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: determining a first state quantity according to a preset direct-axis control current and an actual direct-axis current, and determining a second state quantity according to an expected joint torque and an actual joint torque; inputting the first state quantity and the second state quantity into a feedback linearization controller to obtain a direct-axis control voltage and a quadrature-axis control voltage output by the feedback linearization controller, wherein the feedback linearization controller is a controller constructed by linearizing the relative relationship between at least two of an electromagnetic torque, a quadrature-axis current, a direct-axis current and a quadrature-axis voltage; and controlling the joint motor to move according to the direct-axis control voltage and the quadrature-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 are controlled using a nonlinear torque loop model, resulting in low 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 first state quantity is determined based on the preset direct axis control current and the actual direct axis current, and the second state quantity is determined based on the desired joint torque and the actual joint torque.

[0006] The first state variable and the second state variable are input to the feedback linearization controller to obtain the quadrature-axis control voltage and the direct-axis control voltage output by the feedback linearization controller. The feedback linearization controller is a controller constructed by linearizing the relative relationship between at least two of the electromagnetic torque, quadrature-axis current, direct-axis current and quadrature-axis voltage.

[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, determining the first state quantity based on the preset direct-axis control current and the actual direct-axis current includes:

[0009] The direct-axis control current and the actual direct-axis current are input to the first pole configuration controller to obtain the first state quantity output by the first pole configuration controller;

[0010] The first pole configuration controller is a controller constructed based on the relative relationship between at least two of the electromagnetic torque, quadrature axis current, direct axis current, and quadrature axis voltage.

[0011] The first pole configuration controller is used to determine a first state quantity based on the difference between the direct-axis control current and the actual direct-axis current, and the derivative of the actual direct-axis current.

[0012] In one embodiment of this disclosure, determining the second state quantity based on the desired joint torque and the actual joint torque includes:

[0013] The desired joint torque and the actual joint torque are input to the second pole configuration controller to obtain the second state quantity output by the second pole configuration controller;

[0014] The second pole configuration controller is a controller constructed based on the relative relationship between at least two of the electromagnetic torque, quadrature axis current, direct axis current, and quadrature axis voltage.

[0015] The second pole configuration controller is used to determine a second state quantity based on the difference between the desired joint torque and the actual joint torque, and the derivative of the actual joint torque.

[0016] In one embodiment of this disclosure, the method further includes:

[0017] The first pole placement controller, the second pole placement controller, and the feedback linearization controller are constructed according to at least one of the following relationships:

[0018] The first relative relationship between the electromagnetic torque and the quadrature-axis current and the direct-axis current;

[0019] The second relative relationship between the differential of the quadrature-axis current and the quadrature-axis current, the direct-axis current, and the quadrature-axis voltage;

[0020] The third relative relationship between the differential of the direct-axis current and the quadrature-axis current, the direct-axis current, and the direct-axis voltage.

[0021] In one embodiment of this disclosure, the first pole placement controller, the second pole placement controller, and the feedback linearization controller are constructed according to at least one of the following relationships:

[0022] Based on the first relative relationship, the second relative relationship, and the third relative relationship, a first linear relationship between the derivative of the direct-axis current and the direct-axis voltage, and a second linear relationship between the derivative of the electromagnetic torque and the quadrature-axis voltage are determined.

[0023] The first pole configuration controller is constructed based on the first linear relationship, and the second pole configuration controller is constructed based on the second linear relationship;

[0024] The feedback linearization controller is constructed based on the first linear relationship and the second linear relationship.

[0025] In one embodiment of this disclosure, the method further includes:

[0026] 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.

[0027] In one embodiment of this disclosure, the desired joint state includes a desired joint position and a desired joint velocity; and / or,

[0028] The actual joint state includes the actual joint position and the actual joint velocity.

[0029] In one embodiment of this disclosure, the method further includes:

[0030] The actual joint state, actual joint torque, and actual direct shaft current fed back by the joint motor are obtained.

[0031] According to a second aspect of the present disclosure, a joint motor control device is provided, the device comprising:

[0032] The state module is used to determine the first state quantity based on the preset direct axis control current and the actual direct axis current, and to determine the second state quantity based on the desired joint torque and the actual joint torque.

[0033] A linear module is used to input the first state quantity and the second state quantity to a feedback linearization controller to obtain the quadrature-axis control voltage and the direct-axis control voltage output by the feedback linearization controller, wherein the feedback linearization controller is a controller constructed by linearizing the relative relationship between at least two of the electromagnetic torque, quadrature-axis current, direct-axis current and quadrature-axis voltage;

[0034] 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.

[0035] In one embodiment of this disclosure, when the state module determines the first state quantity based on the preset direct-axis control current and the actual direct-axis current, it is used to:

[0036] The direct-axis control current and the actual direct-axis current are input to the first pole configuration controller to obtain the first state quantity output by the first pole configuration controller;

[0037] The first pole configuration controller is a controller constructed based on the relative relationship between at least two of the electromagnetic torque, quadrature axis current, direct axis current, and quadrature axis voltage.

[0038] The first pole configuration controller is used to determine a first state quantity based on the difference between the direct-axis control current and the actual direct-axis current, and the derivative of the actual direct-axis current.

[0039] In one embodiment of this disclosure, when the state module determines the second state quantity based on the desired joint torque and the actual joint torque, it is used to:

[0040] The desired joint torque and the actual joint torque are input to the second pole configuration controller to obtain the second state quantity output by the second pole configuration controller;

[0041] The second pole configuration controller is a controller constructed based on the relative relationship between at least two of the electromagnetic torque, quadrature axis current, direct axis current, and quadrature axis voltage.

[0042] The second pole configuration controller is used to determine a second state quantity based on the difference between the desired joint torque and the actual joint torque, and the derivative of the actual joint torque.

[0043] In one embodiment of this disclosure, the apparatus further includes a construction module, the construction module being configured to:

[0044] The first pole placement controller, the second pole placement controller, and the feedback linearization controller are constructed according to at least one of the following relationships:

[0045] The first relative relationship between the electromagnetic torque and the quadrature-axis current and the direct-axis current;

[0046] The second relative relationship between the differential of the quadrature-axis current and the quadrature-axis current, the direct-axis current, and the quadrature-axis voltage;

[0047] The third relative relationship between the differential of the direct-axis current and the quadrature-axis current, the direct-axis current, and the direct-axis voltage.

[0048] In one embodiment of this disclosure, the building module is used for:

[0049] Based on the first relative relationship, the second relative relationship, and the third relative relationship, a first linear relationship between the derivative of the direct-axis current and the direct-axis voltage, and a second linear relationship between the derivative of the electromagnetic torque and the quadrature-axis voltage are determined.

[0050] The first pole configuration controller is constructed based on the first linear relationship, and the second pole configuration controller is constructed based on the second linear relationship;

[0051] The feedback linearization controller is constructed based on the first linear relationship and the second linear relationship.

[0052] In one embodiment of this disclosure, the method further includes a torque module, the torque module being used for:

[0053] 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.

[0054] In one embodiment of this disclosure, the desired joint state includes a desired joint position and a desired joint velocity; and / or,

[0055] The actual joint state includes the actual joint position and the actual joint velocity.

[0056] In one embodiment of this disclosure, the method further includes an acquisition module, the acquisition module being used to:

[0057] The actual joint state, actual joint torque, and actual direct shaft current fed back by the joint motor are obtained.

[0058] 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.

[0059] 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.

[0060] The technical solutions provided by the embodiments of this disclosure may include the following beneficial effects:

[0061] The articulated motor control method provided in this disclosure first determines a first state variable based on a preset direct-axis control current and the actual direct-axis current, and then determines a second state variable based on the desired joint torque and the actual joint torque. Next, the first and second state variables are input to a feedback linearization controller to obtain the quadrature-axis control voltage and the direct-axis control voltage output by the feedback linearization controller. Finally, the articulated motor is controlled to move based on the quadrature-axis control voltage and the direct-axis control voltage. Because this method linearizes the relative relationship between at least two of the electromagnetic torque, quadrature-axis current, direct-axis current, and quadrature-axis voltage to construct a feedback linearization controller, and uses the feedback linearization controller to determine the quadrature-axis control voltage and the direct-axis control voltage, the accuracy of the quadrature-axis control voltage and the direct-axis control voltage is improved. This enhances the control precision and accuracy of the motor, thereby increasing the complexity of the robot's movements. Attached Figure Description

[0062] 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.

[0063] Figure 1 This is a flowchart illustrating a joint motor control method according to an exemplary embodiment of this disclosure;

[0064] Figure 2 This is a flowchart illustrating a joint motor control method according to an exemplary embodiment of this disclosure;

[0065] 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;

[0066] Figure 4 This is a structural block diagram of a robot illustrated in an exemplary embodiment of this disclosure. Detailed Implementation

[0067] 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.

[0068] 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.

[0069] 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."

[0070] 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 are controlled using a nonlinear torque loop model, resulting in low control precision and preventing the robot from performing more complex movements.

[0071] 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.

[0072] 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.

[0073] In step S101, a first state quantity is determined based on the preset direct axis control current and the actual direct axis current, and a second state quantity is determined based on the desired joint torque and the actual joint torque.

[0074] The direct-axis control current is the desired current value (e.g., 0) on the direct axis of the armature winding. Before this step, the actual direct-axis current fed back by the joint motor can be obtained. The actual direct-axis current is the actual current value on the direct axis of the armature winding.

[0075] Before performing this step, the actual joint torque fed back by the joint motor can be obtained. The desired joint torque can be determined in advance as follows: 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.

[0076] The desired joint state can be the joint state controlled by the upper-level motion control system based on the robot's desired action. The joint motors can feed back the joint state at a certain frequency during movement; this state is 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.

[0077] In one possible embodiment, this step can input the first state variable and the second state variable to a feedback linearization controller to obtain the quadrature-axis control voltage and the direct-axis control voltage output by the feedback linearization controller. The first pole configuration controller is a controller constructed based on the relative relationship between at least two of the electromagnetic torque, quadrature-axis current, direct-axis current, and quadrature-axis voltage. This step can also input the desired joint torque and the actual joint torque to a second pole configuration controller to obtain the second state variable output by the second pole configuration controller. The second pole configuration controller is a controller constructed based on the relative relationship between at least two of the electromagnetic torque, quadrature-axis current, direct-axis current, and quadrature-axis voltage.

[0078] For example, the first pole configuration controller is used to determine a first state variable based on the difference between the direct-axis control current and the actual direct-axis current, and the derivative of the actual direct-axis current. For instance, the control strategy of the first pole configuration controller can be as shown in Equation 1 below:

[0079]

[0080] In the formula, ν1 is the first state variable, and i d The actual current along the direct axis, the For direct-axis control current, the k 11 The k 12 It is an adjustable parameter, and the k 11 The k 12 All are greater than 0.

[0081] For example, the second pole configuration controller is used to determine a second state variable based on the difference between the desired joint torque and the actual joint torque, and the derivative of the actual joint torque. For instance, the control strategy of the second pole configuration controller can be as shown in Equation 2 below:

[0082]

[0083] In the formula, ν2 is the second state variable, and T e For the actual joint torque, the For the desired joint torque, the k 21 The k 22 It is an adjustable parameter, and the k 21 The k 22 All are greater than 0.

[0084] The first pole configuration controller and the second pole configuration controller can be pre-constructed based on at least one of the following relationships:

[0085] First item: The first relative relationship between the electromagnetic torque and the quadrature-axis current and the direct-axis current.

[0086] Second item: The second relative relationship between the differential of the quadrature-axis current and the quadrature-axis current, the direct-axis current and the quadrature-axis voltage.

[0087] The third item: the third relative relationship between the differential of the direct-axis current and the quadrature-axis current, the direct-axis current and the direct-axis voltage.

[0088] The content of the first relative relationship can be represented by the following formula 3:

[0089]

[0090] 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.

[0091] The content of the second relative relationship can be expressed by the following formula 4:

[0092]

[0093] In the formula, U q R is the quadrature axis voltage. s ω is the motor resistance. r This represents the motor speed.

[0094] The content of the third relative relationship can be expressed by the following formula 5:

[0095]

[0096] In the formula, U d It is the quadrature-axis voltage.

[0097] The construction process of the first pole configuration controller and the second pole configuration controller will be described in detail below.

[0098] First, based on the first relative relationship, the second relative relationship, and the third relative relationship, a first linear relationship between the derivative of the direct-axis current and the direct-axis voltage, and a second linear relationship between the derivative of the electromagnetic torque and the quadrature-axis voltage are determined.

[0099] For example, by substituting equation 3 into equations 4 and 5, we obtain equations 6 and 7:

[0100]

[0101]

[0102] Furthermore, equations 6 and 7 above are transformed into the form of equation 8 below:

[0103]

[0104] In the formula,

[0105] x = [x1 x2] T =[i d T e ] T

[0106] u = [u1 u2] T =[U d U q ] T

[0107] h(x) = [h1(x) h2(x)] T =[y1 y2] T =[i d T e ] T

[0108] g(x) = [g1(x) g2(x)] T =[1 / L d 3·n p ·ψ f ·i q / 2·L q ] T

[0109]

[0110] Since the first-order derivatives of the outputs y1 and y2 with respect to time in Equation 8 above are as shown in Equation 9 below:

[0111]

[0112] In the formula,

[0113] make Then the following equation 10 is obtained:

[0114]

[0115] From Equation 10 above, we know that the relative order of the corresponding system is 2. From Equations 6 and 7 above, we know that the relative order of the corresponding system is 2. Therefore, the input-output exact linearization has a solution. Thus, we can construct the first linear relationship and the second linear relationship as shown in Equation 11 below:

[0116]

[0117] In the formula,

[0118]

[0119] Next, the first pole configuration controller is constructed based on the first linear relationship, and the second pole configuration controller is constructed based on the second linear relationship.

[0120] For example, the first pole configuration controller shown in Equation 1 and the second pole configuration controller shown in Equation 2 can be constructed according to Equation 11 above.

[0121] In step S102, the first state quantity and the second state quantity are input to the feedback linearization controller to obtain the quadrature-axis control voltage and the direct-axis control voltage output by the feedback linearization controller. The feedback linearization controller is a controller constructed by linearizing the relative relationship between at least two of the electromagnetic torque, quadrature-axis current, direct-axis current and quadrature-axis voltage.

[0122] For example, after constructing the first pole configuration controller shown in Equation 1 and the second pole configuration controller shown in Equation 2 in step S101, the feedback linearization controller shown in Equation 12 can be further constructed according to Equations 11, 1, and 2:

[0123]

[0124] In the formula, To find the modulus of matrix B.

[0125] In step S103, the joint motor is controlled to move according to the quadrature axis control voltage and the direct axis control voltage.

[0126] 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 input is sent to the first pole configuration controller to obtain the first state variable v1, and the preset direct-axis control current. The actual cross-axis current i fed back from the joint motor d error e d The inputs are fed to the second pole configuration controller to obtain the second state variable v2. The first state variable v1 and the second state variable v2 are fed to the feedback linearization controller to obtain the quadrature and direct axis control voltages U. q and 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.

[0127] The articulated motor control method provided in this disclosure first determines a first state variable based on a preset direct-axis control current and the actual direct-axis current, and then determines a second state variable based on the desired joint torque and the actual joint torque. Next, the first and second state variables are input to a feedback linearization controller to obtain the quadrature-axis control voltage and the direct-axis control voltage output by the feedback linearization controller. Finally, the articulated motor is controlled to move based on the quadrature-axis control voltage and the direct-axis control voltage. Because this method linearizes the relative relationship between at least two of the electromagnetic torque, quadrature-axis current, direct-axis current, and quadrature-axis voltage to construct a feedback linearization controller, and uses the feedback linearization controller to determine the quadrature-axis control voltage and the direct-axis control voltage, the accuracy of the quadrature-axis control voltage and the direct-axis control voltage is improved. This enhances the control precision and accuracy of the motor, thereby increasing the complexity of the robot's movements.

[0128] This method standardizes the control steps of torque loop control by linearizing the feedback of the complex nonlinear model of the joint motor, greatly simplifying the complexity of torque loop control and enabling the torque loop controller to cope with more complex working conditions. Moreover, this method decouples the direct-axis channel and the quadrature-axis channel, improving control efficiency.

[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 state module 301 is used to determine a first state quantity based on the preset direct axis control current and the actual direct axis current, and to determine a second state quantity based on the desired joint torque and the actual joint torque.

[0131] Linear module 302 is used to input the first state quantity and the second state quantity to the feedback linearization controller to obtain the quadrature-axis control voltage and the direct-axis control voltage output by the feedback linearization controller, wherein the feedback linearization controller is a controller constructed by linearizing the relative relationship between at least two of the electromagnetic torque, quadrature-axis current, direct-axis current and quadrature-axis voltage;

[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, when the state module determines the first state quantity based on the preset direct-axis control current and the actual direct-axis current, it is used to:

[0134] The direct-axis control current and the actual direct-axis current are input to the first pole configuration controller to obtain the first state quantity output by the first pole configuration controller;

[0135] The first pole configuration controller is a controller constructed based on the relative relationship between at least two of the electromagnetic torque, quadrature axis current, direct axis current, and quadrature axis voltage.

[0136] The first pole configuration controller is used to determine a first state quantity based on the difference between the direct-axis control current and the actual direct-axis current, and the derivative of the actual direct-axis current.

[0137] In one embodiment of this disclosure, when the state module determines the second state quantity based on the desired joint torque and the actual joint torque, it is used to:

[0138] The desired joint torque and the actual joint torque are input to the second pole configuration controller to obtain the second state quantity output by the second pole configuration controller;

[0139] The second pole configuration controller is a controller constructed based on the relative relationship between at least two of the electromagnetic torque, quadrature axis current, direct axis current, and quadrature axis voltage.

[0140] The second pole configuration controller is used to determine a second state quantity based on the difference between the desired joint torque and the actual joint torque, and the derivative of the actual joint torque.

[0141] In one embodiment of this disclosure, the apparatus further includes a construction module, the construction module being configured to:

[0142] The first pole placement controller, the second pole placement controller, and the feedback linearization controller are constructed according to at least one of the following relationships:

[0143] The first relative relationship between the electromagnetic torque and the quadrature-axis current and the direct-axis current;

[0144] The second relative relationship between the differential of the quadrature-axis current and the quadrature-axis current, the direct-axis current, and the quadrature-axis voltage;

[0145] The third relative relationship between the differential of the direct-axis current and the quadrature-axis current, the direct-axis current, and the direct-axis voltage.

[0146] In one embodiment of this disclosure, the building module is used for:

[0147] Based on the first relative relationship, the second relative relationship, and the third relative relationship, a first linear relationship between the derivative of the direct-axis current and the direct-axis voltage, and a second linear relationship between the derivative of the electromagnetic torque and the quadrature-axis voltage are determined.

[0148] The first pole configuration controller is constructed based on the first linear relationship, and the second pole configuration controller is constructed based on the second linear relationship;

[0149] The feedback linearization controller is constructed based on the first linear relationship and the second linear relationship.

[0150] In one embodiment of this disclosure, the method further includes a torque module, the torque module being used for:

[0151] 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.

[0152] In one embodiment of this disclosure, the desired joint state includes a desired joint position and a desired joint velocity; and / or,

[0153] The actual joint state includes the actual joint position and the actual joint velocity.

[0154] In one embodiment of this disclosure, the method further includes an acquisition module, the acquisition module being used to:

[0155] The actual joint state, actual joint torque, and actual direct shaft current fed back by the joint motor are obtained.

[0156] 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.

[0157] 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.

[0158] 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.

[0159] 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 first state quantity is determined based on the preset direct axis control current and the actual direct axis current, and the second state quantity is determined based on the desired joint torque and the actual joint torque. The first state variable and the second state variable are input to the feedback linearization controller to obtain the quadrature-axis control voltage and the direct-axis control voltage output by the feedback linearization controller. The feedback linearization controller is a controller constructed by linearizing the relative relationship between at least two of the electromagnetic torque, quadrature-axis current, direct-axis current and quadrature-axis voltage. 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 feedback linearization controller is constructed based on at least one of the following relationships: The first relative relationship between the electromagnetic torque and the quadrature-axis current and the direct-axis current; The second 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 third 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 step of determining the first state quantity based on the preset direct-axis control current and the actual direct-axis current includes: The direct-axis control current and the actual direct-axis current are input to the first pole configuration controller to obtain the first state quantity output by the first pole configuration controller; The first pole configuration controller is a controller constructed based on the relative relationship between at least two of the electromagnetic torque, quadrature axis current, direct axis current, and quadrature axis voltage. The first pole configuration controller is used to determine a first state quantity based on the difference between the direct-axis control current and the actual direct-axis current, and the derivative of the actual direct-axis current.

3. The joint motor control method according to claim 2, characterized in that, The determination of the second state quantity based on the desired joint torque and the actual joint torque includes: The desired joint torque and the actual joint torque are input to the second pole configuration controller to obtain the second state quantity output by the second pole configuration controller; The second pole configuration controller is a controller constructed based on the relative relationship between at least two of the electromagnetic torque, quadrature axis current, direct axis current, and quadrature axis voltage. The second pole configuration controller is used to determine a second state quantity based on the difference between the desired joint torque and the actual joint torque, and the derivative of the actual joint torque.

4. The joint motor control method according to claim 3, characterized in that, The method further includes: The first pole configuration controller and the second pole configuration controller are constructed according to at least one of the following relationships: The first relative relationship between the electromagnetic torque and the quadrature-axis current and the direct-axis current; The second 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 third relative relationship between the differential of the direct-axis current and the quadrature-axis current, the direct-axis current, and the direct-axis voltage.

5. The joint motor control method according to claim 4, characterized in that, The first pole placement controller, the second pole placement controller, and the feedback linearization controller are constructed according to at least one of the following relative relationships: Based on the first relative relationship, the second relative relationship, and the third relative relationship, a first linear relationship between the derivative of the direct-axis current and the direct-axis voltage, and a second linear relationship between the derivative of the electromagnetic torque and the quadrature-axis voltage are determined. The first pole configuration controller is constructed based on the first linear relationship, and the second pole configuration controller is constructed based on the second linear relationship; The feedback linearization controller is constructed based on the first linear relationship and the second linear relationship.

6. 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.

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

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

9. A joint motor control device, characterized in that, The device includes: The state module is used to determine the first state quantity based on the preset direct axis control current and the actual direct axis current, and to determine the second state quantity based on the desired joint torque and the actual joint torque. A linear module is used to input the first state quantity and the second state quantity to a feedback linearization controller to obtain the quadrature-axis control voltage and the direct-axis control voltage output by the feedback linearization controller. The feedback linearization controller is a controller constructed by linearizing the relative relationship between at least two of the electromagnetic torque, quadrature-axis current, direct-axis current and quadrature-axis voltage. 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; A building module is configured to construct the feedback linearization controller based on at least one of the following relationships: The first relative relationship between the electromagnetic torque and the quadrature-axis current and the direct-axis current; The second 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 third relative relationship between the differential of the direct-axis current and the quadrature-axis current, the direct-axis current, and the direct-axis voltage.

10. The joint motor control device according to claim 9, characterized in that, The state module is used to determine the first state quantity based on the preset direct-axis control current and the actual direct-axis current, and is used for: The direct-axis control current and the actual direct-axis current are input to the first pole configuration controller to obtain the first state quantity output by the first pole configuration controller; The first pole configuration controller is a controller constructed based on the relative relationship between at least two of the electromagnetic torque, quadrature axis current, direct axis current, and quadrature axis voltage. The first pole configuration controller is used to determine a first state quantity based on the difference between the direct-axis control current and the actual direct-axis current, and the derivative of the actual direct-axis current.

11. The joint motor control device according to claim 10, characterized in that, The state module is used to determine the second state quantity based on the desired joint torque and the actual joint torque, and is used for: The desired joint torque and the actual joint torque are input to the second pole configuration controller to obtain the second state quantity output by the second pole configuration controller; The second pole configuration controller is a controller constructed based on the relative relationship between at least two of the electromagnetic torque, quadrature axis current, direct axis current, and quadrature axis voltage. The second pole configuration controller is used to determine a second state quantity based on the difference between the desired joint torque and the actual joint torque, and the derivative of the actual joint torque.

12. The joint motor control device according to claim 11, characterized in that, The building module is also used for: The first pole configuration controller and the second pole configuration controller are constructed according to at least one of the following relationships: The first relative relationship between the electromagnetic torque and the quadrature-axis current and the direct-axis current; The second 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 third relative relationship between the differential of the direct-axis current and the quadrature-axis current, the direct-axis current, and the direct-axis voltage.

13. The joint motor control device according to claim 12, characterized in that, The building module is used for: Based on the first relative relationship, the second relative relationship, and the third relative relationship, a first linear relationship between the derivative of the direct-axis current and the direct-axis voltage, and a second linear relationship between the derivative of the electromagnetic torque and the quadrature-axis voltage are determined. The first pole configuration controller is constructed based on the first linear relationship, and the second pole configuration controller is constructed based on the second linear relationship; The feedback linearization controller is constructed based on the first linear relationship and the second linear relationship.

14. The joint motor control device according to claim 9, 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.

15. The joint motor control device according to claim 14, 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.

16. The joint motor control device according to claim 14, 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.

17. 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 8 when executing the computer instructions.

18. 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 8.

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