A control method and device of a drive shaft, an electronic device, and a storage medium

Abstract

The application discloses a kind of control method, device, electronic equipment and storage medium of drive shaft.The method is determined target drive shaft meets driven shaft mode switching condition, and the target drive shaft is switched to driven shaft mode, and axial force matched with the target drive shaft is obtained;Wherein, the target drive shaft that is switched to driven shaft mode follows active shaft and moves;According to the axial force, the movement speed of the target drive shaft is determined;According to the movement speed, the movement control is carried out to the target drive shaft.This technical solution realizes the free switching of positioner master-slave driven shaft, increases the flexibility of positioner, and better meets the requirements of attitude adjustment docking.

Description

Technical Field

[0001] This invention relates to the field of aircraft digital assembly technology, and in particular to a control method, device, electronic equipment, and storage medium for a drive shaft. Background Technology

[0002] In aircraft digital assembly systems, the attitude adjustment of assembled components is generally achieved by the coordinated movement of multiple positioners in the heading, spanning, and gravity directions.

[0003] Currently, the commonly used configurations of drive shafts for positioners mainly include master-slave configuration, active shaft + floating shaft configuration, and fully active configuration. The master-slave configuration involves four positioners: one positioner with active shafts in three directions, one positioner with active shafts in gravity and spanwise directions, and two positioners with active shafts in the gravity direction. In this configuration, there is only one active shaft in the heading direction, and the drive on the slave shaft side will lag significantly behind the active shaft. The active shaft + floating shaft configuration involves four positioners: one positioner with active shafts in three directions, one positioner with an active shaft in the gravity direction, and a floating shaft that can switch between master and slave configurations; one positioner with active shafts in gravity and spanwise directions, and one positioner with an active shaft in the gravity direction. In this method, the master-slave switching mechanism for the floating shaft is relatively complex, resulting in higher setup and maintenance costs. The fully active configuration involves four positioners, each with active shafts in three directions. This configuration is prone to generating large additional forces, and the coordination and control methods are relatively complex. Summary of the Invention

[0004] This invention provides a control method, device, electronic device, and storage medium for a drive shaft, enabling free switching between the master and slave shafts of the positioner, increasing the flexibility of the positioner, and better meeting the requirements for attitude adjustment and docking.

[0005] In a first aspect, embodiments of the present invention provide a control method for a drive shaft, the method comprising:

[0006] If it is determined that the target drive shaft meets the driven shaft mode switching conditions, then the target drive shaft is switched to driven shaft mode, and an axial force matching the target drive shaft is obtained;

[0007] In this case, the target drive shaft, when switched to driven shaft mode, moves in tandem with the drive shaft.

[0008] The speed of the target drive shaft is determined based on the axial force.

[0009] Motion control is performed on the target drive shaft based on the stated speed of motion.

[0010] Secondly, embodiments of the present invention also provide a control device for a drive shaft, the device comprising:

[0011] The driven shaft mode switching module is used to switch the target drive shaft to driven shaft mode if it is determined that the target drive shaft meets the driven shaft mode switching conditions, and to obtain the axial force matching the target drive shaft; wherein, the target drive shaft switched to driven shaft mode moves with the drive shaft.

[0012] The motion speed determination module is used to determine the motion speed of the target drive shaft based on the axial force.

[0013] The first motion control module is used to perform motion control on the target drive shaft according to the motion speed.

[0014] Thirdly, embodiments of the present invention also provide a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement a drive shaft control method as described in any of the embodiments of the present invention.

[0015] Fourthly, embodiments of the present invention also provide a storage medium for storing computer-executable instructions, which, when executed by a computer processor, are used to perform a drive shaft control method as described in any of the embodiments of the present invention.

[0016] The technical solution of this invention involves switching the target drive shaft to driven shaft mode if it is determined that the target drive shaft meets the driven shaft mode switching conditions, and acquiring an axial force matching the target drive shaft. The target drive shaft in driven shaft mode follows the drive shaft. The movement speed of the target drive shaft is determined based on the axial force. Motion control of the target drive shaft is then performed based on the movement speed. This technical solution enables free switching between the master and driven shafts of the positioner, increases the positioner's flexibility, and better meets the requirements for attitude adjustment and docking.

[0017] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1This is a flowchart of a drive shaft control method provided in Embodiment 1 of the present invention;

[0020] Figure 2 This is a flowchart of a drive shaft control method provided in Embodiment 2 of the present invention;

[0021] Figure 3 This is a schematic diagram of the structure of a drive shaft control device provided in Embodiment 3 of the present invention;

[0022] Figure 4 This is a schematic diagram of the structure of a computer device provided in Embodiment 4 of the present invention. Detailed Implementation

[0023] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0024] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0025] Example 1

[0026] Figure 1 The flowchart of a drive shaft control method provided in Embodiment 1 of the present invention is applicable to the control of the drive shaft on the aircraft during the attitude adjustment and docking of a large section in the aircraft digital assembly system. The method can be executed by a drive shaft control device, which can be implemented in hardware and / or software.

[0027] like Figure 1 As shown, the method includes:

[0028] S110. If it is determined that the target drive shaft meets the driven shaft mode switching conditions, then the target drive shaft is switched to driven shaft mode, and the axial force matching the target drive shaft is obtained.

[0029] In this mode, the target drive shaft, when switched to driven shaft mode, moves in tandem with the drive shaft.

[0030] In aircraft digital assembly systems, attitude adjustment and docking of large sections typically consists of multiple positioners. Each positioner achieves coordinated movement by setting drive axes in the heading, spanning, and gravity directions. Among these, to meet the most basic requirements for attitude adjustment and docking of large sections, some positioner axes must be active axes. Based on this, the remaining axes can switch between master and slave modes.

[0031] When docking most sections, you can determine whether to switch the target drive shaft to driven shaft mode based on the working conditions and attitude adjustment docking requirements.

[0032] Specifically, the driven axis mode switching condition can be that a driven axis mode switching command is received. The aircraft digital assembly system provides a user interface where the user can click to switch drive axis modes, switching the drive axis that allows master-slave axis switching to driven axis mode. The user interface generates a driven axis mode switching command and sends it to the controller of the aircraft digital assembly system. Alternatively, the driven axis mode switching condition can be determined based on the attitude adjustment and docking direction of the aircraft components. For example, when it is necessary to control the aircraft components to move in the yaw direction, multiple master axes can be set in the yaw direction; for example, two master axes can be set in the yaw direction. To ensure the synchronization of the aircraft components on both sides of the spanwise direction, two master axes can also be set in the spanwise direction. This embodiment does not limit the content of the driven axis mode switching condition.

[0033] Optionally, the target drive shaft is an active shaft in the heading direction and / or span direction.

[0034] For example, if the attitude adjustment and docking system has four positioners, then there must be one active axis in the heading direction, two active axes in the spanwise direction, and all four axes in the gravity direction must be active axes. The remaining five axes in the heading and spanwise directions are drive axes that allow master-slave switching.

[0035] In this embodiment of the invention, the axial force can be obtained by force sensor measurement. Specifically, in this embodiment, the structure of each positioner is designed according to three fully active axes: heading direction, span direction, and gravity direction. Based on this, a unidirectional force sensor is installed at the end of the lead screw bearing of the axis that needs to be switched between active and passive modes. When the drive shaft is switched to the passive mode, the magnitude and direction of the axial force of each axis are measured by the force sensor.

[0036] S120. Determine the speed of the target drive shaft based on the axial force.

[0037] In this embodiment of the invention, since the driven shaft follows the drive shaft, when adjusting and docking aircraft components, each drive shaft should maintain relative synchronization. If the axial force on the driven shaft is large, it can easily lead to poor synchronization between the drive shafts, causing damage to the aircraft components. Therefore, in this embodiment, the movement speed of the target drive shaft that is switched to the driven shaft is calculated based on the axial force, and the target drive shaft is controlled to follow the drive shaft, so that the target drive shaft and the drive shaft have good synchronization.

[0038] Optionally, determining the motion speed of the target drive shaft based on the axial force includes: if the axial force is determined to be greater than or equal to a first threshold and less than or equal to a second threshold, then determining the motion speed of the target drive shaft based on the axial force and a proportional-integral-derivative control algorithm; wherein the second threshold is greater than the first threshold.

[0039] When the axial force is greater than or equal to the first threshold and less than or equal to the second threshold, the target drive shaft follows the calculated motion speed. Setting a specific axial force range for the target drive shaft to follow the calculated motion speed is significant because if the axial force fluctuates around 0, it will cause the drive shaft motor to reverse direction repeatedly, leading to system oscillation and affecting the stability of attitude adjustment and docking. Simultaneously, if the axial force is large, it indicates poor synchronization between the drive shafts, which can easily damage aircraft components, requiring a halt to the target drive shaft's movement. Optionally, the motion speed of the target drive shaft is determined based on the axial force and a proportional-integral-derivative (PID) control algorithm, including: determining the target drive shaft's motion speed based on the difference between the axial force and the set force value, where the set force value is 0.

[0040] Specifically, a PID (Proportional-Integral-Differential) controller can calculate the speed of the target drive shaft based on the difference between the axial force and the set force value. The PID controller can calculate the speed of the target drive shaft using the following formula:

[0041]

[0042] Where u(t) is the velocity of the target drive shaft, e(t) is the difference between the axial force and the set force value, and K p For proportional gain, K i For integral gain, K d Let t be the differential gain, t be the current time, and τ be the integral variable, with a value from 0 to t.

[0043] In this embodiment of the invention, the required speed of the drive shaft is calculated by using a PID algorithm to make the axial force approach 0, and the drive shaft is controlled according to the speed of movement to reduce the axial force and make the axial force approach 0, thereby ensuring the synchronization of the movement between each drive shaft.

[0044] S130. Perform motion control on the target drive shaft according to the motion speed.

[0045] After PID calculation, the axial force is used as the speed setpoint for the driven shaft mode. The motor controller obtains the motion speed and sends commands to the target drive shaft motor, thereby controlling the target drive shaft to move. The greater the axial force, the greater the speed of the target drive shaft; the smaller the axial force, the smaller the speed of the target drive shaft. Therefore, through closed-loop force control, the target drive shaft always follows the movement of other drive shafts, making the axial force stable.

[0046] The technical solution of this invention, by switching the target drive shaft to the driven shaft mode if it is determined that the target drive shaft meets the driven shaft mode switching conditions, and obtaining the axial force matching the target drive shaft, determining the movement speed of the target drive shaft based on the axial force, and performing motion control on the target drive shaft based on the movement speed, solves the problem of the complexity of the master-slave switching mechanism in the prior art, realizes the free switching of the master and slave shafts of the positioner, increases the flexibility of the positioner, and better meets the requirements of attitude adjustment docking.

[0047] Example 2

[0048] Figure 2 This is a flowchart of a control method for a drive shaft provided in Embodiment 2 of the present invention. Based on the above embodiments, the present invention further specifies the determination of the motion speed of the target drive shaft according to the axial force.

[0049] like Figure 2 As shown, the method includes:

[0050] S210. Determine whether the target drive axis meets the driven axis mode switching conditions. If yes, execute S220; otherwise, execute S280.

[0051] The conditions for switching the driven axis mode have been illustrated in the above embodiments, and will not be repeated here.

[0052] S220. Switch the target drive shaft to driven shaft mode and obtain the axial force matching the target drive shaft.

[0053] The method for obtaining the axial force of the target drive shaft has been described in the above embodiments, and will not be repeated here.

[0054] S230. Determine whether the axial force is greater than or equal to the first threshold. If yes, execute S240; otherwise, execute S260.

[0055] When the axial force is both positive and negative near zero, it can cause the motor to reverse direction repeatedly, leading to oscillations and system instability. Therefore, to prevent signal fluctuations near zero axial force from causing oscillations in the control of the target drive shaft switched to driven shaft mode, a dead zone F0, i.e., a first threshold, is set in the control system for the force value. The first threshold can be a small value close to zero; this embodiment does not limit the specific value of the first threshold.

[0056] S240. Determine whether the axial force is less than or equal to the second threshold. If yes, execute S250; otherwise, execute S270.

[0057] To prevent excessive force from affecting aircraft safety, a maximum allowable force value Fmax, or second threshold, is set in the control system when the target drive shaft follows the active shaft.

[0058] S250. Determine the motion speed of the target drive shaft based on the axial force and the proportional-integral-derivative control algorithm.

[0059] Furthermore, determining the motion speed of the target drive shaft based on the axial force and the proportional-integral-derivative (PID) control algorithm may include: determining the motion speed of the target drive shaft based on the difference between the axial force and the set force value, and the PID control algorithm.

[0060] The specific method for determining the target drive shaft speed based on the PID algorithm has been described in the above embodiments, and will not be repeated here.

[0061] S260. Determine that the speed of the target drive shaft is 0.

[0062] When the absolute value of the axial force is less than the first threshold, the target drive shaft, which is switched to the driven shaft mode, does not move, which can effectively prevent system instability caused by the oscillation of the target drive shaft.

[0063] S270, Perform follow-up fault alarm.

[0064] When the axial force exceeds the second threshold, the system immediately shuts down and reports a following fault to ensure aircraft safety.

[0065] S280. Motion control is performed on the target drive shaft according to the attitude interpolation algorithm.

[0066] When the target drive axis is in active axis mode, the force sensor does not participate in the axis's motion control. The control system uses an attitude interpolation algorithm to coordinate the control of each active axis corresponding to the positioner. The attitude interpolation algorithm is used for motion trajectory planning and includes an attitude planning algorithm and an interpolation algorithm. The attitude planning algorithm can be the rotation matrix method, Euler angle method, unit quaternion method, etc., and the interpolation algorithm can be linear interpolation, multi-attitude interpolation, etc. This embodiment does not limit the specific type of attitude interpolation algorithm used.

[0067] This embodiment improves the flexibility and stability of the control process for the adjustment and docking of most parts of the aircraft by using different control methods for the drive shaft and the driven shaft.

[0068] Example 3

[0069] Figure 3 This is a schematic diagram of a control device for a drive shaft provided in Embodiment 3 of the present invention. Figure 3 As shown, the device includes: a driven shaft mode switching module 310, a motion speed determination module 320, and a first motion control module 330. Wherein:

[0070] The driven shaft mode switching module 310 is used to switch the target drive shaft to the driven shaft mode if it is determined that the target drive shaft meets the driven shaft mode switching conditions, and to obtain the axial force matching the target drive shaft.

[0071] In this case, the target drive shaft, when switched to driven shaft mode, moves in tandem with the drive shaft.

[0072] The motion speed determination module 320 is used to determine the motion speed of the target drive shaft based on the axial force.

[0073] The first motion control module 330 is used to perform motion control on the target drive shaft according to the motion speed.

[0074] The technical solution of this invention involves switching the target drive shaft to driven shaft mode if it is determined that the target drive shaft meets the driven shaft mode switching conditions, and acquiring an axial force matching the target drive shaft. The target drive shaft in driven shaft mode follows the drive shaft. The movement speed of the target drive shaft is determined based on the axial force. Motion control of the target drive shaft is then performed based on the movement speed. This technical solution enables free switching between the master and driven shafts of the positioner, increasing the positioner's flexibility and better meeting the requirements for attitude adjustment and docking.

[0075] Based on the above embodiments, the motion speed determination module 320 includes:

[0076] The first motion speed determination unit is used to determine the motion speed of the target drive shaft based on the axial force and the proportional-integral-derivative control algorithm if it is determined that the axial force is greater than or equal to a first threshold and less than or equal to a second threshold.

[0077] Wherein, the second threshold is greater than the first threshold.

[0078] The first motion speed determination unit is specifically used for:

[0079] The motion speed of the target drive shaft is determined based on the difference between the axial force and the set force value, and the proportional-integral-derivative control algorithm.

[0080] The set force value is 0.

[0081] Based on the above embodiments, the motion speed determination module 320 includes:

[0082] The second motion speed determination unit is used to determine the motion speed of the target drive shaft as 0 if the axial force is determined to be less than the first threshold.

[0083] Based on the above embodiments, the motion speed determination module 320 includes:

[0084] The third motion speed determination unit is used to trigger a follow-up fault alarm if it determines that the axial force is greater than the second threshold.

[0085] Based on the above embodiments, the device further includes:

[0086] The second motion control module is used to perform motion control on the target drive axis according to the attitude interpolation algorithm if it is determined that the target drive axis does not meet the driven axis mode switching conditions.

[0087] Based on the above embodiments, the target drive shaft is an active shaft in the heading direction and / or span direction.

[0088] The drive shaft control device provided in the embodiments of the present invention can execute the drive shaft control method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0089] Example 4

[0090] Figure 4 This is a schematic diagram of the structure of a computer device provided in Embodiment 4 of the present invention, as shown below. Figure 4 As shown, the computer device includes a processor 70, a memory 71, an input device 72, and an output device 73; the number of processors 70 in the computer device can be one or more. Figure 4Taking a processor 70 as an example; the processor 70, memory 71, input device 72, and output device 73 in a computer device can be connected via a bus or other means. Figure 4 Taking the example of a connection between China and Israel via a bus.

[0091] The memory 71, as a computer-readable storage medium, can be used to store software programs, computer-executable programs, and modules, such as the modules corresponding to the drive shaft control method in this embodiment of the invention (e.g., the driven shaft mode switching module 310, the motion speed determination module 320, and the first motion control module 330 in the drive shaft control device). The processor 70 executes various functional applications and data processing of the computer device by running the software programs, instructions, and modules stored in the memory 71, thereby implementing the aforementioned drive shaft control method. This method includes:

[0092] If it is determined that the target drive shaft meets the driven shaft mode switching conditions, then the target drive shaft is switched to driven shaft mode, and an axial force matching the target drive shaft is obtained;

[0093] In this case, the target drive shaft, when switched to driven shaft mode, moves in tandem with the drive shaft.

[0094] The speed of the target drive shaft is determined based on the axial force.

[0095] Motion control is performed on the target drive shaft based on the stated speed of motion.

[0096] The memory 71 may primarily include a program storage area and a data storage area. The program storage area may store the operating system and at least one application program required for a given function; the data storage area may store data created based on terminal usage. Furthermore, the memory 71 may include high-speed random access memory and non-volatile memory, such as at least one disk storage device, flash memory, or other non-volatile solid-state storage device. In some instances, the memory 71 may further include memory remotely located relative to the processor 70, which can be connected to the computer device via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0097] Input device 72 can be used to receive input digital or character information, and to generate key signal inputs related to user settings and function control of the computer device. Output device 73 may include display devices such as a display screen.

[0098] Example 5

[0099] Embodiment 5 of the present invention also provides a storage medium for storing computer-executable instructions, which, when executed by a computer processor, are used to execute a control method for a drive shaft, the method comprising:

[0100] If it is determined that the target drive shaft meets the driven shaft mode switching conditions, then the target drive shaft is switched to driven shaft mode, and an axial force matching the target drive shaft is obtained;

[0101] In this case, the target drive shaft, when switched to driven shaft mode, moves in tandem with the drive shaft.

[0102] The speed of the target drive shaft is determined based on the axial force.

[0103] Motion control is performed on the target drive shaft based on the stated speed of motion.

[0104] Of course, the computer-executable instructions provided in the embodiments of the present invention are not limited to the method operations described above, but can also execute related operations in the drive shaft control method provided in any embodiment of the present invention.

[0105] Based on the above description of the implementation methods, those skilled in the art can clearly understand that the present invention can be implemented using software and necessary general-purpose hardware, and of course, it can also be implemented using hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as a computer floppy disk, read-only memory (ROM), random access memory (RAM), flash memory, hard disk, or optical disk, etc., including several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments of the present invention.

[0106] It is worth noting that in the embodiments of the above-mentioned drive shaft control device, the various units and modules included are only divided according to functional logic, but are not limited to the above division, as long as the corresponding functions can be achieved; in addition, the specific names of each functional unit are only for easy differentiation and are not used to limit the scope of protection of the present invention.

[0107] Note that the above description is merely a preferred embodiment of the present invention and the technical principles employed. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions can be made without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of the present invention, the scope of which is determined by the scope of the appended claims.

Claims

1. A control method for a drive shaft, characterized in that, include: If it is determined that the target drive shaft meets the driven shaft mode switching conditions, then the target drive shaft is switched to driven shaft mode, and an axial force matching the target drive shaft is obtained; In this case, the target drive shaft, when switched to driven shaft mode, moves in tandem with the drive shaft. The speed of the target drive shaft is determined based on the axial force. Motion control is performed on the target drive shaft based on the motion speed; Determining the movement speed of the target drive shaft based on the axial force includes: If it is determined that the axial force is greater than or equal to the first threshold and less than or equal to the second threshold, then the motion speed of the target drive shaft is determined according to the axial force and the proportional-integral-derivative control algorithm. Wherein, the second threshold is greater than the first threshold.

2. The method according to claim 1, characterized in that, The motion speed of the target drive shaft is determined based on the axial force and the proportional-integral-derivative (PID) control algorithm, including: The motion speed of the target drive shaft is determined based on the difference between the axial force and the set force value, and the proportional-integral-derivative control algorithm. The set force value is 0.

3. The method according to claim 1, characterized in that, Determining the movement speed of the target drive shaft based on the axial force further includes: If the axial force is determined to be less than the first threshold, then the speed of the target drive shaft is determined to be 0.

4. The method according to claim 1, characterized in that, Determining the movement speed of the target drive shaft based on the axial force further includes: If the axial force is determined to be greater than the second threshold, a follow-up fault alarm will be triggered.

5. The method according to claim 1, characterized in that, The method further includes: If it is determined that the target drive axis does not meet the driven axis mode switching conditions, then motion control is performed on the target drive axis according to the attitude interpolation algorithm.

6. The method according to claim 1, characterized in that, The target drive shaft is an active shaft in the heading direction and / or span direction.

7. A control device for a drive shaft, characterized in that, include: The driven shaft mode switching module is used to switch the target drive shaft to driven shaft mode and obtain the axial force matching the target drive shaft if it is determined that the target drive shaft meets the driven shaft mode switching conditions. In this case, the target drive shaft, when switched to driven shaft mode, moves in tandem with the drive shaft. A motion speed determination module is used to determine the motion speed of the target drive shaft based on the axial force. A motion control module is used to perform motion control on the target drive shaft according to the motion speed; The motion speed determination module includes: The first motion speed determination unit is used to determine the motion speed of the target drive shaft based on the axial force and the proportional-integral-derivative control algorithm if it is determined that the axial force is greater than or equal to a first threshold and less than or equal to a second threshold. Wherein, the second threshold is greater than the first threshold.

8. A computer device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements a drive shaft control method as described in any one of claims 1-6.

9. A storage medium for storing computer-executable instructions, characterized in that, The computer-executable instructions, when executed by a computer processor, are used to perform a drive shaft control method as described in any one of claims 1-6.

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