Joint motor control methods, devices, robots, and storage media

Abstract

This disclosure relates to a joint motor control method, apparatus, robot, and storage medium. The method includes: performing error conversion on the error between a desired joint torque and the actual joint torque fed back by the joint motor to obtain a first performance error; and performing error conversion on the error between a preset direct-axis control current and the actual direct-axis current fed back by the joint motor to obtain a second performance error; inputting the first performance error into a quadrature-axis sliding mode controller to obtain a quadrature-axis control voltage, and inputting the second performance error into a direct-axis sliding mode controller to obtain a direct-axis control voltage, wherein the quadrature-axis sliding mode controller and the direct-axis sliding mode controller are controllers constructed based on the relative relationship between at least two of electromagnetic torque, quadrature-axis current, direct-axis current, quadrature-axis voltage, and direct-axis voltage, and an end sliding surface; and controlling the joint motor to move according to the quadrature-axis control voltage and the direct-axis control voltage.

Description

Technical Field

[0001] This disclosure relates to the technical field, specifically to a joint motor control method, device, robot, and storage medium. Background Technology

[0002] In recent years, robotics technology has continuously developed, becoming increasingly intelligent and automated, with improvements in the richness, stability, and flexibility of its movements. Bionic robots have multiple joints, each equipped with a joint motor. These joint motors drive relative movement between the parts on either side of the joint, enabling the robot to perform various actions. However, in related technologies, the joint motors of robots have relatively large tracking errors in torque states, resulting in lower control precision and preventing the robot from performing complex movements. Summary of the Invention

[0003] To overcome the problems existing in the related technologies, this disclosure provides a joint motor control method, device, robot, and storage medium to solve the defects in the related technologies.

[0004] According to a first aspect of the present disclosure, a joint motor control method is provided, the method comprising: The error between the desired joint torque and the actual joint torque fed back by the joint motor is converted to obtain the first performance error, and the error between the preset direct-axis control current and the actual direct-axis current fed back by the joint motor is converted to obtain the second performance error. The first performance error is input to the quadrature-axis sliding mode controller to obtain the quadrature-axis control voltage output by the quadrature-axis sliding mode controller, and the second performance error is input to the direct-axis sliding mode controller to obtain the direct-axis control voltage output by the direct-axis sliding mode controller. The quadrature-axis sliding mode controller and the direct-axis sliding mode controller are controllers constructed based on the relative relationship between at least two of the electromagnetic torque, quadrature-axis current, direct-axis current, quadrature-axis voltage, and direct-axis voltage, as well as the terminal sliding surface. The joint motor is controlled to move according to the quadrature axis control voltage and the direct axis control voltage.

[0005] In one embodiment of this disclosure, the error conversion between the desired joint torque and the actual joint torque fed back by the joint motor to obtain a first performance error, and the error conversion between the preset direct-axis control current and the actual direct-axis current fed back by the joint motor to obtain a second performance error, include: The error between the desired joint torque and the actual joint torque fed back by the joint motor is converted using a pre-constructed performance function to obtain the first performance error. The error between the preset direct-axis control current and the actual direct-axis current fed back by the joint motor is then converted using the same performance function to obtain the second performance error.

[0006] In one embodiment of this disclosure, the method further includes: The cross-axis sliding controller and the straight-axis sliding controller are constructed based on at least one of the following relationships and the sliding surface: The relative relationship between the electromagnetic torque and the quadrature-axis current and the direct-axis current; The relative relationship between the differential of the quadrature-axis current and the quadrature-axis current, the direct-axis current, and the quadrature-axis voltage; The relative relationship between the differential of the direct-axis current and the quadrature-axis current, the direct-axis current, and the direct-axis voltage.

[0007] In one embodiment of this disclosure, the method further includes: The desired joint state and the actual joint state are input to the impedance controller to obtain the desired joint torque output by the impedance controller.

[0008] In one embodiment of this disclosure, the desired joint state includes a desired joint position and a desired joint velocity; and / or, The actual joint state includes the actual joint position and the actual joint velocity.

[0009] In one embodiment of this disclosure, the method further includes: The actual joint state, actual joint torque, and actual direct shaft current fed back by the joint motor are obtained.

[0010] According to a second aspect of the present disclosure, a joint motor control device is provided, the device comprising: The conversion module is used to convert the error between the desired joint torque and the actual joint torque fed back by the joint motor to obtain the first performance error, and to convert the error between the preset direct-axis control current and the actual direct-axis current fed back by the joint motor to obtain the second performance error. A voltage module is used to input the first performance error into the quadrature-axis sliding mode controller to obtain the quadrature-axis control voltage output by the quadrature-axis sliding mode controller, and to input the second performance error into the direct-axis sliding mode controller to obtain the direct-axis control voltage output by the direct-axis sliding mode controller. The quadrature-axis sliding mode controller and the direct-axis sliding mode controller are controllers constructed based on the relative relationship between at least two of the electromagnetic torque, quadrature-axis current, direct-axis current, quadrature-axis voltage, and direct-axis voltage, as well as the terminal sliding surface. The control module is used to control the joint motor to move according to the quadrature axis control voltage and the direct axis control voltage.

[0011] In one embodiment of this disclosure, the conversion module is used to: The error between the desired joint torque and the actual joint torque fed back by the joint motor is converted using a pre-constructed performance function to obtain the first performance error. The error between the preset direct-axis control current and the actual direct-axis current fed back by the joint motor is then converted using the same performance function to obtain the second performance error.

[0012] In one embodiment of this disclosure, the apparatus further includes a construction module, the construction module being configured to: The cross-axis sliding controller and the straight-axis sliding controller are constructed based on at least one of the following relationships and the sliding surface: The relative relationship between the electromagnetic torque and the quadrature-axis current and the direct-axis current; The relative relationship between the differential of the quadrature-axis current and the quadrature-axis current, the direct-axis current, and the quadrature-axis voltage; The relative relationship between the differential of the direct-axis current and the quadrature-axis current, the direct-axis current, and the direct-axis voltage.

[0013] In one embodiment of this disclosure, the device further includes a torque module, the torque module being used for: The desired joint state and the actual joint state are input to the impedance controller to obtain the desired joint torque output by the impedance controller.

[0014] In one embodiment of this disclosure, the desired joint state includes a desired joint position and a desired joint velocity; and / or, The actual joint state includes the actual joint position and the actual joint velocity.

[0015] In one embodiment of this disclosure, the apparatus further includes an acquisition module, the acquisition module being configured to: The actual joint state, actual joint torque, and actual direct shaft current fed back by the joint motor are obtained.

[0016] According to a third aspect of the present disclosure, a robot is provided, the robot including a memory and a processor, the memory being used to store computer instructions executable on the processor, and the processor being used to implement the joint motor control method of the first aspect when executing the computer instructions.

[0017] According to a fourth aspect of the present disclosure, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the method described in the first aspect.

[0018] The technical solutions provided by the embodiments of this disclosure may include the following beneficial effects: The articulated motor control method provided in this disclosure first performs error conversion on the error between the desired joint torque and the actual joint torque fed back by the articulated motor to obtain a first performance error. Then, it performs error conversion on the error between a preset direct-axis control current and the actual direct-axis current fed back by the articulated motor to obtain a second performance error. Next, the first performance error is input to a quadrature-axis sliding mode controller to obtain a quadrature-axis control voltage output by the quadrature-axis sliding mode controller. The second performance error is then input to a direct-axis sliding mode controller to obtain a direct-axis control voltage output by the direct-axis sliding mode controller. Finally, the articulated motor is controlled to move based on the quadrature-axis control voltage and the direct-axis control voltage. Since the quadrature-axis sliding mode controller and the direct-axis sliding mode controller are constructed based on the relative relationship between at least two of the electromagnetic torque, quadrature-axis current, direct-axis current, quadrature-axis voltage, and direct-axis voltage, and the terminal sliding surface, and the error input to the controller is a performance error obtained through error conversion, the controller can improve the accuracy of the quadrature-axis control voltage and the direct-axis control voltage, thereby improving the control precision and accuracy of the motor and increasing the complexity of the robot's movements. Attached Figure Description

[0019] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0020] Figure 1 This is a flowchart illustrating a joint motor control method according to an exemplary embodiment of this disclosure; Figure 2 This is a flowchart illustrating a joint motor control method according to an exemplary embodiment of this disclosure; Figure 3 This is a schematic diagram of the structure of a joint motor control device shown in an exemplary embodiment of the present disclosure; Figure 4 This is a structural block diagram of a robot illustrated in an exemplary embodiment of this disclosure. Detailed Implementation

[0021] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numerals in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this disclosure. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this disclosure as detailed in the appended claims.

[0022] The terminology used in this disclosure is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure. The singular forms “a,” “the,” and “the” as used in this disclosure and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used herein refers to and includes any and all possible combinations of one or more of the associated listed items.

[0023] It should be understood that although the terms first, second, third, etc., may be used in this disclosure to describe various information, such information should not be limited to these terms. These terms are used only to distinguish information of the same type from one another. For example, without departing from the scope of this disclosure, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Depending on the context, the word "if" as used herein may be interpreted as "when," "when," or "in response to determination."

[0024] In recent years, robotics technology has continuously developed, becoming increasingly intelligent and automated, with improvements in the richness, stability, and flexibility of its movements. Bionic robots have multiple joints, each equipped with a joint motor. These joint motors drive relative movement between the parts on either side of the joint, enabling the robot to perform various actions. However, in related technologies, the joint motors of robots have relatively large tracking errors in torque states, resulting in lower control precision and preventing the robot from performing complex movements.

[0025] Based on this, in a first aspect, at least one embodiment of this disclosure provides a joint motor control method, please refer to the appendix. Figure 1 It illustrates the process of the method, including steps S101 to S103.

[0026] This method can be applied to robots, such as bipedal or quadrupedal robots. The robot has multiple joints, each equipped with a joint motor. This method can be applied to each joint motor of the robot, that is, to drive the joint motor to move in order to complete the desired joint state obtained by the upper-level motion control based on the desired action.

[0027] In step S101, the error between the desired joint torque and the actual joint torque fed back by the joint motor is converted to obtain the first performance error, and the error between the preset direct-axis control current and the actual direct-axis current fed back by the joint motor is converted to obtain the second performance error.

[0028] The desired joint torque can be determined in advance by inputting the desired joint state and the actual joint state to the impedance controller to obtain the desired joint torque output by the impedance controller.

[0029] The desired joint state can be the joint state controlled by the upper-level motion control system based on the robot's desired action, determined by this method. The joint motors can feed back the joint state at a certain frequency during movement; this state is recorded as the actual joint state. Therefore, the actual joint state fed back by the joint motors can be obtained before executing this step. For example, the desired joint state includes the desired joint position and the desired joint velocity, and the actual joint state includes the actual joint position and the actual joint velocity. The position error can be determined based on the desired joint position and the actual joint position, and the velocity error can be determined based on the desired joint velocity and the actual joint velocity. Then, the position error and velocity error are input to the impedance controller. The impedance controller can determine the desired joint torque based on the position error and velocity error, combined with its internal parameters and feedforward torque, etc.

[0030] Wherein, the direct-axis control current is the desired current value (e.g., 0) to be achieved on the direct axis of the armature winding. Optionally, before performing this step, the actual joint torque and the actual direct-axis current fed back by the joint motor can be obtained. The actual joint torque refers to the torque actually achieved by the joint motor, and the actual direct-axis current is the actual current value on the direct axis of the armature winding.

[0031] For example, this step can use a pre-built performance function to perform error conversion on the error between the desired joint torque and the actual joint torque fed back by the joint motor to obtain a first performance error, and use the performance function to perform error conversion on the error between the preset direct-axis control current and the actual direct-axis current fed back by the joint motor to obtain a second performance error.

[0032] The following section provides a detailed explanation of the performance function and the specific details of applying the performance function for error transformation.

[0033] Define a continuous function Let be the performance function, which is positive definite and strictly decreasing. For example, the function can be represented as shown in Equation 1 below:

[0034] In the formula, For parameters, .

[0035] definition The tracking error of the system (i.e., the error between the expected joint torque and the actual joint torque fed back by the joint motor, or the error between the preset direct-axis control current and the actual direct-axis current fed back by the joint motor). The range is shown in Equation 2 below:

[0036] in, .

[0037] Transform Equation 2 above into an equation-like function as shown in Equation 3 below:

[0038] in, This is for performance error; It is a smooth, continuous, and monotonically increasing function; ; ， .For example It can be the hyperbolic tangent function shown in Equation 4 below:

[0039] because ,so ,Right now Therefore, the region of convergence for the tracking error is:

[0040] because To ensure strict increment, we can obtain the following equation 5 based on equations 3 and 4 above:

[0041] In the formula, if and tracking error If the preset performance is met, the tracking error will be... The region of convergence is .

[0042] Based on this, this step can use the error between the desired joint torque and the actual joint torque fed back by the joint motor as the tracking error. Substituting into Equation 5 above, the error transformation is completed, and the first performance error is obtained. This step can resolve the error between the preset direct-axis control current and the actual direct-axis current fed back by the joint motor. Substituting into Equation 5 above, the error transformation is completed, and the second performance error is obtained. .

[0043] In step S102, the first performance error is input to the quadrature-axis sliding mode controller to obtain the quadrature-axis control voltage output by the quadrature-axis sliding mode controller, and the second performance error is input to the direct-axis sliding mode controller to obtain the direct-axis control voltage output by the direct-axis sliding mode controller. The quadrature-axis sliding mode controller and the direct-axis sliding mode controller are controllers constructed based on the relative relationship between at least two of the electromagnetic torque, quadrature-axis current, direct-axis current, quadrature-axis voltage, and direct-axis voltage, as well as the terminal sliding surface.

[0044] In one embodiment of this disclosure, the cross-axis sliding mode controller and the direct-axis sliding mode controller can be constructed as follows: the cross-axis sliding mode controller and the direct-axis sliding mode controller are constructed based on at least one of the following relative relationships and the sliding surface: The first item is the relative relationship between the electromagnetic torque and the quadrature-axis current and the direct-axis current.

[0045] The second item is the relative relationship between the derivative of the quadrature-axis current and the quadrature-axis current, the direct-axis current, and the quadrature-axis voltage.

[0046] The third item is the relative relationship between the derivative of the direct-axis current and the quadrature-axis current, the direct-axis current, and the direct-axis voltage.

[0047] The content of the first relative relationship can be expressed by the following equation 6:

[0048] In the formula, For electromagnetic torque, For extreme logarithms, It is a permanent magnet flux chain. It is a direct-axis inductor. It is a quadrature axis inductor. For direct-axis current, It is the quadrature-axis current.

[0049] The content of the second relative relationship can be expressed by the following equation 7:

[0050] In the formula, It is the quadrature axis voltage. For motor resistance, This represents the motor speed.

[0051] The content of the third relative relationship can be expressed by the following equation 8:

[0052] In the formula, It is the quadrature-axis voltage.

[0053] Substituting equation 6 into equations 7 and 8 respectively, we obtain equations 9 and 10:

[0054] Furthermore, equations 9 and 10 above are transformed into the form of equation 11 below:

[0055] In the formula,

[0056] For example, the sliding surface s shown in Equation 12 can be constructed for the system shown in Equation 11 above:

[0057] Based on Equation 12 above, we can obtain Equation 13 as follows:

[0058] Based on equations 12 and 13 above, we can obtain equation 14 as follows:

[0059] Substituting equation 11 into equation 14 yields equation 15:

[0060] Therefore, the system shown in Equation 11 above can be used to construct the quadrature and direct-axis sliding mode controller (i.e., control law) as shown in Equation 16 below:

[0061] In the formula, , , For parameters, .

[0062] The Lyapunov function of the system shown in Equation 11 above is defined as shown in Equation 17 below:

[0063] Substituting equation 16 into equation 15, we obtain equation 18:

[0064] Based on equations 17 and 18 above, we can obtain equation 19 as follows:

[0065] As can be seen from Equation 19 above, the system shown in Equation 11 is asymptotically stable under the control law shown in Equation 16 above, and the performance error... It will asymptotically converge to 0, and according to Equation 3 above, the tracking error e will also asymptotically converge to 0.

[0066] In step S103, the joint motor is controlled to move according to the quadrature axis control voltage and the direct axis control voltage.

[0067] Please refer to the appendix. Figure 2 The flowchart of the joint motor control method obtained by combining the above embodiments is illustrated as an example. In this method, the upper-level motion control sends the desired joint position. Expected joint velocity Impedance controller parameters and feedback torque Combined with the actual joint position fed back by the joint motor and the actual speed of the joint The desired joint torque is obtained through an impedance controller. . The actual joint torque fed back by the torque sensor error The first performance error is obtained after cross-axis preset performance control (i.e., error transformation using performance functions). Preset direct-axis control current Cross-axis actual current fed back from the joint motor error The second performance error is obtained after direct-axis preset performance control (i.e., error transformation using performance functions). Then... The input is sent to the quadrature axis sliding mode controller to obtain the quadrature axis control voltage. ,Will The input is sent to the direct-axis sliding mode controller to obtain the direct-axis control voltage. . and The three-phase voltage obtained after pulse width modulation is used to drive the motor through the inverter.

[0068] The articulated motor control method provided in this disclosure first performs error conversion on the error between the desired joint torque and the actual joint torque fed back by the articulated motor to obtain a first performance error. Then, it performs error conversion on the error between a preset direct-axis control current and the actual direct-axis current fed back by the articulated motor to obtain a second performance error. Next, the first performance error is input to a quadrature-axis sliding mode controller to obtain a quadrature-axis control voltage output by the quadrature-axis sliding mode controller. The second performance error is then input to a direct-axis sliding mode controller to obtain a direct-axis control voltage output by the direct-axis sliding mode controller. Finally, the articulated motor is controlled to move based on the quadrature-axis control voltage and the direct-axis control voltage. Since the quadrature-axis sliding mode controller and the direct-axis sliding mode controller are constructed based on the relative relationship between at least two of the electromagnetic torque, quadrature-axis current, direct-axis current, quadrature-axis voltage, and direct-axis voltage, and the terminal sliding surface, and the error input to the controller is a performance error obtained through error conversion, the controller can improve the accuracy of the quadrature-axis control voltage and the direct-axis control voltage, thereby improving the control precision and accuracy of the motor and increasing the complexity of the robot's movements.

[0069] This method allows for the adjustment of torque tracking error, overshoot, and convergence speed, significantly improving the dynamic performance of torque tracking. In particular, the preset performance control ensures that the tracking error converges to a pre-defined, arbitrarily small region, and also guarantees the adjustment of convergence speed and overshoot. This can greatly improve the dynamic performance of the system, which significantly increases the control capability of the articulated motor.

[0070] According to a second aspect of the embodiments of this disclosure, a joint motor control device is provided; please refer to the appendix. Figure 3 The device includes: The conversion module 301 is used to perform error conversion on the error between the desired joint torque and the actual joint torque fed back by the joint motor to obtain a first performance error, and to perform error conversion on the error between the preset direct axis control current and the actual direct axis current fed back by the joint motor to obtain a second performance error. Voltage module 302 is used to input the first performance error into the quadrature-axis sliding mode controller to obtain the quadrature-axis control voltage output by the quadrature-axis sliding mode controller, and to input the second performance error into the direct-axis sliding mode controller to obtain the direct-axis control voltage output by the direct-axis sliding mode controller. The quadrature-axis sliding mode controller and the direct-axis sliding mode controller are controllers constructed based on the relative relationship between at least two of the electromagnetic torque, quadrature-axis current, direct-axis current, quadrature-axis voltage, and direct-axis voltage, and the terminal sliding surface. The control module 303 is used to control the joint motor to move according to the quadrature axis control voltage and the direct axis control voltage.

[0071] In one embodiment of this disclosure, the conversion module is used to: The error between the desired joint torque and the actual joint torque fed back by the joint motor is converted using a pre-constructed performance function to obtain the first performance error. The error between the preset direct-axis control current and the actual direct-axis current fed back by the joint motor is then converted using the same performance function to obtain the second performance error.

[0072] In one embodiment of this disclosure, the apparatus further includes a construction module, the construction module being configured to: The cross-axis sliding controller and the straight-axis sliding controller are constructed based on at least one of the following relationships and the sliding surface: The relative relationship between the electromagnetic torque and the quadrature-axis current and the direct-axis current; The relative relationship between the differential of the quadrature-axis current and the quadrature-axis current, the direct-axis current, and the quadrature-axis voltage; The relative relationship between the differential of the direct-axis current and the quadrature-axis current, the direct-axis current, and the direct-axis voltage.

[0073] In one embodiment of this disclosure, the device further includes a torque module, the torque module being used for: The desired joint state and the actual joint state are input to the impedance controller to obtain the desired joint torque output by the impedance controller.

[0074] In one embodiment of this disclosure, the desired joint state includes a desired joint position and a desired joint velocity; and / or, The actual joint state includes the actual joint position and the actual joint velocity.

[0075] In one embodiment of this disclosure, the apparatus further includes an acquisition module, the acquisition module being configured to: Obtain the actual joint state, actual joint torque, and actual direct-axis current fed back by the joint motor. Thirdly, at least one embodiment of this disclosure provides a robot, please refer to the appendix. Figure 4 The diagram illustrates the structure of the robot, which includes a memory and a processor. The memory stores computer instructions that can run on the processor, and the processor controls the joint motors based on the method described in any of the first aspects when executing the computer instructions.

[0076] Fourthly, at least one embodiment of this disclosure provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method described in any of the first aspects.

[0077] Other embodiments of this disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of the disclosure herein. This application is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this disclosure are indicated by the following claims.

[0078] It should be understood that this disclosure is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this disclosure is limited only by the appended claims.

Claims

1. A joint motor control method, characterized in that, The method includes: The error between the desired joint torque and the actual joint torque fed back by the joint motor is converted to obtain the first performance error, and the error between the preset direct-axis control current and the actual direct-axis current fed back by the joint motor is converted to obtain the second performance error. The first performance error is input to the quadrature-axis sliding mode controller to obtain the quadrature-axis control voltage output by the quadrature-axis sliding mode controller, and the second performance error is input to the direct-axis sliding mode controller to obtain the direct-axis control voltage output by the direct-axis sliding mode controller. The quadrature-axis sliding mode controller and the direct-axis sliding mode controller are controllers constructed based on the relative relationship between at least two of the electromagnetic torque, quadrature-axis current, direct-axis current, quadrature-axis voltage, and direct-axis voltage, as well as the terminal sliding surface. The joint motor is controlled to move according to the quadrature axis control voltage and the direct axis control voltage; The method further includes: The cross-axis sliding controller and the straight-axis sliding controller are constructed based on the following relative relationships and the sliding surface: The relative relationship between the electromagnetic torque and the quadrature-axis current and the direct-axis current; The relative relationship between the differential of the quadrature-axis current and the quadrature-axis current, the direct-axis current, and the quadrature-axis voltage; The relative relationship between the differential of the direct-axis current and the quadrature-axis current, the direct-axis current, and the direct-axis voltage.

2. The joint motor control method according to claim 1, characterized in that, The error between the desired joint torque and the actual joint torque fed back by the joint motor is converted to obtain a first performance error. The error between the preset direct-axis control current and the actual direct-axis current fed back by the joint motor is converted to obtain a second performance error, including: The error between the desired joint torque and the actual joint torque fed back by the joint motor is converted using a pre-constructed performance function to obtain the first performance error. The error between the preset direct-axis control current and the actual direct-axis current fed back by the joint motor is then converted using the same performance function to obtain the second performance error.

3. The joint motor control method according to claim 1, characterized in that, The method further includes: The desired joint state and the actual joint state are input to the impedance controller to obtain the desired joint torque output by the impedance controller.

4. The joint motor control method according to claim 3, characterized in that, The desired joint state includes the desired joint position and the desired joint velocity; and / or, The actual joint state includes the actual joint position and the actual joint velocity.

5. The joint motor control method according to claim 3, characterized in that, The method further includes: The actual joint state, actual joint torque, and actual direct shaft current fed back by the joint motor are obtained.

6. A joint motor control device, characterized in that, The device includes: The conversion module is used to convert the error between the desired joint torque and the actual joint torque fed back by the joint motor to obtain the first performance error, and to convert the error between the preset direct-axis control current and the actual direct-axis current fed back by the joint motor to obtain the second performance error. A voltage module is used to input the first performance error into the quadrature-axis sliding mode controller to obtain the quadrature-axis control voltage output by the quadrature-axis sliding mode controller, and to input the second performance error into the direct-axis sliding mode controller to obtain the direct-axis control voltage output by the direct-axis sliding mode controller. The quadrature-axis sliding mode controller and the direct-axis sliding mode controller are controllers constructed based on the relative relationship between at least two of the electromagnetic torque, quadrature-axis current, direct-axis current, quadrature-axis voltage, and direct-axis voltage, as well as the terminal sliding surface. The control module is used to control the joint motor to move according to the quadrature axis control voltage and the direct axis control voltage; The building module is used for: The cross-axis sliding controller and the straight-axis sliding controller are constructed based on the following relative relationships and the sliding surface: The relative relationship between the electromagnetic torque and the quadrature-axis current and the direct-axis current; The relative relationship between the differential of the quadrature-axis current and the quadrature-axis current, the direct-axis current, and the quadrature-axis voltage; The relative relationship between the differential of the direct-axis current and the quadrature-axis current, the direct-axis current, and the direct-axis voltage.

7. The joint motor control device according to claim 6, characterized in that, The conversion module is used for: The error between the desired joint torque and the actual joint torque fed back by the joint motor is converted using a pre-constructed performance function to obtain the first performance error. The error between the preset direct-axis control current and the actual direct-axis current fed back by the joint motor is then converted using the same performance function to obtain the second performance error.

8. The joint motor control device according to claim 6, characterized in that, The device further includes a torque module, which is used for: The desired joint state and the actual joint state are input to the impedance controller to obtain the desired joint torque output by the impedance controller.

9. The joint motor control device according to claim 8, characterized in that, The desired joint state includes the desired joint position and the desired joint velocity; and / or, The actual joint state includes the actual joint position and the actual joint velocity.

10. The joint motor control device according to claim 8, characterized in that, The device further includes an acquisition module, the acquisition module being used for: The actual joint state, actual joint torque, and actual direct shaft current fed back by the joint motor are obtained.

11. A robot, characterized in that, The robot includes a memory and a processor. The memory stores computer instructions that can be executed on the processor, and the processor implements the joint motor control method of any one of claims 1 to 5 when executing the computer instructions.

12. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the method of any one of claims 1 to 5.

Images