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 desired joint torque according to a desired joint state and an actual joint state in a motion control instruction; inputting the desired joint torque, a preset direct-axis control current, and actual joint torque and direct-axis actual current fed back by a joint motor into a terminal sliding mode adaptive controller to obtain a quadrature-axis control voltage and a direct-axis control voltage output by the terminal sliding mode adaptive controller, wherein the terminal sliding mode adaptive controller is a controller constructed according to a relative relationship between at least two of electromagnetic torque, quadrature-axis current, direct-axis current, quadrature-axis voltage and direct-axis voltage, and a terminal 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:

[0005] The desired joint torque is determined based on the desired joint state and the actual joint state in the motion control command.

[0006] The desired joint torque, the preset direct-axis control current, and the actual joint torque and actual direct-axis current fed back by the joint motor are input to the terminal sliding mode adaptive controller to obtain the quadrature-axis control voltage and direct-axis control voltage output by the terminal sliding mode adaptive controller. The terminal sliding mode adaptive controller is a controller 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.

[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 terminal sliding mode adaptive controller is used to determine the quadrature axis control voltage based on the error between the desired joint torque and the actual joint torque, and to determine the direct axis control voltage based on the error between the direct axis control current and the actual direct axis current.

[0009] In one embodiment of this disclosure, the method further includes:

[0010] The terminal sliding mode adaptive controller is constructed based on at least one of the following relationships:

[0011] The relative relationship between the electromagnetic torque and the quadrature-axis current and the direct-axis current;

[0012] 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;

[0013] 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.

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

[0015] The parameters of the terminal sliding mode adaptive controller are corrected based on the terminal sliding mode surface.

[0016] In one embodiment of this disclosure, the step of correcting the parameters of the terminal sliding mode adaptive controller based on the terminal sliding mode surface includes:

[0017] The parameters of the terminal sliding mode adaptive controller are corrected based on the terminal sliding surface, the adaptive rate, and the Lyapunov function to make the terminal sliding surface converge.

[0018] In one embodiment of this disclosure, determining the desired joint torque based on the desired joint state and the actual joint state in the motion control command includes:

[0019] 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.

[0020] In one embodiment of this disclosure, the desired joint state includes a desired joint position and a desired joint velocity; and / or,

[0021] The actual joint state includes the actual joint position and the actual joint velocity.

[0022] In one embodiment of this disclosure, the method further includes:

[0023] The actual joint state, actual joint torque, and actual direct shaft current fed back by the joint motor are obtained.

[0024] According to a second aspect of the present disclosure, a joint motor control device is provided, the device comprising:

[0025] The torque module is used to determine the desired joint torque based on the desired joint state and the actual joint state in the motion control command.

[0026] A voltage module is used to input the desired joint torque, the preset direct-axis control current, and the actual joint torque and actual direct-axis current fed back by the joint motor to the terminal sliding mode adaptive controller to obtain the quadrature-axis control voltage and direct-axis control voltage output by the terminal sliding mode adaptive controller. The terminal sliding mode adaptive controller is a controller 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.

[0027] 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.

[0028] In one embodiment of this disclosure, the terminal sliding mode adaptive controller is used to determine the quadrature axis control voltage based on the error between the desired joint torque and the actual joint torque, and to determine the direct axis control voltage based on the error between the direct axis control current and the actual direct axis current.

[0029] In one embodiment of this disclosure, the apparatus further includes a construction module, the construction module being configured to:

[0030] The terminal sliding mode adaptive controller is constructed based on at least one of the following relationships:

[0031] The relative relationship between the electromagnetic torque and the quadrature-axis current and the direct-axis current;

[0032] 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;

[0033] 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.

[0034] In one embodiment of this disclosure, the apparatus further includes a calibration module, the calibration module being used for:

[0035] The parameters of the terminal sliding mode adaptive controller are corrected based on the terminal sliding mode surface.

[0036] In one embodiment of this disclosure, when the correction module performs correction based on the parameters of the terminal sliding mode adaptive controller according to the terminal sliding mode surface, it is used to:

[0037] The parameters of the terminal sliding mode adaptive controller are corrected based on the terminal sliding surface, the adaptive rate, and the Lyapunov function to make the terminal sliding surface converge.

[0038] In one embodiment of this disclosure, the torque module is used for:

[0039] 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.

[0040] In one embodiment of this disclosure, the desired joint state includes a desired joint position and a desired joint velocity; and / or,

[0041] The actual joint state includes the actual joint position and the actual joint velocity.

[0042] In one embodiment of this disclosure, the apparatus further includes an acquisition module, the acquisition module being configured to:

[0043] The actual joint state, actual joint torque, and actual direct shaft current fed back by the joint motor are obtained.

[0044] 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.

[0045] 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.

[0046] The technical solutions provided by the embodiments of this disclosure may include the following beneficial effects:

[0047] The joint motor control method provided in this disclosure first determines the desired joint torque based on the desired joint state and the actual joint state in the motion control command; then, the desired joint torque, a preset direct-axis control current, and the actual joint torque and actual direct-axis current fed back by the joint motor are input to the terminal sliding mode adaptive controller to obtain the quadrature-axis control voltage and the direct-axis control voltage output by the terminal sliding mode adaptive controller; finally, the joint motor is controlled to move according to the quadrature-axis control voltage and the direct-axis control voltage. Since the terminal sliding mode adaptive controller is a controller 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 since the convergence of the terminal sliding surface can suppress system disturbances, the terminal sliding mode adaptive 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

[0048] 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.

[0049] Figure 1 This is a flowchart illustrating a joint motor control method according to an exemplary embodiment of the present disclosure;

[0050] Figure 2 This is a flowchart illustrating a joint motor control method according to an exemplary embodiment of the present disclosure;

[0051] 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;

[0052] Figure 4 This is a structural block diagram of a robot illustrated in an exemplary embodiment of this disclosure. Detailed Implementation

[0053] 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.

[0054] 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.

[0055] 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."

[0056] 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.

[0057] 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.

[0058] 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.

[0059] In step S101, the desired joint torque is determined based on the desired joint state and the actual joint state in the motion control command.

[0060] The desired joint state can be the joint state controlled by this method, determined by the upper-level motion control 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 recorded as the actual joint state. Therefore, the actual joint state fed back by the joint motors can be obtained before executing this step. The joint torque is the torque of the joint motors, and the desired joint torque refers to the torque that the joint motors are expected to achieve.

[0061] For example, an impedance controller can be used to determine the desired joint torque. In this step, 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. For instance, 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. A position error can be determined based on the desired joint position and the actual joint position, and a 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.

[0062] In step S102, the desired joint torque, the preset direct-axis control current, and the actual joint torque and actual direct-axis current fed back by the joint motor are input to the terminal sliding mode adaptive controller to obtain the quadrature-axis control voltage and direct-axis control voltage output by the terminal sliding mode adaptive controller. The terminal sliding mode adaptive controller is a controller 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.

[0063] Wherein, the direct-axis control current is the current value (e.g., 0) that is expected to be reached on the direct axis of the armature winding. Before 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 reached by the joint motor, and the actual direct-axis current is the actual current value on the direct axis of the armature winding.

[0064] For example, the terminal sliding mode adaptive controller is used to determine the quadrature-axis control voltage based on the error between the desired joint torque and the actual joint torque, and to determine the direct-axis control voltage based on the error between the direct-axis control current and the actual direct-axis current. That is, the terminal sliding mode adaptive controller is used to track the error between the desired joint torque and the actual joint torque, and the error between the direct-axis control current and the actual direct-axis current, in order to minimize these two errors and thus suppress system disturbances.

[0065] In one embodiment of this disclosure, the terminal sliding mode adaptive controller can be constructed as follows: the terminal sliding mode adaptive controller is constructed according to at least one of the following relative relationships, and the parameters of the terminal sliding mode adaptive controller are corrected according to the terminal sliding mode.

[0066] The first item is the relative relationship between the electromagnetic torque and the quadrature-axis current and the direct-axis current.

[0067] 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.

[0068] 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.

[0069] The content of the first relative relationship can be represented by the following equation 1:

[0070]

[0071] In the formula, T e For electromagnetic torque, n p Let ψ be the extreme logarithm. f For permanent magnet flux linkage, L dFor a direct-axis inductor, L q For quadrature axis inductance, i d For direct-axis current, i q It is the quadrature-axis current.

[0072] The content of the second relative relationship can be expressed by the following equation 2:

[0073]

[0074] In the formula, U q For quadrature axis voltage, R s ω is the motor resistance. r This represents the motor speed.

[0075] The content of the third relative relationship can be expressed by the following equation 3:

[0076]

[0077] In the formula, U d It is the quadrature-axis voltage.

[0078] Substituting equation 1 into equations 2 and 3 respectively, we obtain equations 4 and 5:

[0079]

[0080]

[0081] Furthermore, equations 4 and 5 above are transformed into the form of equation 6 below:

[0082]

[0083] In the formula,

[0084] x = [x1 x2] T =[i d T e ] T

[0085] u = [u1 u2] T =[U d U q ] T

[0086] h(x) = [h1(x) h2(x)] T =[y1 y2] T =[i d T e ] T

[0087] g(x) = [g1(x) g2(x)] T =[1 / Ld 3·n p ·ψ f ·i q / 2·L q ] T

[0088]

[0089] When considering system disturbances, Equation 6 above can be transformed into the system shown in Equation 7 below:

[0090]

[0091] In the formula, d = [d1 d2] T This is a system disturbance.

[0092] For example, the terminal sliding mode adaptive controller (i.e., control law) shown in Equation 8 can be constructed for the system shown in Equation 7 above:

[0093]

[0094] In the formula, x * =[x1 * x2 * ] T =[i d * T e * ] T , The value of the disturbance d is the estimated value. γ, m, and n are parameters. m and n are positive odd numbers, and n < m.

[0095] For example, the terminal sliding surface can be used to correct the error in Equation 7 above. Next, the correction process will be explained in detail.

[0096] The integral-type global fast terminal sliding surface s of the system shown in Equation 7 above can be defined as shown in Equation 9 below:

[0097]

[0098] In the formula, e is the error term, α, β, p, and q are parameters, and α > 0, β > 0, p and q are positive odd numbers, and q < p.

[0099] Based on equations 7 and 9 above, we can obtain equation 10 as follows:

[0100]

[0101] Based on equations 8 and 10 above, we can obtain equation 11 as follows:

[0102]

[0103] In the formula,

[0104] Design an adaptive law as shown in Equation 12 below:

[0105]

[0106] In the formula, λ>0 represents the learning rate.

[0107] The Lyapunov function of the system shown in Equation 7 above is defined as shown in Equation 13 below:

[0108]

[0109] Based on equations 11, 12, and 13 above, we can obtain equation 14 as follows:

[0110]

[0111] make From Equation 14 above, we can obtain:

[0112] like but Therefore, the system will converge to the region shown in Equation 15 below:

[0113]

[0114] like but Therefore, the system will converge to the region shown in Equation 16 below:

[0115]

[0116] Combining Equations 15 and 16 above, the correction can be made. γ, so that s will converge to the region described in Equation 7, which is ultimately uniform and bounded under the control law shown in Equation 8 and the adaptive law shown in Equation 12. In other words, s can converge to the region described in Equation 12. γ can be used as a correction result.

[0117]

[0118] In step S103, the joint motor is controlled to move according to the quadrature axis control voltage and the direct axis control voltage.

[0119] Please refer to the appendix. Figure 2The 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 Preset direct-axis control current The actual cross-axis current i fed back from the joint motor d error e d The input is fed into a global fast terminal sliding mode adaptive controller to obtain the AC and DC 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.

[0120] The joint motor control method provided in this disclosure first determines the desired joint torque based on the desired joint state and the actual joint state in the motion control command; then, the desired joint torque, a preset direct-axis control current, and the actual joint torque and actual direct-axis current fed back by the joint motor are input to the terminal sliding mode adaptive controller to obtain the quadrature-axis control voltage and the direct-axis control voltage output by the terminal sliding mode adaptive controller; finally, the joint motor is controlled to move according to the quadrature-axis control voltage and the direct-axis control voltage. Since the terminal sliding mode adaptive controller is a controller 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 since the convergence of the terminal sliding surface can suppress system disturbances, the terminal sliding mode adaptive 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.

[0121] This method can achieve adaptive suppression of system disturbances and finite-time adjustment of torque error.

[0122] 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:

[0123] The torque module 301 is used to determine the desired joint torque based on the desired joint state and the actual joint state in the motion control command.

[0124] Voltage module 302 is used to input the desired joint torque, the preset direct axis control current, and the actual joint torque and actual direct axis current fed back by the joint motor to the terminal sliding mode adaptive controller to obtain the quadrature axis control voltage and direct axis control voltage output by the terminal sliding mode adaptive controller. The terminal sliding mode adaptive controller is a controller 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.

[0125] 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.

[0126] In one embodiment of this disclosure, the terminal sliding mode adaptive controller is used to determine the quadrature axis control voltage based on the error between the desired joint torque and the actual joint torque, and to determine the direct axis control voltage based on the error between the direct axis control current and the actual direct axis current.

[0127] In one embodiment of this disclosure, the apparatus further includes a construction module, the construction module being configured to:

[0128] The terminal sliding mode adaptive controller is constructed based on at least one of the following relationships:

[0129] The relative relationship between the electromagnetic torque and the quadrature-axis current and the direct-axis current;

[0130] 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;

[0131] 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.

[0132] In one embodiment of this disclosure, the apparatus further includes a calibration module, the calibration module being used for:

[0133] The parameters of the terminal sliding mode adaptive controller are corrected based on the terminal sliding mode surface.

[0134] In one embodiment of this disclosure, when the correction module performs correction based on the parameters of the terminal sliding mode adaptive controller according to the terminal sliding mode surface, it is used to:

[0135] The parameters of the terminal sliding mode adaptive controller are corrected based on the terminal sliding surface, the adaptive rate, and the Lyapunov function to make the terminal sliding surface converge.

[0136] In one embodiment of this disclosure, the torque module is used for:

[0137] 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.

[0138] In one embodiment of this disclosure, the desired joint state includes a desired joint position and a desired joint velocity; and / or,

[0139] The actual joint state includes the actual joint position and the actual joint velocity.

[0140] In one embodiment of this disclosure, the apparatus further includes an acquisition module, the acquisition module being configured to:

[0141] The actual joint state, actual joint torque, and actual direct shaft current fed back by the joint motor are obtained.

[0142] 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.

[0143] 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.

[0144] 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.

[0145] 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 is determined based on the desired joint state and the actual joint state in the motion control command. The desired joint torque, the preset direct-axis control current, and the actual joint torque and actual direct-axis current fed back by the joint motor are input to the terminal sliding mode adaptive controller to obtain the quadrature-axis control voltage and direct-axis control voltage output by the terminal sliding mode adaptive controller. The terminal sliding mode adaptive controller is a controller 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 terminal sliding mode adaptive controller is constructed based on the following relative relationships: 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 terminal sliding mode adaptive controller is used to determine the quadrature axis control voltage based on the error between the desired joint torque and the actual joint torque, and to determine the direct axis control voltage based on the error between the direct axis control current and the actual direct axis current.

3. The joint motor control method according to claim 1, characterized in that, The method further includes: The parameters of the terminal sliding mode adaptive controller are corrected based on the terminal sliding mode surface.

4. The joint motor control method according to claim 3, characterized in that, The step of correcting the parameters of the terminal sliding mode adaptive controller based on the terminal sliding mode surface includes: The parameters of the terminal sliding mode adaptive controller are corrected based on the terminal sliding surface, the adaptive rate, and the Lyapunov function to make the terminal sliding surface converge.

5. The joint motor control method according to claim 1, characterized in that, The step of determining the desired joint torque based on the desired joint state and the actual joint state in the motion control command 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.

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

7. The joint motor control method according to claim 1, 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.

8. A joint motor control device, characterized in that, The device includes: The torque module is used to determine the desired joint torque based on the desired joint state and the actual joint state in the motion control command. A voltage module is used to input the desired joint torque, the preset direct-axis control current, and the actual joint torque and actual direct-axis current fed back by the joint motor to the terminal sliding mode adaptive controller to obtain the quadrature-axis control voltage and direct-axis control voltage output by the terminal sliding mode adaptive controller. The terminal sliding mode adaptive controller is a controller 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 device further includes a construction module, the construction module being used for: The terminal sliding mode adaptive controller is constructed based on the following relative relationships: 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.

9. The joint motor control device according to claim 8, characterized in that, The terminal sliding mode adaptive controller is used to determine the quadrature axis control voltage based on the error between the desired joint torque and the actual joint torque, and to determine the direct axis control voltage based on the error between the direct axis control current and the actual direct axis current.

10. The joint motor control device according to claim 9, characterized in that, The device further includes a calibration module, the calibration module being used for: The parameters of the terminal sliding mode adaptive controller are corrected based on the terminal sliding mode surface.

11. The joint motor control device according to claim 10, characterized in that, When the correction module is used to correct the parameters of the terminal sliding mode adaptive controller based on the terminal sliding mode surface, it is used for: The parameters of the terminal sliding mode adaptive controller are corrected based on the terminal sliding surface, the adaptive rate, and the Lyapunov function to make the terminal sliding surface converge.

12. The joint motor control device according to claim 8, characterized in that, The torque module 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.

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

14. 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.

15. 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 7 when executing the computer instructions.

16. 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 7.

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