Joint motor control method and device, robot and storage medium

Abstract

The present disclosure relates to a joint motor control method and device, a robot and a storage medium. The method comprises: inputting the desired joint torque and the actual joint torque fed back by the joint motor into an iterative controller to obtain the cross-axis control voltage output by the iterative controller, wherein the iterative controller is configured to, in each iteration: determine the periodic disturbance estimation value of the current iteration according to the periodic disturbance estimation value of at least one previous iteration, and determine the cross-axis control voltage according to the periodic disturbance estimation value of the current iteration and the error between the desired joint torque and the actual joint torque in the current iteration; determine the direct-axis control voltage according to the preset direct-axis control current and the direct-axis actual current fed back by the joint motor; and control the joint motor to move according to the cross-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 robot's joint motors are susceptible to system disturbances during control, resulting in lower control precision and preventing the robot from performing more 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:

[0005] The desired joint torque and the actual joint torque fed back by the joint motor are input to the iterative controller to obtain the cross-axis control voltage output by the iterative controller. The iterative controller is used to: determine the periodic disturbance estimate of the current iteration based on the periodic disturbance estimate of at least one previous iteration, and determine the cross-axis control voltage based on the periodic disturbance estimate of the current iteration and the error between the desired joint torque and the actual joint torque in the current iteration.

[0006] The direct axis control voltage is determined based on the preset direct axis control current and the actual direct axis current fed back by the joint motor.

[0007] The joint motor is controlled to move according to the quadrature axis control voltage and the direct axis control voltage.

[0008] In one embodiment of this disclosure, the iterative controller is used to determine the periodic disturbance estimate for the current iteration based on the value of the sliding surface in the current iteration and the periodic disturbance estimate from at least one previous iteration.

[0009] In one embodiment of this disclosure, the iterative controller is used to determine the quadrature axis control voltage based on the estimated periodic disturbance value of the current iteration, the error between the expected joint torque and the actual joint torque in the current iteration, and the value of the sliding mode control law in the current iteration.

[0010] In one embodiment of this disclosure, the method further includes:

[0011] The iterative controller is constructed based on at least one of the following relative relationships, the sliding surface, the sliding control law, and the iterative learning control law:

[0012] The relative relationship between the electromagnetic torque and the quadrature-axis current and the direct-axis current;

[0013] 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.

[0014] In one embodiment of this disclosure, the method further includes:

[0015] 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.

[0016] In one embodiment of this disclosure, the desired joint state includes a desired joint position and a desired joint velocity; and / or,

[0017] The actual joint state includes the actual joint position and the actual joint velocity.

[0018] In one embodiment of this disclosure, the method further includes:

[0019] The actual joint state, actual joint torque, and actual direct shaft current fed back by the joint motor are obtained.

[0020] According to a second aspect of the present disclosure, a joint motor control device is provided, the device comprising:

[0021] The cross-axis module is used to input the desired joint torque and the actual joint torque fed back by the joint motor to the iterative controller to obtain the cross-axis control voltage output by the iterative controller. The iterative controller is used to: determine the periodic disturbance estimate of the current iteration based on the periodic disturbance estimate of at least one previous iteration, and determine the cross-axis control voltage based on the periodic disturbance estimate of the current iteration and the error between the desired joint torque and the actual joint torque in the current iteration.

[0022] The direct shaft module is used to determine the direct shaft control voltage based on the preset direct shaft control current and the actual direct shaft current fed back by the joint motor;

[0023] 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.

[0024] In one embodiment of this disclosure, the iterative controller is used to determine the periodic disturbance estimate for the current iteration based on the value of the sliding surface in the current iteration and the periodic disturbance estimate from at least one previous iteration.

[0025] In one embodiment of this disclosure, the iterative controller is used to determine the quadrature axis control voltage based on the estimated periodic disturbance value of the current iteration, the error between the expected joint torque and the actual joint torque in the current iteration, and the value of the sliding mode control law in the current iteration.

[0026] In one embodiment of this disclosure, the apparatus further includes a construction module, the construction module being configured to:

[0027] The iterative controller is constructed based on at least one of the following relative relationships, the sliding surface, the sliding control law, and the iterative learning control law:

[0028] The relative relationship between the electromagnetic torque and the quadrature-axis current and the direct-axis current;

[0029] 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.

[0030] In one embodiment of this disclosure, the device further includes a torque module, the torque module being used for:

[0031] 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.

[0032] In one embodiment of this disclosure, the desired joint state includes a desired joint position and a desired joint velocity; and / or,

[0033] The actual joint state includes the actual joint position and the actual joint velocity.

[0034] In one embodiment of this disclosure, the apparatus further includes an acquisition module, the acquisition module being configured to:

[0035] The actual joint state, actual joint torque, and actual direct shaft current fed back by the joint motor are obtained.

[0036] 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.

[0037] 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.

[0038] The technical solutions provided by the embodiments of this disclosure may include the following beneficial effects:

[0039] The joint motor control method provided in this disclosure first inputs the desired joint torque and the actual joint torque fed back by the joint motor to an iterative controller to obtain the quadrature-axis control voltage output by the iterative controller; then, it determines the direct-axis control voltage based on a preset direct-axis control current and the actual direct-axis current fed back by the joint motor; finally, it controls the joint motor to move based on the quadrature-axis control voltage and the direct-axis control voltage. Since the iterative controller is used in each iteration to: determine the estimated value of periodic disturbance for the current iteration based on at least one previous estimated value of periodic disturbance, and determine the quadrature-axis control voltage based on the estimated value of periodic disturbance for the current iteration and the error between the desired joint torque and the actual joint torque in the current iteration, it can suppress periodic disturbances in system disturbances, thereby improving the anti-interference capability of the motor control, increasing the control accuracy and precision of the motor, and ultimately improving the complexity of the robot's movements. Attached Figure Description

[0040] 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.

[0041] Figure 1 This is a flowchart illustrating a joint motor control method according to an exemplary embodiment of this disclosure;

[0042] Figure 2 This is a flowchart illustrating a joint motor control method according to an exemplary embodiment of this disclosure;

[0043] 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;

[0044] Figure 4 This is a structural block diagram of a robot illustrated in an exemplary embodiment of this disclosure. Detailed Implementation

[0045] 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.

[0046] 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.

[0047] 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."

[0048] 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 robot's joint motors are susceptible to system disturbances during control, resulting in lower control precision and preventing the robot from performing more complex movements.

[0049] 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.

[0050] 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.

[0051] In step S101, the desired joint torque and the actual joint torque fed back by the joint motor are input to the iterative controller to obtain the cross-axis control voltage output by the iterative controller. The iterative controller is used to: determine the periodic disturbance estimate of the current iteration based on the periodic disturbance estimate of at least one previous iteration, and determine the cross-axis control voltage based on the periodic disturbance estimate of the current iteration and the error between the desired joint torque and the actual joint torque in the current iteration.

[0052] The desired joint torque refers to the torque that the joint motor is expected to achieve. The desired joint torque can be determined in advance by inputting the desired joint state and the actual joint state to the impedance controller, thereby obtaining the desired joint torque output by the impedance controller.

[0053] 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.

[0054] Optionally, the actual joint torque fed back by the joint motor can be obtained before performing this step. The actual joint torque refers to the torque actually achieved by the joint motor.

[0055] For example, the iterative controller can be used to determine the periodic disturbance estimate for the current iteration based on the value of the sliding surface in the current iteration and at least one previous periodic disturbance estimate. For instance, the periodic disturbance estimate for the k-th iteration can be determined according to Equation 1 below:

[0056]

[0057] In the above formula, This is the estimated value of the periodic disturbance in the k-th iteration. Let s be the estimated value of the periodic disturbance in the (k-1)th iteration. k Let q be the value of the sliding surface in the k-th iteration, and β1, β2 be parameters, where q > 0, β1 > 0, and β2 > 0.

[0058] The sliding surface is shown in Equation 2 below:

[0059] s=e+∫edt

[0060] In the above formula, e = x * -x, x * Let x be the expected value and x be the actual value.

[0061] For example, the iterative controller can be used to determine the cross-axis control voltage based on the estimated periodic disturbance value of the current iteration, the error between the desired joint torque and the actual joint torque in the current iteration, and the value of the sliding mode control law in the current iteration. For example, the cross-axis control voltage U in the k-th iteration is determined according to Equation 3 below. q :

[0062]

[0063] In the above formula, e k The error between the expected joint torque and the actual joint torque in the k-th iteration is... For the desired joint torque, Here, b3 is the estimated value of the periodic disturbance in the k-th iteration, and v is the control gain. k This represents the value of the sliding mode control law in the k-th iteration.

[0064] The sliding mode control law is as follows: Equation 4:

[0065] v k =-η1sign(s) k )-η2s k

[0066] In the above formula, s k Let η1 be the value of the sliding surface in the k-th iteration, where η1 > 0 and η2 > 0.

[0067] In step S102, the direct shaft control voltage is determined based on the preset direct shaft control current and the actual direct shaft current fed back by the joint motor.

[0068] 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, the actual direct-axis current fed back by the articulated motor can be obtained before performing this step; the actual direct-axis current is the actual current value on the direct axis of the armature winding.

[0069] For example, the direct-axis control current and the actual direct-axis current are input to the current loop direct-axis controller to obtain the direct-axis control voltage output by the current loop direct-axis controller.

[0070] It is understandable that the frequency of determining the direct axis control voltage in this step is the same as the iteration frequency in step S101. That is, each time the iterative controller iterates once, i.e., outputs the quadrature axis control voltage once, this step updates the direct axis control voltage once.

[0071] In step S103, the joint motor is controlled to move according to the quadrature axis control voltage and the direct axis control voltage.

[0072] 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 θ. d Expected joint velocity v d Impedance controller parameter K p K d and feedback torque τ ff By combining the actual joint position θ and actual joint velocity v fed back by the joint motor, the desired joint torque is obtained through an impedance controller. The actual joint torque T fed back by the torque sensor e error e t The quadrature-axis control voltage U is obtained through iterative learning of the robust controller (i.e., iterative controller). q The preset direct-axis control current The actual cross-axis current i fed back from the joint motor d error e d The input current loop direct-axis controller obtains the direct-axis control voltage U. d U q and U d The three-phase voltage obtained after pulse width modulation is used to drive the motor through the inverter.

[0073] The joint motor control method provided in this disclosure first inputs the desired joint torque and the actual joint torque fed back by the joint motor to an iterative controller to obtain the quadrature-axis control voltage output by the iterative controller; then, it determines the direct-axis control voltage based on a preset direct-axis control current and the actual direct-axis current fed back by the joint motor; finally, it controls the joint motor to move based on the quadrature-axis control voltage and the direct-axis control voltage. Since the iterative controller is used in each iteration to: determine the estimated value of periodic disturbance for the current iteration based on at least one previous estimated value of periodic disturbance, and determine the quadrature-axis control voltage based on the estimated value of periodic disturbance for the current iteration and the error between the desired joint torque and the actual joint torque in the current iteration, it can suppress periodic disturbances in system disturbances, thereby improving the anti-interference capability of the motor control, increasing the control accuracy and precision of the motor, and ultimately improving the complexity of the robot's movements.

[0074] In some embodiments of this disclosure, the iterative controller can be constructed as follows: the iterative controller is constructed based on at least one of the following relative relationships, the sliding surface, the sliding control law, and the iterative learning control law:

[0075] The first item is the relative relationship between the electromagnetic torque and the quadrature-axis current and the direct-axis current.

[0076] 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.

[0077] The content of the first relative relationship can be represented by the following equation 5:

[0078]

[0079] In the formula, T e For electromagnetic torque, n p Let ψ be the extreme logarithm. f For permanent magnet flux linkage, L d For a direct-axis inductor, L q For quadrature axis inductance, i d For direct-axis current, i q It is the quadrature-axis current.

[0080] The content of the second relative relationship can be expressed by the following equation 6:

[0081]

[0082] In the formula, U q R is the quadrature axis voltage. s ω is the motor resistance. r This represents the motor speed.

[0083] Based on Equation 5 above, we can obtain Equation 7 as follows:

[0084]

[0085] Substituting equation 6 into equation 7, we obtain equation 8:

[0086]

[0087] In the above formula, f3(x) represents the total system disturbance, f 31 (x) represents the periodic interference component, f 32 (x) represents the non-periodic disturbance component.

[0088] The sliding surface of the system represented by Equation 8 above is shown in Equation 2 above.

[0089] Based on equation 8 and equation 2 above, we can obtain the following equation 9:

[0090]

[0091] Based on Equation 9 above, an iterative controller as shown in Equations 1 to 4 above can be constructed.

[0092] Based on equations 1, 3, 4, and 9 above, we can obtain equation 10 as follows:

[0093]

[0094] In the k-th iteration, the Lyapunov function of the system represented by Equation 8 above is defined as shown in Equation 11 below:

[0095]

[0096] In the above formula,

[0097] For the energy function in the above formula The analysis shows that the difference between the energy functions of the k-th and (k-1)-th iterations is shown in Equation 12 below:

[0098]

[0099] For β1|s k | 4 / 3 Differentiating yields the following equation 13:

[0100]

[0101] Based on equations 12 and 13 above, we can obtain the following equation 14:

[0102]

[0103] From equation 14 above, we can obtain equation 15 as follows:

[0104]

[0105] Equation 15 can be transformed into the form of Equation 17 using the empirical equation shown in Equation 16 below:

[0106] sign(s k )s k =|s k |,|sign(s k )|=1,sign(s k )sign(s k ) = 1

[0107]

[0108] For the energy function in the above formula The difference between the energy functions of the k-th and (k-1)-th iterations is shown in Equation 18 below:

[0109]

[0110] right Differentiating yields the following equation 19:

[0111]

[0112] Based on equations 18 and 19 above, we can obtain equation 20 as follows:

[0113]

[0114] Based on equations 19 and 20 above, we obtain equation 21 as follows:

[0115]

[0116] Assume f 32k Satisfy |f 32k |≤b d b d >0 is a constant, and we take η1>b d Equation 21 above can be transformed into the form of Equation 22 below:

[0117]

[0118] For the energy function in the above formula The analysis shows that the difference between the energy functions of the k-th and (k-1)-th iterations is given by Equation 23 below:

[0119]

[0120] The empirical function shown in Equation 24 below can transform Equation 23 into the form of Equation 25 below:

[0121]

[0122] Based on Equation 25 above, we can obtain Equation 26 as follows:

[0123]

[0124] Combining equations 17, 22, and 26 above, it can be seen that the Lyapunov energy function ΔV of the system represented by equation 8 above is... k (t) The difference between adjacent iterations is shown in Equation 27 below:

[0125]

[0126] Equation 27 above can be simplified to the following equation 28:

[0127]

[0128] Based on Lyapunov stability theory, Equation 28 above shows that the Lyapunov energy function V k(t) is convergent, and the iterative controllers shown in equations 1 to 4 above satisfy the sliding surface s k Given the existence and reachability conditions of (t), the system tracking error (e.g., torque error) can approach zero in a finite time.

[0129] 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:

[0130] The cross-axis module 301 is used to input the desired joint torque and the actual joint torque fed back by the joint motor to the iterative controller to obtain the cross-axis control voltage output by the iterative controller. The iterative controller is used to: determine the periodic disturbance estimate of the current iteration based on the periodic disturbance estimate of at least one previous iteration, and determine the cross-axis control voltage based on the periodic disturbance estimate of the current iteration and the error between the desired joint torque and the actual joint torque in the current iteration.

[0131] The direct axis module 302 is used to determine the direct axis control voltage based on the preset direct axis control current and the actual direct axis current fed back by the joint motor;

[0132] 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.

[0133] In one embodiment of this disclosure, the iterative controller is used to determine the periodic disturbance estimate for the current iteration based on the value of the sliding surface in the current iteration and the periodic disturbance estimate from at least one previous iteration.

[0134] In one embodiment of this disclosure, the iterative controller is used to determine the quadrature axis control voltage based on the estimated periodic disturbance value of the current iteration, the error between the expected joint torque and the actual joint torque in the current iteration, and the value of the sliding mode control law in the current iteration.

[0135] In one embodiment of this disclosure, the apparatus further includes a construction module, the construction module being configured to:

[0136] The iterative controller is constructed based on at least one of the following relative relationships, the sliding surface, the sliding control law, and the iterative learning control law:

[0137] The relative relationship between the electromagnetic torque and the quadrature-axis current and the direct-axis current;

[0138] 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.

[0139] In one embodiment of this disclosure, the device further includes a torque module, the torque module being used for:

[0140] 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.

[0141] In one embodiment of this disclosure, the desired joint state includes a desired joint position and a desired joint velocity; and / or,

[0142] The actual joint state includes the actual joint position and the actual joint velocity.

[0143] In one embodiment of this disclosure, the apparatus further includes an acquisition module, the acquisition module being configured to:

[0144] The actual joint state, actual joint torque, and actual direct shaft current fed back by the joint motor are obtained.

[0145] 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.

[0146] 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.

[0147] 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.

[0148] 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 desired joint torque and the actual joint torque fed back by the joint motor are input to the iterative controller to obtain the cross-axis control voltage output by the iterative controller. The iterative controller is used to: determine the periodic disturbance estimate of the current iteration based on the value of the sliding surface in the current iteration and the periodic disturbance estimate of at least one previous iteration, and determine the cross-axis control voltage based on the periodic disturbance estimate of the current iteration and the error between the desired joint torque and the actual joint torque in the current iteration. The direct axis control voltage is determined based on the preset direct axis control current and the actual direct axis current fed back by the joint motor. The joint motor is controlled to move according to the quadrature axis control voltage and the direct axis control voltage.

2. The joint motor control method according to claim 1, characterized in that, The iterative controller is used to determine the quadrature axis control voltage based on the estimated periodic disturbance value of the current iteration, the error between the expected joint torque and the actual joint torque in the current iteration, and the value of the sliding mode control law in the current iteration.

3. The joint motor control method according to claim 1, characterized in that, The method further includes: The iterative controller is constructed based on at least one of the following relative relationships, sliding surfaces, sliding control laws, and iterative learning control laws: The relative relationship between electromagnetic torque and quadrature-axis current and direct-axis current; The relative relationship between the derivative of the quadrature-axis current and the direct-axis current and quadrature-axis voltage.

4. 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.

5. The joint motor control method according to claim 4, 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.

6. The joint motor control method according to claim 4, 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.

7. A joint motor control device, characterized in that, The device includes: The cross-axis module is used to input the desired joint torque and the actual joint torque fed back by the joint motor to the iterative controller to obtain the cross-axis control voltage output by the iterative controller. The iterative controller is used to: determine the periodic disturbance estimate for the current iteration based on the value of the sliding surface in the current iteration and the periodic disturbance estimate value of at least one previous iteration, and determine the cross-axis control voltage based on the periodic disturbance estimate value for the current iteration and the error between the desired joint torque and the actual joint torque in the current iteration. The direct shaft module is used to determine the direct shaft control voltage based on the preset direct shaft control current and the actual direct shaft current fed back by the joint motor; 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.

8. The joint motor control device according to claim 7, characterized in that, The iterative controller is used to determine the quadrature axis control voltage based on the estimated periodic disturbance value of the current iteration, the error between the expected joint torque and the actual joint torque in the current iteration, and the value of the sliding mode control law in the current iteration.

9. The joint motor control device according to claim 7, characterized in that, The device further includes a construction module, the construction module being used for: The iterative controller is constructed based on at least one of the following relative relationships, sliding surfaces, sliding control laws, and iterative learning control laws: The relative relationship between electromagnetic torque and quadrature-axis current and direct-axis current; The relative relationship between the derivative of the quadrature-axis current and the direct-axis current and quadrature-axis voltage.

10. The joint motor control device according to claim 7, 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.

11. The joint motor control device according to claim 10, 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.

12. The joint motor control device according to claim 10, 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.

13. A robot, characterized in that, The robot includes a memory and a processor. The memory is used to store computer instructions that can be executed on the processor. The processor is used to implement the joint motor control method of any one of claims 1 to 6 when executing the computer instructions.

14. 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 6.

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