s is the stiffness of the torque sensor, Δθ is the deformation of the torque sensor, k s Δθ is the torque reading (i.e. actual output torque) detected by the torque sensor, τ m is the actual output torque of the rotary motor, N is the reduction ratio of the reducer, kt is a torque coefficient of the rotary electric machine, i is a current control value at present, j m is a moment of inertia of the driving device, θ m is a rotation angle of a tip of the driving device, is a first derivative of θ m , is a second derivative of θ m , b m is a damping term of the driving device, τ d is a total disturbance received by the driving device (total disturbance), j l is a moment of inertia of the driving device, θ l is a rotation angle of the load, is a first derivative of θ l , is a second derivative of θ l , b l is a moment of inertia of the load, τ e is a total disturbance received by the load.

[0100] In an ideal case, the total disturbance τ d received by the driving device and the total disturbance τ e received by the load end are ignored, and when the load end is fixed, an open-loop transfer function F(s) of the driving device with a current control value at present as an input and an actual output torque as an output can be obtained according to formula (1):

[0101]

[0102] wherein s is a complex variable in Laplace transform.

[0103] It can be understood that the driving device described above is only an example, and the driving device includes any reasonable structure, and embodiments of the present application do not limit this.

[0104] The method for determining the updated current control value in step 102

[0105] In a possible implementation manner, the actual output torque obtained can be filtered first, so as to obtain a filtered actual output torque, and the noise influence is reduced, and then the updated current control value is determined based on the expected output torque and the filtered actual output torque.

[0106] As shown in Figure 2 , the method for determining the updated current control value can be as follows:

[0107] The actual output torque is input into the ESO model to obtain a filtered actual output torque, and the updated current control value is determined based on the expected output torque and the filtered actual output torque.

[0108] In one possible implementation, after obtaining the actual output torque after filtering, the updated current control value can be calculated using the following method.

[0109] The torque difference between the desired output torque and the filtered actual output torque is input into the PID algorithm to obtain the updated current control value. The PID algorithm may include not only its own algorithm but also PD and PI algorithms; this application does not limit the specific algorithm used.

[0110] The method for determining the disturbance current compensation value in step 103

[0111] There are various current compensation models mentioned above. Below, we will take the ESO model as an example for a more detailed introduction:

[0112] One method to determine the disturbance current compensation value is to determine the disturbance current compensation value based on the actual output torque, the current control value, and the ESO model.

[0113] like Figure 2 As shown, a more detailed method for determining the disturbance current compensation value is as follows: Input the first disturbance coefficient, the actual output torque, and the current current control value into the ESO model to obtain the undetermined disturbance current compensation value. The ratio of the undetermined disturbance current compensation value to the second disturbance coefficient is determined as the disturbance current compensation value.

[0114] In implementation, an initial value can be set for the first disturbance coefficient, the second disturbance coefficient, and the parameters inside the ESO model. Then, the parameters can be adjusted multiple times based on the actual operation of the drive device. This will improve the accuracy of the actual output torque based on the adjusted first disturbance coefficient, the second disturbance coefficient, and the data determined by the ESO model, making the actual output torque closer to the expected output torque.

[0115] After parameter tuning, the values ​​of the first perturbation coefficient, the second perturbation coefficient, and the parameters in the ESO model can be determined, and these fixed values ​​can be used directly in subsequent applications.

[0116] In subsequent control, the determined first disturbance coefficient, actual output torque, and current current control value can be input into the ESO model to obtain the undetermined disturbance current compensation value output by the ESO model. It can be understood that at this time, the ESO model can also output the filtered actual output torque to perform the above-mentioned process of determining and updating the current control value, which has been introduced above and will not be repeated here.

[0117] After obtaining the undetermined disturbance current compensation value from the ESO model output, it can be divided by the second disturbance coefficient, and the resulting ratio is the disturbance current compensation value.

[0118] In the embodiments of the present application, the first disturbance coefficient and the second disturbance coefficient can be equal or not equal, and the embodiments of the present application do not limit this.

[0119] In a possible implementation, the ESO model can include a first parameter. After inputting the first disturbance coefficient, the actual output torque and the current current control value into the ESO model, the algorithm corresponding to the ESO model can be as follows:

[0120] The system bandwidth of the control system of the driving device is multiplied by the first parameter to obtain an ESO bandwidth. Based on the first disturbance coefficient, the actual output torque, the current current control value and the ESO bandwidth, a to-be-determined disturbance current compensation value is determined.

[0121] In implementation, the system bandwidth of the control system of the driving device can be obtained first, and then the system bandwidth is multiplied by the first parameter to obtain the ESO bandwidth (as shown in the following formula 5), wherein the first parameter m is a parameter determined after tuning, and the value of the first parameter m can be any reasonable value, for example, the first parameter m can be any value in 5-10, and the like, and the embodiments of the present application do not limit this.

[0122] ω0=mω c (5)

[0123] Wherein, ω0 is the ESO bandwidth, m is the first parameter, ω c is the system bandwidth of the control system of the driving device.

[0124] The method for determining the to-be-determined disturbance current compensation value based on the first disturbance coefficient, the actual output torque, the current current control value and the ESO bandwidth can also have many kinds, and one of them will be introduced as follows:

[0125] Based on the first disturbance coefficient, the actual output torque, the current current control value and the ESO bandwidth, a third-order ESO mathematical model is established to obtain the to-be-determined disturbance current compensation value, and the third-order ESO mathematical model is as follows:

[0126]

[0127] Wherein, τ s is the actual output torque, is the derivative of z1, is the derivative of z2, is the derivative of z3, z3 is the to-be-determined disturbance current compensation value, a1, a2 and a3 are all preset parameters, ω0 is the ESO bandwidth, b1 is the first disturbance coefficient, and i is the current current control value.

[0128] The a1, a2 and a3 can be any reasonable value, for example, a1 and a2 are both 3, and a3 is 1, which is not limited in the embodiments of the present application.

[0129] The ESO model is used to determine the disturbance current compensation value, which is applied to the control loop of the driving device, so that the control performance is improved, and the ESO model is located in the torque control inner loop, which can be decoupled from other control loops and easily replaced in situ. The disturbance current compensation value is used to compensate for the energy loss of the driving device due to disturbance, thereby improving the control accuracy and control efficiency of the driving device, improving the tracking and anti-disturbance performance of the control system, and improving the robustness of the driving device to external disturbance.

[0130] In the embodiments of the present application, as shown in Figure 3 To provide control efficiency of the driving device and improve control accuracy, the following settings can also be made:

[0131] Based on the feedforward coefficient and the expected output torque, a feedforward current adjustment value is determined. When adjusting the updated current control value, the updated current control value can be adjusted based on the feedforward current adjustment value and the disturbance current compensation value, thereby obtaining the adjusted updated current control value.

[0132] There are many methods for determining the feedforward current adjustment value, for example, the feedforward coefficient can be directly multiplied by the expected output torque, and the like, which is not limited in the embodiments of the present application.

[0133] The adjustment method can be: adding the feedforward current adjustment value, the disturbance current compensation value and the updated current control value, thereby obtaining the adjusted updated current control value.

[0134] The feedforward coefficient can be any reasonable setting, for example, when the driving device is a rotary motor, the feedforward coefficient can be When the driving device includes a rotary motor and a reducer, the feedforward coefficient can be and the like, which is not limited in the embodiments of the present application.

[0135] The feedforward coefficient and the expected output torque are used for feedforward control of the driving device, thereby improving the tracking and anti-disturbance performance of the control system, improving the torque control accuracy of the driving device and the robustness to external disturbance, and also improving the adverse effects of joint transmission system nonlinear factors (friction, damping and other internal disturbances).

[0136] All the optional technical solutions described above can be combined to form optional embodiments of the present application, which will not be described one by one here.

[0137] The scheme mentioned in the embodiments of the present application can determine an updated current control value based on the expected output torque and the actual output torque, determine a disturbance current compensation value based on the actual output torque, the current control value and a current compensation model, and then adjust the updated current control value based on the disturbance current compensation value to obtain an adjusted updated current control value. In this way, the updated current control value is adjusted based on the disturbance current compensation value, so that the adjusted current control value is more accurate, and when the rotating motor is controlled to operate based on the adjusted updated current control value, the actual output torque can quickly approach the expected output torque, thereby improving the adjustment efficiency of the driving device.

[0138] The embodiments of the present application provide a torque control device. The device can be a computer device in the above-mentioned embodiments, as shown in Figure 4 The device includes:

[0139] The acquisition module 410 is configured to acquire an expected output torque, an actual output torque and a current control value of a driving device, wherein the driving device includes a rotating motor.

[0140] The first determination module 420 is configured to determine an updated current control value based on the expected output torque and the actual output torque.

[0141] The second determination module 430 is configured to determine a disturbance current compensation value based on the actual output torque, the current control value and a current compensation model.

[0142] The adjustment module 440 is configured to adjust the updated current control value based on the disturbance current compensation value to obtain an adjusted updated current control value.

[0143] The control module 450 is configured to control the rotating motor to operate based on the adjusted updated current control value.

[0144] In a possible implementation, the first determination module 420 is configured to:

[0145] input the actual output torque into an ESO model to obtain a filtered actual output torque;

[0146] determine the updated current control value based on the expected output torque and the filtered actual output torque.

[0147] In a possible implementation, the first determination module 420 is configured to:

[0148] input a torque difference value of the expected output torque and the filtered actual output torque into a proportional-integral-derivative (PID) algorithm to obtain the updated current control value.

[0149] In a possible implementation, the current compensation model is an ESO model.

[0150] In a possible implementation, the second determining module 430 is configured to:

[0151] input the first disturbance coefficient, the actual output torque and the current current control value into the ESO model to obtain a to-be-determined disturbance current compensation value;

[0152] determine, as the disturbance current compensation value, a ratio of the to-be-determined disturbance current compensation value and a second disturbance coefficient.

[0153] In a possible implementation, the ESO model includes a first parameter.

[0154] The second determining module 430 is configured to:

[0155] multiply a system bandwidth of a control system of the driving device and the first parameter to obtain an ESO bandwidth;

[0156] determine the to-be-determined disturbance current compensation value based on the first disturbance coefficient, the actual output torque, the current current control value and the ESO bandwidth.

[0157] In a possible implementation, the second determining module 430 is configured to:

[0158] establish a third-order ESO mathematical model based on the first disturbance coefficient, the actual output torque, the current current control value and the ESO bandwidth to obtain the to-be-determined disturbance current compensation value, the third-order ESO mathematical model being:

[0159]

[0160] wherein τ s is the actual output torque, is a derivative of z1, is a derivative of z2, is a derivative of z3, z3 is the to-be-determined disturbance current compensation value, a1, a2 and a3 are all preset parameters, ω0 is an ESO bandwidth, b1 is the first disturbance coefficient, and i is the current current control value.

[0161] In a possible implementation, the apparatus further includes a feedforward module configured to:

[0162] determine a feedforward current adjustment value based on a feedforward coefficient and the expected output torque;

[0163] The adjusting module 440 is configured to:

[0164] The feedforward current regulation value, the disturbance current compensation value and the updated current control value are added to obtain the adjusted updated current control value.

[0165] The technical scheme provided by the embodiments of the present application has the beneficial effects that: the scheme mentioned in the embodiments of the present application can determine the updated current control value based on the expected output torque and the actual output torque, determine the disturbance current compensation value based on the actual output torque, the current control value and the current compensation model, and then adjust the updated current control value based on the disturbance current compensation value to obtain the adjusted updated current control value. In this way, the updated current control value is adjusted by the disturbance current compensation value, so that the adjusted current control value is more accurate. When the rotating motor is controlled to operate based on the adjusted updated current control value, the actual output torque can quickly approach the expected output torque, thereby improving the adjustment efficiency of the driving device.

[0166] It should be noted that: the torque control device provided in the above embodiments is only used as an example to illustrate the division of the above functional modules. In actual application, the above functions can be completed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. In addition, the torque control device and the torque control method provided in the above embodiments belong to the same concept, and the specific implementation process is described in the method embodiments, which will not be repeated here.

[0167] Figure 5 A structure block diagram of a terminal 500 provided by an example embodiment of the present application is shown. The terminal can be a computer device in the above embodiments. The terminal 500 can be: a smart phone, a tablet computer, an MP3 player (moving picture experts group audio layer III), an MP4 player (moving picture experts group audio layer IV), a notebook computer or a desktop computer. The terminal 500 can also be referred to as a user equipment, a portable terminal, a laptop terminal, a desktop terminal, and other names.

[0168] Generally, the terminal 500 includes a processor 501 and a memory 502.

[0169] The processor 501 can include one or more processing cores, such as a 4-core processor, an 8-core processor, and the like. The processor 501 can be implemented in at least one of a hardware form of a DSP (digital signal processing), an FPGA (field-programmable gate array), a PLA (programmable logic array), and the like. The processor 501 can also include a main processor and a coprocessor. The main processor is a processor for processing data in an awake state, also referred to as a CPU (central processing unit). The coprocessor is a low-power processor for processing data in a standby state. In some embodiments, the processor 501 can be integrated with a GPU (graphics processing unit) that is responsible for rendering and drawing content required to be displayed by the display screen. In some embodiments, the processor 501 can further include an AI (artificial intelligence) processor for processing computing operations related to machine learning.

[0170] The memory 502 can include one or more computer-readable storage media that can be non-transitory. The memory 502 can also include a high-speed random access memory, and a nonvolatile memory such as one or more disk storage devices, flash storage devices. In some embodiments, the non-transitory computer-readable storage medium in the memory 502 is used to store at least one instruction for being executed by the processor 501 to implement the torque control method provided by the method embodiments in the present application.

[0171] In some embodiments, the terminal 500 can also optionally include a peripheral device interface 503 and at least one peripheral device. The processor 501, the memory 502, and the peripheral device interface 503 can be connected through a bus or a signal line. Each peripheral device can be connected to the peripheral device interface 503 through a bus, a signal line, or a circuit board. Specifically, the peripheral device includes at least one of a radio frequency circuit 504, a display screen 505, a camera 506, an audio circuit 507, a positioning component 508, and a power supply 509.

[0172] The peripheral interface 503 can be used to connect at least one I / O (input / output) related peripheral device to the processor 501 and the memory 502. In some embodiments, the processor 501, the memory 502 and the peripheral interface 503 are integrated on the same chip or circuit board; in some other embodiments, any one or two of the processor 501, the memory 502 and the peripheral interface 503 can be implemented on a separate chip or circuit board, and the present embodiments are not limited in this regard.

[0173] The radio frequency circuit 504 is configured to receive and send RF (radio frequency) signals, also known as electromagnetic signals. The radio frequency circuit 504 communicates with communication networks and other communication devices through electromagnetic signals. The radio frequency circuit 504 converts electrical signals to electromagnetic signals for transmission, or converts electromagnetic signals received into electrical signals. Optionally, the radio frequency circuit 504 includes an antenna system, an RF transceiver, one or more amplifiers, a tuner, an oscillator, a digital signal processor, a codec chipset, a subscriber identity module card, and the like. The radio frequency circuit 504 can communicate with other terminals through at least one wireless communication protocol. The wireless communication protocol includes but is not limited to: a metropolitan area network, various generations of mobile communication networks (2G, 3G, 4G and 5G), a wireless local area network and / or a WiFi (wireless fidelity) network. In some embodiments, the radio frequency circuit 504 can also include NFC (near field communication) related circuitry, and the present application is not limited in this regard.

[0174] The display screen 505 is configured to display a UI (user interface). The UI can include graphics, text, icons, video, and any combination thereof. When the display screen 505 is a touch display screen, the display screen 505 is further configured to capture touch signals on or above the surface of the display screen 505. The touch signals can be input to the processor 501 as control signals for processing. In this case, the display screen 505 can also be configured to provide virtual buttons and / or virtual keyboard, also known as soft buttons and / or soft keyboard. In some embodiments, the display screen 505 can be one, arranged on the front panel of the terminal 500; in other embodiments, the display screen 505 can be at least two, arranged on different surfaces of the terminal 500 or in a folding design; in still other embodiments, the display screen 505 can be a flexible display screen, arranged on a curved surface or a folding surface of the terminal 500. Even, the display screen 505 can also be arranged in an irregular shape other than a rectangle, i.e., a special-shaped screen. The display screen 505 can be made of LCD (liquid crystal display), OLED (organic light-emitting diode), etc.

[0175] The camera assembly 506 is configured to capture images or videos. Optionally, the camera assembly 506 includes a front-facing camera and a rear-facing camera. Typically, the front-facing camera is arranged on the front panel of the terminal, and the rear-facing camera is arranged on the back of the terminal. In some embodiments, the rear-facing camera is at least two, which are any one of a main camera, a depth-of-field camera, a wide-angle camera, and a telephoto camera, to realize the background blur function by fusing the main camera and the depth-of-field camera, the panoramic shooting and VR (virtual reality) shooting function by fusing the main camera and the wide-angle camera, or other fusion shooting functions. In some embodiments, the camera assembly 506 can further include a flash. The flash can be a single-color-temperature flash or a dual-color-temperature flash. The dual-color-temperature flash refers to a combination of a warm light flash and a cold light flash, which can be used for light compensation under different color temperatures.

[0176] The audio circuit 507 can include a microphone and a speaker. The microphone is used to collect sound waves of the user and the environment, and convert the sound waves into an electrical signal input to the processor 501 for processing, or input to the radio frequency circuit 504 to realize voice communication. For the purpose of stereo sound collection or noise reduction, the microphone can be multiple, respectively arranged at different parts of the terminal 500. The microphone can also be an array microphone or an omnidirectional collection type microphone. The speaker is used to convert the electrical signal from the processor 501 or the radio frequency circuit 504 into sound waves. The speaker can be a conventional diaphragm speaker, or a piezoelectric ceramic speaker. When the speaker is a piezoelectric ceramic speaker, not only can it convert electrical signals into sound waves that humans can hear, but it can also convert electrical signals into sound waves that humans cannot hear for ranging purposes. In some embodiments, the audio circuit 507 can also include a headphone jack.

[0177] The positioning component 508 is used to position the current geographic location of the terminal 500 to realize navigation or LBS (location based service). The positioning component 508 can be a positioning component based on GPS (global positioning system), Beidou system, Glonass system or Galileo system.

[0178] The power supply 509 is used to supply power to each component in the terminal 500. The power supply 509 can be alternating current, direct current, disposable battery or rechargeable battery. When the power supply 509 includes a rechargeable battery, the rechargeable battery can support wired charging or wireless charging. The rechargeable battery can also be used to support fast charging technology.

[0179] In some embodiments, the terminal 500 also includes one or more sensors 510. The one or more sensors 510 include but are not limited to: an acceleration sensor 511, a gyroscope sensor 512, a pressure sensor 513, a fingerprint sensor 514, an optical sensor 515 and a proximity sensor 516.

[0180] The acceleration sensor 511 can detect the acceleration in three coordinate axes of the coordinate system established by the terminal 500. For example, the acceleration sensor 511 can be used to detect the components of gravitational acceleration in three coordinate axes. The processor 501 can control the display screen 505 to display the user interface in a landscape view or a portrait view according to the gravitational acceleration signal collected by the acceleration sensor 511. The acceleration sensor 511 can also be used for game or user motion data collection.

[0181] The gyroscope sensor 512 can detect the body direction and rotation angle of the terminal 500, and can collect 3D motions of the user on the terminal 500 in cooperation with the acceleration sensor 511. The processor 501 can implement the following functions according to the data collected by the gyroscope sensor 512: motion sensing (e.g., changing a UI according to a tilt operation of the user), image stabilization during shooting, game control, and inertial navigation.

[0182] The pressure sensor 513 can be arranged on the side frame of the terminal 500 and / or the lower layer of the display screen 505. When the pressure sensor 513 is arranged on the side frame of the terminal 500, the holding signal of the user on the terminal 500 can be detected, and the left-hand or right-hand recognition or shortcut operation can be performed by the processor 501 according to the holding signal collected by the pressure sensor 513. When the pressure sensor 513 is arranged on the lower layer of the display screen 505, the controllable control on the UI interface can be controlled by the processor 501 according to the pressure operation of the user on the display screen 505. The controllable control includes at least one of a button control, a scroll bar control, an icon control, and a menu control.

[0183] The fingerprint sensor 514 is used to collect the fingerprint of the user, and the identity of the user can be recognized by the processor 501 according to the fingerprint collected by the fingerprint sensor 514, or by the fingerprint sensor 514 according to the collected fingerprint. When the identity of the user is recognized as a trusted identity, the processor 501 authorizes the user to perform a related sensitive operation, which includes unlocking the screen, viewing encrypted information, downloading software, payment, and changing settings, etc. The fingerprint sensor 514 can be arranged on the front, back, or side of the terminal 500. When the physical button or the manufacturer's logo is arranged on the terminal 500, the fingerprint sensor 514 can be integrated with the physical button or the manufacturer's logo.

[0184] The optical sensor 515 is used to collect the ambient light intensity. In one embodiment, the processor 501 can control the display brightness of the display screen 505 according to the ambient light intensity collected by the optical sensor 515. Specifically, when the ambient light intensity is high, the display brightness of the display screen 505 is increased; when the ambient light intensity is low, the display brightness of the display screen 505 is decreased. In another embodiment, the processor 501 can also dynamically adjust the shooting parameters of the camera assembly 506 according to the ambient light intensity collected by the optical sensor 515.

[0185] The proximity sensor 516, also referred to as a distance sensor, is usually arranged on the front panel of the terminal 500. The proximity sensor 516 is used to collect the distance between the user and the front of the terminal 500. In one embodiment, when the proximity sensor 516 detects that the distance between the user and the front of the terminal 500 gradually decreases, the display screen 505 is switched from the bright screen state to the screen-off state under the control of the processor 501; when the proximity sensor 516 detects that the distance between the user and the front of the terminal 500 gradually increases, the display screen 505 is switched from the screen-off state to the bright screen state under the control of the processor 501.

[0186] Those skilled in the art can understand that the structure shown in the foregoing embodiments is not a limitation on the terminal 500, and the terminal 500 can include more or fewer components than those shown in the drawings, or combine certain components, or adopt a different arrangement of components. Figure 5 Those skilled in the art can understand that the structure shown in the foregoing embodiments is not a limitation on the terminal 500, and the terminal 500 can include more or fewer components than those shown in the drawings, or combine certain components, or adopt a different arrangement of components.

[0187] Figure 6 FIG. 6 is a structural schematic diagram of a server according to an embodiment of the present application. The server 600 can have a great difference due to different configurations or performances, and can include one or more central processing units (CPUs) 601 and one or more memories 602. The memory 602 stores at least one instruction, which is loaded and executed by the processor 601 to implement the method provided by the above-described various method embodiments. Of course, the server can also have a wired or wireless network interface, a keyboard, an input and output interface, and other components for implementing device functions, which are not described herein.

[0188] In the exemplary embodiments, a computer readable storage medium, such as a memory including instructions, is also provided. The instructions can be executed by a processor in a terminal to complete the torque control method in the above-described embodiments. The computer readable storage medium can be non-transitory. For example, the computer readable storage medium can be a read-only memory (ROM), a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, and the like.

[0189] Those of ordinary skill in the art can understand that all or part of the steps of the above-described embodiments can be completed by hardware, or by a program instructing related hardware, and the program can be stored in a computer readable storage medium, such as a read-only memory, a magnetic disk or an optical disk.

[0190] It should be noted that the information (including but not limited to user device information, user personal information, etc.), data (including but not limited to data for analysis, stored data, displayed data, etc.) and signals (including but not limited to signals transmitted between user terminals and other devices, etc.) involved in the present application are all authorized by the user or fully authorized by all parties, and the collection, use and processing of related data need to comply with relevant laws, regulations and standards of relevant countries and regions. For example, the "expected output torque and actual output torque" involved in the present application are obtained under sufficient authorization.

[0191] The above only describes optional embodiments of the present application and is not intended to limit the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A torque control method characterized by, The method comprises: acquiring an expected output torque, an actual output torque and a current current control value of a driving device, wherein the driving device comprises a rotating motor; determining an updated current control value based on the expected output torque and the actual output torque; multiplying a system bandwidth of a control system of the driving device and a first parameter to obtain an ESO bandwidth; establishing a third-order ESO mathematical model based on a first disturbance coefficient, the actual output torque, the current current control value and the ESO bandwidth to obtain a to-be-determined disturbance current compensation value, the third-order ESO mathematical model being: wherein, is the actual output torque, is a derivative of is a derivative of is a derivative of is the pending disturbance current compensation value, , and are all preset parameters, is an ESO bandwidth, is the first disturbance coefficient, is the current current control value; determining a disturbance current compensation value as a ratio of the to-be-determined disturbance current compensation value to a second disturbance coefficient; adjusting the updated current control value based on the disturbance current compensation value to obtain an adjusted updated current control value; controlling the rotating motor to operate based on the adjusted updated current control value.

2. The method of claim 1, wherein, The method comprises: inputting the actual output torque into an extended state observer (ESO) model to obtain a filtered actual output torque; determining the updated current control value based on the expected output torque and the filtered actual output torque.

3. The method of claim 2, wherein, The method comprises: inputting a torque difference value of the expected output torque and the filtered actual output torque into a proportional-integral-derivative (PID) algorithm to obtain the updated current control value.

4. The method of claim 1, wherein, The method further comprises: determining a feedforward current adjustment value based on a feedforward coefficient and the expected output torque; The method comprises: adding the feedforward current adjustment value, the disturbance current compensation value and the updated current control value to obtain the adjusted updated current control value.

5. A torque control device characterized by comprising: The torque control device comprises: an acquisition module configured to acquire an expected output torque, an actual output torque and a current current control value of a driving device, wherein the driving device comprises a rotating motor; a first determination module configured to determine an updated current control value based on the expected output torque and the actual output torque; a second determination module configured to multiply a system bandwidth of a control system of the driving device and a first parameter to obtain an ESO bandwidth, and establish a third-order ESO mathematical model based on a first disturbance coefficient, the actual output torque, the current current control value and the ESO bandwidth to obtain a to-be-determined disturbance current compensation value, the third-order ESO mathematical model being: wherein, is the actual output torque, is a derivative of is a derivative of is a derivative of is the pending disturbance current compensation value, , and are all preset parameters, is an ESO bandwidth, is the first disturbance coefficient, is the current current control value; a ratio of the pending disturbance current compensation value and a second disturbance coefficient is determined as a disturbance current compensation value; an adjustment module configured to adjust the updated current control value based on the disturbance current compensation value to obtain an adjusted updated current control value; a control module configured to control the rotating motor to operate based on the adjusted updated current control value.

6. A computer device, comprising: The computer device comprises a processor and a memory, and the memory stores at least one instruction, which is loaded and executed by the processor to realize the operation performed by the torque control method in any one of claims 1 to 4.

7. A computer-readable storage medium, characterized in that, The storage medium stores at least one instruction, which is loaded and executed by the processor to realize the operation performed by the torque control method in any one of claims 1 to 4.

8. A computer program product, characterised in that, The computer program product comprises at least one instruction, which is loaded and executed by the processor to realize the operation performed by the torque control method in any one of claims 1 to 4.

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