Servo drive control method, device, equipment and storage medium

Abstract

The present application relates to the technical field of servo drive, and discloses a servo drive control method, device, equipment and storage medium, the method comprising: if the collected real-time position information is received, then the drive control mode is determined according to the real-time position information and the current theoretical position information at the current moment, wherein the drive control mode includes a normal drive mode and a special drive mode; the next theoretical position information at the next moment is obtained, and the drive control instruction is determined according to the next theoretical position information and the real-time position information; if the drive control mode is the normal drive mode, the drive control is performed based on the drive control instruction and the preset normal drive control instruction; if the drive control mode is the special drive mode, the drive control is performed based on the drive control instruction and the preset special drive control instruction. The present application improves the accuracy of servo drive control.

Description

Technical Field

[0001] The present application relates to the technical field of servo drives, and in particular to a servo drive control method, device, equipment and storage medium. Background Art

[0002] With the rapid development of servo drive technology, servo drives have been widely used in different drive control scenarios, which also puts higher requirements on the accuracy of servo drive control.

[0003] The traditional servo drive control method is to generate control instructions through the real-time position information collected by the corresponding sensors, and then generate control current based on the control instructions to drive the target drive device. This servo drive control method has great defects. Since the drive can only be based on the real-time position information, the control accuracy is difficult to guarantee (the collected real-time position may be wrong within a short period of time). That is, this servo drive control method can only be based on the real-time position information, which results in low accuracy of servo drive control. Summary of the invention

[0004] The main purpose of this application is to propose a servo drive control method, device and storage medium, aiming to improve the accuracy of servo drive control.

[0005] To achieve the above object, the present application provides a servo drive control method, the servo drive control method steps comprising:

[0006] If the collected real-time position information is received, a drive control mode is determined according to the real-time position information and the current theoretical position information at the current moment, wherein the drive control mode includes a normal drive mode and a special drive mode;

[0007] Acquire next theoretical position information at the next moment, and determine a drive control instruction according to the next theoretical position information and the real-time position information;

[0008] If the drive control mode is the normal drive mode, drive control is performed based on the drive control instruction and a preset normal drive control instruction;

[0009] If the drive control mode is the special drive mode, drive control is performed based on the drive control instruction and a preset special drive control instruction.

[0010] Optionally, the step of determining the drive control mode according to the real-time position information and the current theoretical position information at the current moment includes:

[0011] Determine a first position in the real-time position information and a second position in the current theoretical position information at the current moment, and detect whether a position difference between the first position and the second position is greater than a preset first position difference threshold;

[0012] If the position difference between the first position and the second position is greater than a preset first position difference threshold, determining that the drive control mode is a special drive mode;

[0013] If the position difference between the first position and the second position is less than or equal to a preset first position difference threshold, it is determined that the driving control mode is a normal driving mode.

[0014] Optionally, the step of determining the drive control instruction according to the next theoretical position information and the real-time position information includes:

[0015] Determine a third position in the next theoretical position information and a first position in the real-time position information, and determine a first control instruction corresponding to an actual position difference between the third position and the first position;

[0016] Determine a compensated position difference in the real-time position information, determine a second control instruction corresponding to the compensated position difference, and update the first control instruction based on the second control instruction to obtain a drive control instruction;

[0017] The step of determining the compensated position difference in the real-time position information comprises:

[0018] Each time the real-time position information is collected, a compensated position difference between the real-time position information and the current theoretical position information at the current moment is determined.

[0019] Optionally, the normal drive control instruction includes a dual-stage drive instruction, and the step of performing drive control based on the drive control instruction and a preset normal drive control instruction includes:

[0020] Determine a driving current based on the driving control instruction, and determine a front-stage driving current in the driving current based on the dual-stage driving instruction;

[0021] A front-stage position error under the driving control of the front-stage driving current is determined, and based on the front-stage position error, a remaining driving current in the driving current is updated to obtain a rear-stage driving current, and driving control is performed based on the rear-stage driving current.

[0022] Optionally, the special drive control instruction includes a plurality of drive instructions, and the step of performing drive control based on the drive control instruction and a preset special drive control instruction includes:

[0023] Determine a driving current based on the driving control instruction, and determine a plurality of segmented driving currents in the driving current based on the plurality of segmented driving instructions;

[0024] Determine a first position error under driving control of a first segment driving current in the segmented driving current, and update the first segment driving current in the segmented driving current, and update the first segment driving current after updating based on the first position error to obtain a current driving current;

[0025] Determine the second position error under the current driving current driving control, and determine the mean difference error between the first position error and the second position error, use the mean difference error as the first position error and execute the step of updating the first segment driving current in the segmented driving current until each segmented driving current is driven and controlled.

[0026] Optionally, after the step of performing drive control based on the drive control instruction and the preset special drive control instruction, the following steps are included:

[0027] Obtaining real-time position information at a next moment of the current moment, determining a fourth position in the real-time position information at the next moment and a third position in the next theoretical position information, and detecting whether a position difference between the fourth position and the third position is greater than a preset second position difference threshold;

[0028] If the position difference between the fourth position and the third position is greater than a preset second position difference threshold, the real-time position information is updated based on the real-time position information at the next moment, and the step of determining the drive control mode according to the real-time position information and the current theoretical position information at the current moment is performed;

[0029] If the position difference between the fourth position and the third position is less than or equal to a preset second position difference threshold, the step of determining the drive control mode according to the real-time position information and the current theoretical position information at the current moment if the collected real-time position information is received is executed.

[0030] Optionally, before the step of determining the drive control mode according to the real-time position information and the current theoretical position information at the current moment if the collected real-time position information is received, the method further comprises:

[0031] Obtain the current timing duration, and detect whether the timing duration reaches a preset duration threshold;

[0032] If the timing duration reaches a preset duration threshold, the current position information at the current moment is obtained, the current position information is used as the real-time position information, and the step of determining the drive control mode according to the real-time position information and the current theoretical position information at the current moment is performed if the collected real-time position information is received;

[0033] If the timing duration does not reach the preset duration threshold, the steps of obtaining the timing duration at the current moment and detecting whether the timing duration reaches the preset duration threshold are executed; and / or

[0034] Acquire a plurality of driving currents at adjacent moments, and detect whether the driving currents satisfy a preset current change state;

[0035] If the driving current satisfies the preset current change state, the current position information at the current moment is obtained, the current position information is used as the real-time position information, and the step of determining the driving control mode according to the real-time position information and the current theoretical position information at the current moment is performed if the collected real-time position information is received;

[0036] If the driving current satisfies the preset current change state, the step of acquiring the driving currents at a plurality of adjacent moments and detecting whether the driving current satisfies the preset current change state is performed.

[0037] In addition, to achieve the above-mentioned purpose, the present application also provides a servo drive control device, the servo drive control device comprising:

[0038] A mode determination module, for determining a drive control mode according to the real-time position information and the current theoretical position information at the current moment if the collected real-time position information is received, wherein the drive control mode includes a normal drive mode and a special drive mode;

[0039] An instruction determination module, used to obtain the next theoretical position information at the next moment, and determine the drive control instruction according to the next theoretical position information and the real-time position information;

[0040] A first control module, configured to perform drive control based on the drive control instruction and a preset normal drive control instruction if the drive control mode is the normal drive mode;

[0041] The second control module is used for performing drive control based on the drive control instruction and a preset special drive control instruction if the drive control mode is the special drive mode.

[0042] In addition, to achieve the above-mentioned purpose, the present application also provides a servo drive control device, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program implements the steps of the servo drive control method described above when executed by the processor.

[0043] In addition, to achieve the above-mentioned purpose, the present application also provides a servo drive control storage medium, on which a servo drive control program is stored. When the servo drive control program is executed by a processor, the steps of the servo drive control method described above are implemented.

[0044] The present application determines the drive control mode according to the real-time position information and the current theoretical position information at the current moment if the collected real-time position information is received, wherein the drive control mode includes a normal drive mode and a special drive mode; obtains the next theoretical position information at the next moment, and determines the drive control instruction according to the next theoretical position information and the real-time position information; if the drive control mode is the normal drive mode, drive control is performed based on the drive control instruction and the preset normal drive control instruction; if the drive control mode is the special drive mode, drive control is performed based on the drive control instruction and the preset special drive control instruction, and the drive control mode is determined by the real-time position information and the current theoretical position information at the current moment, and the drive control mode is also determined based on the next theoretical position information and the real-time position information. Determine the drive control instruction, and then when the drive control mode is the normal drive mode, perform drive control based on the drive control instruction and the preset normal drive control instruction; when the drive control mode is the special drive mode, perform drive control based on the drive control instruction and the preset special drive control instruction, thereby avoiding the phenomenon in the prior art that the control accuracy is difficult to guarantee because the drive can only be based on the real-time position information. This servo drive control method can not only be divided into a special drive mode and a normal drive mode for drive control, thereby improving the functionality of the servo drive control, but also considers the drive control mode, the next theoretical position information and the real-time position information to determine the drive control instruction as well as the preset normal drive control instruction and the preset special drive control instruction for drive control, thereby improving the accuracy of the servo drive control. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 It is a schematic diagram of the structure of a servo drive control device in the hardware operating environment involved in the embodiment of the present application;

[0046] Figure 2 This is a flow chart of the first embodiment of the servo drive control method of the present application;

[0047] Figure 3A schematic diagram of a device module for controlling a servo drive of the present application;

[0048] Figure 4 A schematic diagram of a servo drive control system for this application;

[0049] Figure 5 A schematic diagram of a flow chart of a servo drive control method of the present application.

[0050] The purpose, features and advantages of this application will be further described in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0051] It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0052] Reference Figure 1 , Figure 1 This is a schematic diagram of the structure of a servo drive control device in the hardware operating environment involved in the embodiment of the present application.

[0053] like Figure 1 As shown, the servo drive control device may include: a processor 0003, such as a central processing unit (CPU), a communication bus 0001, an acquisition interface 0002, a processing interface 0004, and a memory 0005. Among them, the communication bus 0001 is used to realize the connection and communication between these components. The acquisition interface 0002 may include an information acquisition device and an acquisition unit such as a computer, and the acquisition interface 0002 may optionally include a standard wired interface and a wireless interface. The processing interface 0004 may optionally include a standard wired interface and a wireless interface. The memory 0005 may be a high-speed random access memory (Random Access Memory, RAM), or a stable non-volatile memory (Non-Volatile Memory, NVM), such as a disk storage. The memory 0005 may optionally be a storage device independent of the aforementioned processor 0003.

[0054] Those skilled in the art will understand that Figure 1 The structure shown in the figure does not constitute a limitation on the servo drive control device, and may include more or less components than shown in the figure, or combine certain components, or arrange the components differently.

[0055] like Figure 1 As shown, the memory 0005 as a storage medium may include an operating system, an acquisition interface module, a processing interface module, and a servo drive control program.

[0056] exist Figure 1In the servo drive control device shown, the communication bus 0001 is mainly used to realize the connection communication between components; the acquisition interface 0002 is mainly used to connect to the background server and communicate data with the background server; the processing interface 0004 is mainly used to connect to the deployment end (user end) and communicate data with the deployment end; the processor 0003 and the memory 0005 in the servo drive control device of the present application can be set in the servo drive control device, and the servo drive control device calls the servo drive control program stored in the memory 0005 through the processor 0003, and executes the servo drive control method provided in the embodiment of the present application.

[0057] In order to make the description of the following embodiments clear and concise, a brief introduction to the implementation of a servo drive control method is first given:

[0058] The existing servo drive control is completely based on the real-time position collected for drive control. If a drive abnormality is encountered due to inaccurate collection position, the improvement scheme generally adopted is to replace a more sensitive collection device or improve the accuracy of the collection position by other means, such as realizing position calculation through a specific algorithm, and then assisting the collector to collect to improve the accuracy of collection, thereby improving the accuracy of driving. However, the above scheme has at least the following defects: the collector or algorithm cannot be replaced in time when the servo drive is in use, which causes the servo drive control to be unable to be calibrated in time, and the accuracy of the servo drive control is low. Therefore, based on the above problems, the technical solution of this application is proposed to solve the technical problem of low accuracy of servo drive control.

[0059] The present application adopts a servo drive control method. If the collected real-time position information is received, the drive control mode is determined according to the real-time position information and the current theoretical position information at the current moment, wherein the drive control mode includes a normal drive mode and a special drive mode; the next theoretical position information at the next moment is obtained, and the drive control instruction is determined according to the next theoretical position information and the real-time position information; if the drive control mode is the normal drive mode, the drive control is performed based on the drive control instruction and the preset normal drive control instruction; if the drive control mode is the special drive mode, the drive control is performed based on the drive control instruction and the preset special drive control instruction, and the drive control mode is determined according to the real-time position information and the current theoretical position information at the current moment, and the next theoretical position information is also determined based on the next theoretical position information. and real-time position information to determine the drive control instructions, and then when the drive control mode is the normal drive mode, drive control is performed based on the drive control instructions and the preset normal drive control instructions, and when the drive control mode is the special drive mode, drive control is performed based on the drive control instructions and the preset special drive control instructions, thereby avoiding the phenomenon in the prior art that the control accuracy is difficult to guarantee because the drive can only be based on the real-time position information. This servo drive control method can not only be divided into a special drive mode and a normal drive mode for drive control, thereby improving the functionality of the servo drive control, but also considers the drive control mode, the next theoretical position information and the real-time position information to determine the drive control instructions as well as the preset normal drive control instructions and the preset special drive control instructions for drive control, thereby improving the accuracy of the servo drive control.

[0060] Based on the above hardware structure, an embodiment of the servo drive control method of the present application is proposed.

[0061] The present application provides a servo drive control method, referring to Figure 2 , Figure 2 This is a flow chart of the first embodiment of the servo drive control method of the present application.

[0062] In this embodiment, the servo drive control method includes:

[0063] Step S10, if the collected real-time position information is received, determining a drive control mode according to the real-time position information and the current theoretical position information at the current moment, wherein the drive control mode includes a normal drive mode and a special drive mode;

[0064] For example, refer to Figure 4 , Figure 4This is a scene diagram of the servo drive control system of the present application. The servo drive control can be a motor drive or other drives; the drive can be a motor or other driven devices, and the collector can be various sensors, sensing instruments, etc., and the specific devices are not limited here. As shown in the figure, the servo drive is directly connected to the driver, and the servo drive is directly connected to the collector. The connection can be a communication or power supply connection, and the collector is mechanically connected to the driver, or it can be other connection methods, which are not limited here, such as the connection method of the sensor for collecting the rotor position set inside the motor. Through the above servo drive control system composition, after the collector collects the relevant information of the driver, such as position information, it will be transmitted back to the servo drive, and then the servo drive executes the servo drive control method of the present application, and then outputs the corresponding control instruction to control the driver to drive, and then completes the driving process of the servo drive. It is worth noting that the above is only a composition and connection embodiment of the servo drive system. In actual use, it can also include more or less device compositions and different connection relationships, and the servo drive system is not limited here.

[0065] In this embodiment, under specific requirements or in a specific time period, the servo driver control of this embodiment needs to be used, and then step S10 is performed. Then, after receiving the collected real-time position information, the drive control mode will be determined according to the real-time position information and the current theoretical position information at the current moment, wherein the drive control mode includes a normal drive mode and a special drive mode, that is, when it is determined that the control scheme of the present application needs to be implemented, the real-time position information and the current theoretical position information are judged to determine the drive mode of the subsequent control, and then the subsequent drive control is performed according to different drive modes, wherein the real-time position information refers to the actual position collected, such as the actual position of the rotor in the motor, and the current theoretical position information refers to the theoretical position that should be reached in theory, such as the theoretical position of the rotor in the motor. For example, in the drive control at the last moment, the actual position at the last moment is A1, and the theoretical position to be reached at the last moment is B1, and then after a drive instruction is determined based on A1 and B1 for control, the real-time position information is determined to be A2, and then the real-time position information is A2 at this time, and the current theoretical position information at the current moment is B1 (i.e., the basis position for determining the drive instruction at the last moment). The normal driving mode is a driving mode that sets the driving process to a dual-segment driving mode, and the special driving mode is a driving mode that sets the driving process to a multi-segment driving mode. That is, the difference between the two driving control modes is that the original one-time control is divided into multiple-segment control, and then the control is continuously corrected during the control process, thereby ensuring the accuracy of the servo driver control. At the same time, different driving control modes are determined here, and then different driving controls can be performed based on the driving control modes for different control accuracy conditions, so as to improve the accuracy of the driving control and greatly reduce the control time (the driving control mode with the highest accuracy will not be used blindly, resulting in a waste of time and resources).

[0066] Step S20, obtaining the next theoretical position information at the next moment, and determining the drive control instruction according to the next theoretical position information and the real-time position information;

[0067] In this embodiment, after determining the drive control mode, the next theoretical position information of the next moment will be obtained, and then the drive control instruction will be determined based on the next theoretical position information and the real-time position information, that is, at least a drive control instruction is determined based on the position to be reached at the next moment and the current position, and the drive control instruction (i.e., the drive control instruction, which is an instruction for drive control) is a theoretical instruction for controlling the current position to reach the position to be reached at the next moment, and then the drive control is performed based on the theoretical drive control instruction. It is worth noting that the drive control instruction determined here is at least different from the commonly used drive control instruction determination process in that the drive control instruction of this embodiment is not only determined based on the next theoretical position information and the real-time position information, but also based on other control factors, thereby ensuring that the drive control instruction is determined to improve the drive control accuracy of the servo driver.

[0068] Step S30, if the drive control mode is the normal drive mode, performing drive control based on the drive control instruction and a preset normal drive control instruction;

[0069] Step S40: If the drive control mode is the special drive mode, drive control is performed based on the drive control instruction and a preset special drive control instruction.

[0070] In this embodiment, after determining the drive control mode and the drive control instruction, the drive control will be performed based on the drive control mode and the drive control instruction. When the drive control mode is a normal drive mode, the drive control will be performed based on the drive control instruction and the preset normal drive control instruction, wherein the preset normal drive control instruction refers to the control instruction in the normal drive mode, including a two-stage drive control instruction, that is, the original one-time drive process is divided into two drives, and the second drive is adjusted based on the first drive; when the drive control mode is a special drive mode, the drive control will be performed based on the drive control instruction and the preset special drive control instruction, wherein the preset special drive control instruction refers to the control instruction in the special drive mode, including a multi-stage drive control instruction, that is, the original one-time drive process is divided into multiple drives, and the current drive is adjusted based on the previous drive, wherein the multiple times can be selected according to the deviation value of the actual real-time position information and the current theoretical position information at the current moment, such as the deviation value is large, it is divided into more segments of drive, otherwise it is divided into fewer segments of drive. Then, when the servo driver is abnormal, the drive control under different drive control modes can be adjusted based on the real-time drive information to improve the accuracy of the servo driver control.

[0071] Furthermore, a flow chart of a servo drive control method is provided for this embodiment. Figure 5In this embodiment, after determining the need (define the special conditions for carrying out the servo driver control of the present application), the actual position and theoretical position (i.e., real-time position information and current theoretical position information) will be obtained, and it is worth noting here that the actual position and theoretical position should be collected in real time, and the servo driver is controlled in real time according to the actual position and theoretical position, that is, how to control the actual position to reach the theoretical position this time (i.e., the commonly used driving method, that is, the commonly used driving method is adopted when the present application scheme is not carried out). Then it is determined whether the difference between the two positions of the actual position and the theoretical position is greater than the preset value, wherein the preset is a threshold value defined by the user, such as A, that is, the preset value is the basis for judging the subsequent processing mode. Then, when the difference between the positions of the two is greater than the preset value, it will be determined that the mode is a special drive, and then multiple segments are driven in sequence based on the instruction, wherein the instruction is a control drive instruction determined based on the next theoretical position information and the real-time position information; on the contrary, when the difference between the positions of the two is not greater than the preset value, it will be determined that the mode is a normal drive, and then double segments are driven in sequence based on the instruction. Then, the drive control instruction as well as the preset normal drive control instruction and the preset special drive control instruction are determined by taking into account the drive control mode, the next theoretical position information and the real-time position information, thereby performing drive control, thereby improving the accuracy of servo drive control.

[0072] In this embodiment, if the collected real-time position information is received, the drive control mode is determined according to the real-time position information and the current theoretical position information at the current moment, wherein the drive control mode includes a normal drive mode and a special drive mode; the next theoretical position information at the next moment is obtained, and the drive control instruction is determined according to the next theoretical position information and the real-time position information; if the drive control mode is the normal drive mode, the drive control is performed based on the drive control instruction and the preset normal drive control instruction; if the drive control mode is the special drive mode, the drive control is performed based on the drive control instruction and the preset special drive control instruction, and the drive control mode is determined by the real-time position information and the current theoretical position information at the current moment, and the drive control mode is also determined based on the next theoretical position information and the real-time position information The servo drive control method can be used to determine the drive control instruction based on the real-time position information, and then when the drive control mode is the normal drive mode, the drive control is performed based on the drive control instruction and the preset normal drive control instruction; when the drive control mode is the special drive mode, the drive control is performed based on the drive control instruction and the preset special drive control instruction, thereby avoiding the phenomenon in the prior art that the control accuracy is difficult to guarantee because the drive can only be based on the real-time position information. This servo drive control method can not only be divided into a special drive mode and a normal drive mode for drive control, thereby improving the functionality of the servo drive control, but also considers the drive control mode, the next theoretical position information and the real-time position information to determine the drive control instruction as well as the preset normal drive control instruction and the preset special drive control instruction for drive control, thereby improving the accuracy of the servo drive control.

[0073] Further, based on the first embodiment of the servo driver control method of the present application, a second embodiment of the servo driver control method of the present application is proposed, and the step of determining the drive control mode according to the real-time position information and the current theoretical position information at the current moment includes:

[0074] Step S11, determining a first position in the real-time position information and a second position in the current theoretical position information at the current moment, and detecting whether a position difference between the first position and the second position is greater than a preset first position difference threshold;

[0075] Step S12, if the position difference between the first position and the second position is greater than a preset first position difference threshold, determining that the drive control mode is a special drive mode;

[0076] Step S13: if the position difference between the first position and the second position is less than or equal to a preset first position difference threshold, determining that the driving control mode is a normal driving mode.

[0077] In this embodiment, when the drive mode is judged, it is mainly determined by determining the difference between the two position information, and then determining which drive control mode needs to be entered for driving based on the difference. When the real-time position information collected is received, that is, it is indicated at this time that the servo driver control method of the present application needs to be implemented, so the first position in the real-time position information and the second position in the current theoretical position information at the current moment, that is, the position in the two information, will be determined. Then, it is detected whether the position difference between the first position and the second position is greater than the preset first position difference threshold, and when the position difference between the first position and the second position is greater than the preset first position difference threshold, the drive control mode is determined to be a special drive mode; when the position difference between the first position and the second position is less than or equal to the preset first position difference threshold, the drive control mode is determined to be a normal drive mode. Among them, the first position difference threshold refers to the difference threshold defined by the user, such as plus or minus 5 degrees, plus or minus 5 mm, etc., because the difference between the two positions is determined at this time, and the control scheme of this embodiment has a compensation process (when determining the drive control instruction), so there will be positive and negative situations. Therefore, different drive control modes can be determined based on the setting of the first position difference threshold, and then precise control can be performed based on different drive controls, which can greatly improve the control accuracy of the servo driver control. At the same time, controlling different modes can ensure the targeted control so as to perform precise control in different situations.

[0078] Furthermore, the step of determining the drive control instruction according to the next theoretical position information and the real-time position information includes:

[0079] Step S21, determining a third position in the next theoretical position information and a first position in the real-time position information, and determining a first control instruction corresponding to an actual position difference between the third position and the first position;

[0080] Step S22, determining a compensated position difference in the real-time position information, and determining a second control instruction corresponding to the compensated position difference, and updating the first control instruction based on the second control instruction to obtain a drive control instruction;

[0081] In this embodiment, when determining the drive control instruction, in addition to using the next theoretical position information and the real-time position information as the basis for determination, the compensation position difference in the real-time position information is also used as the basis for determination. By determining the third position in the next theoretical position information and the first position in the real-time position information, the first control instruction corresponding to the actual position difference between the third position and the first position is determined, such as first determining that the actual position difference between the third position and the first position is C, and then determining the instruction C1 corresponding to the C position in the preset instruction control table as the first control instruction. At the same time, the compensation position difference in the real-time position information is also determined, wherein the compensation position difference refers to the position that needs to be compensated last time, and then the second control instruction C2 is determined in the preset compensation instruction control table based on the position value, and then the first control instruction C1 is updated based on the second control instruction C2 to obtain the drive control instruction. The step of updating the first control instruction C1 based on the second control instruction C2 to obtain the drive control instruction can be a combination of two instructions to obtain a new control instruction, such as adding and subtracting the currents of the corresponding control instructions, or superimposing currents in different proportions. Among them, the preset instruction control table is a correspondence table between the actual position difference and the control instruction, and the preset compensation instruction control table refers to the correspondence table between the compensation position difference and the control instruction, and for the actual position difference and the compensation position difference of the same value, the control instruction of the compensation position difference is lower, and the meaning of lower control is that the actual position difference and the compensation position difference are both C, and the instructions corresponding to the two are C1 (actual position difference) and C2 (compensation position difference), where the control value is used as an example, C1 is greater than or equal to C2, that is, the control instruction of C2 in the preset instruction control table corresponds to a difference less than or equal to C (such as only half of C), thereby ensuring that the compensation will not be excessive, or that the subsequent control will not be seriously misaligned due to special circumstances (there are errors in the current control or external hidden factors). The step of determining the compensation position difference in the real-time position information includes:

[0082] Step S221, each time the real-time position information is collected, a compensated position difference between the real-time position information and the current theoretical position information at the current moment is determined.

[0083] In this embodiment, each time the real-time position information is collected, the compensation position difference between the real-time position information and the current theoretical position information at the current moment will be determined, that is, after each drive control is completed, the difference between the real-time position information and the current theoretical position information at the current moment will be determined as the compensation position difference. So that the compensation position difference is directly called when executing the scheme of this application, and can also be calculated when executing the scheme of this application. It is worth noting that the compensation position difference can also be determined by determining the difference between the real-time position information and the current theoretical position information at the current moment, and determining the quotient between the real-time position information and the current theoretical position information at the current moment, and determining the product between the difference and the quotient as the compensation position difference, and then compensation can be performed based on the effective action ratio of the drive control instruction at the previous moment, so as to ensure the accuracy of compensation.

[0084] Further, based on the first and second embodiments of the servo driver control method of the present application, a third embodiment of the servo driver control method of the present application is proposed, wherein the normal drive control instruction includes a two-stage drive instruction, and the step of performing drive control based on the drive control instruction and the preset normal drive control instruction includes:

[0085] Step a, determining a driving current based on the driving control instruction, and determining a front-stage driving current in the driving current based on the dual-stage driving instruction;

[0086] Step b, determining the front-stage position error under the driving control of the front-stage driving current, and updating the remaining driving current in the driving current based on the front-stage position error to obtain the rear-stage driving current, and performing driving control based on the rear-stage driving current.

[0087] In the present embodiment, because the precision of the actual servo driver control is still relatively accurate (i.e., it does not meet the high-precision requirements, but meets the general precision requirements) in the normal drive mode, it is only necessary to perform drive control based on the normal drive control instruction. By determining the drive current based on the drive control instruction, that is, determining the drive current corresponding to the drive instruction in the preset drive current corresponding table, wherein the preset drive current corresponding table stores the corresponding relationship between the current and the drive instruction. Then, the front-segment drive current in the drive current is determined based on the double-segment drive instruction, that is, the drive current is divided into two time periods (there are also currents at different times) and driven separately. The segmentation can be to segment the drive current in half or other segmentation methods, which are not limited here. The front-segment drive current is the current of the previous segment after the segmentation, that is, the drive current 5A is segmented into a front-segment drive current of 2.5A and a rear-segment drive current of 2.5A, and then separately controlled. Then, the front-segment position error is determined under the front-segment drive current drive control, wherein the front-segment position error refers to the error value between the theoretical position and the actual position under the front-segment drive current drive control. For example, the front-stage position error under the dynamic control of the front-stage drive current of 2.5A is 2, the theoretical position is 12, and the actual position is 10. Then, based on the front-stage position error, the remaining drive current in the drive current is updated to obtain the rear-stage drive current, wherein the updating method is to determine the target current required for the front-stage position error under the dynamic control of the front-stage drive current, and the sum of the target current and the remaining drive current in the drive current is used as the rear-stage drive current. That is, as in the above example, the target current required for the front-stage position error under the dynamic control of the front-stage drive current is: 2.5 / 10*2=0.5, and then the sum of the target current 0.5 and the remaining drive current 2.5 in the drive current is used as the rear-stage drive current, and the drive control is performed based on the rear-stage drive current, thereby ensuring the accuracy of the drive control, and at the same time, avoiding the amplification of the control error by segmentation, so as to improve the accuracy of the servo drive control.

[0088] Further, based on the first embodiment, the second embodiment and the third embodiment of the servo driver control method of the present application, a fourth embodiment of the servo driver control method of the present application is proposed, wherein the special drive control instruction includes multiple drive instructions, and the step of performing drive control based on the drive control instruction and the preset special drive control instruction includes:

[0089] Step c, determining a driving current based on the driving control instruction, and determining a plurality of segmented driving currents in the driving current based on the plurality of segmented driving instructions;

[0090] Step d, determining a first position error under driving control of a first segment driving current in the segmented driving current, and updating the first segment driving current in the segmented driving current, and updating the first segment driving current after updating based on the first position error to obtain a current driving current;

[0091] Step e, determining the second position error under the driving control of the current driving current, and determining the mean difference error between the first position error and the second position error, taking the mean difference error as the first position error and executing the step of updating the first segment driving current in the segmented driving current, until each segmented driving current is driven and controlled.

[0092] In this embodiment, due to the special drive mode, the actual servo driver control accuracy is relatively low (i.e., it does not meet the general accuracy requirements), and thus it is necessary to perform drive control based on special drive control instructions. The drive current is determined based on the drive control instruction, that is, the drive current corresponding to the drive instruction is determined in a preset drive current corresponding table, wherein the preset drive current corresponding table stores the correspondence between the current and the drive instruction. Then, based on the multi-segment drive instruction, the drive current is divided into multiple segments of segmented drive current, that is, the drive current is divided into multiple time segments (with an action time sequence) and driven separately. The segmentation can be the average segmentation of the drive current or other segmentation methods, which are not limited here. Then, the first position error under the drive control of the first segment drive current in the segmented drive current is determined, and the first segment drive current in the segmented drive current is updated after determining the first position error, and the first segment drive current after the update is updated based on the first position error to obtain the current drive current. Among them, the first segment driving current is the current of the first segment after segmentation and is not driven, the first position error refers to the position error caused by the driving of the first segment driving current, and then the first segment driving current is updated (the current of the first segment after segmentation and is not driven, that is, the second segment current after the actual segmentation), and then the current first segment driving current is updated based on the first position error to obtain the current driving current, that is, the previous steps of the double-segment driving instruction are the same, such as the first position error under the dynamic control of the first segment driving current (not updated, actually the first segment) The target current required is: 2.5 / 10*2=0.5, and then the target current 0.5 and the sum of the first segment driving current N after the update in the driving current are used as the current driving current, and the second position error is obtained by driving control based on the current driving current. The second position error is the position error driven by the first segment driving current after the update, and then the mean difference error of the first position error and the second position error is determined, that is, the mean difference between the two position errors, and the average value can also be used here. Then at this time, the first segment driving current in the segmented driving current is updated until each of the segmented driving currents is driven and controlled. The above multi-stage drive control can ensure the accuracy of drive control. At the same time, multiple segments can be used to avoid further amplification of control errors, so as to improve the accuracy of servo drive control.

[0093] One point worth mentioning is that when the segmented drive control is performed, the theoretical position and actual position of each segment are determined in advance and will not change due to actual conditions, thereby ensuring that the entire drive control is updated completely based on the position error, thereby ensuring the accuracy of the servo drive control.

[0094] Furthermore, after the step of performing drive control based on the drive control instruction and the preset special drive control instruction, the following steps are included:

[0095] Step f, obtaining the real-time position information of the next moment of the current moment, determining the fourth position in the real-time position information of the next moment and the third position in the next theoretical position information, and detecting whether the position difference between the fourth position and the third position is greater than a preset second position difference threshold;

[0096] Step g, if the position difference between the fourth position and the third position is greater than a preset second position difference threshold, updating the real-time position information based on the real-time position information at the next moment, and executing the step of determining the drive control mode according to the real-time position information and the current theoretical position information at the current moment;

[0097] Step h: if the position difference between the fourth position and the third position is less than or equal to the preset second position difference threshold, execute the step of determining the drive control mode according to the real-time position information and the current theoretical position information at the current moment if the collected real-time position information is received.

[0098] In this embodiment, after completing the normal driving mode and the special driving mode control (that is, it can also be after the step of performing driving control based on the driving control instruction and the preset special driving control instruction, including), by obtaining the real-time position information of the next moment of the current moment, the fourth position in the real-time position information of the next moment and the third position in the next theoretical position information are determined, and then the position difference between the fourth position and the third position is detected to be greater than the preset second position difference threshold. Among them, the real-time position information of the next moment refers to the actual position of the next moment after this driving control, which is the real-time position after the end of the segmented control, and is not the actual position after a random one of the segmented control. The second position difference threshold refers to the high-precision threshold set by the user. Only after the second position difference threshold is met will the control driving mode of this embodiment be jumped out. Therefore, when the position difference between the fourth position and the third position is greater than the preset second position difference threshold, the real-time position information is further updated based on the real-time position information at the next moment, and the step of determining the drive control mode based on the real-time position information and the current theoretical position information at the current moment is executed, that is, the servo driver control method of the present application is continued to be executed; conversely, when the position difference between the fourth position and the third position is less than or equal to the preset second position difference threshold, the step of determining the drive control mode based on the real-time position information and the current theoretical position information at the current moment if the collected real-time position information is received is executed, that is, the servo driver control method of the present application is no longer executed, but driven in a commonly used driving manner. Furthermore, the servo driver control method of the present application can be executed in the above manner when the servo driver control accuracy is not high (the servo driver has been fixedly installed or is working continuously and cannot be disassembled and updated in time). On the one hand, the drive control can be divided into a special drive mode and a normal drive mode, thereby improving the functionality of the servo driver control. On the other hand, the drive control mode, the next theoretical position information and the real-time position information are taken into consideration to determine the drive control instructions as well as the preset normal drive control instructions and the preset special drive control instructions for drive control, thereby improving the accuracy of the servo driver control.

[0099] Further, based on the first embodiment, the second embodiment, the third embodiment and the fourth embodiment of the servo driver control method of the present application, a fifth embodiment of the servo driver control method of the present application is proposed, wherein if the collected real-time position information is received, before the step of determining the drive control mode according to the real-time position information and the current theoretical position information at the current moment, the step includes:

[0100] Step S101, obtaining the current timing duration, and detecting whether the timing duration reaches a preset duration threshold;

[0101] Step S102, if the timing duration reaches a preset duration threshold, the current position information at the current moment is obtained, the current position information is used as the real-time position information, and the step of determining the drive control mode according to the real-time position information and the current theoretical position information at the current moment is performed if the collected real-time position information is received;

[0102] Step S103, if the timing duration does not reach the preset duration threshold, the step of obtaining the timing duration at the current moment and detecting whether the timing duration reaches the preset duration threshold is executed.

[0103] In this embodiment, when determining whether to use the servo driver control scheme, by obtaining the timing duration at the current moment, and detecting whether the timing duration reaches the preset duration threshold, then when the timing duration reaches the preset duration threshold, the current position information at the current moment is obtained, the current position information is used as the real-time position information, and the step of determining the drive control mode according to the real-time position information and the current theoretical position information at the current moment if the collected real-time position information is received is performed, that is, when the timing time is reached, a high-precision control process is performed for a period of time, thereby ensuring the driving accuracy of the entire servo driver when working, wherein the timing duration is the timing time length, the preset duration threshold is the timing time threshold set by the user, and the current position information is the actual position collected by the current collector. This judgment can also be executed for a fixed duration, a fixed working duration, or a fixed time period and detection time, etc., which are not limited here. If the timing duration does not reach the preset duration threshold, the step of obtaining the timing duration at the current moment and detecting whether the timing duration reaches the preset duration threshold is performed, that is, continuously detecting whether the servo driver control method of this application is performed. Based on the duration detection, the control accuracy of the servo driver can be adjusted according to the interval duration, thereby ensuring that the error of each control will not continue to amplify, thereby improving the accuracy of the servo driver control.

[0104] Step S111, acquiring a plurality of driving currents at adjacent moments, and detecting whether the driving currents satisfy a preset current change state;

[0105] Step S112, if the driving current satisfies the preset current change state, the current position information at the current moment is obtained, the current position information is used as the real-time position information, and the step of determining the driving control mode according to the real-time position information and the current theoretical position information at the current moment is performed if the collected real-time position information is received;

[0106] Step S113, if the driving current satisfies a preset current change state, executing the step of acquiring the driving currents at a plurality of adjacent moments and detecting whether the driving current satisfies a preset current change state.

[0107] In this embodiment, there is also a scheme that, when determining whether to use the servo driver control scheme, by obtaining the driving current of multiple adjacent moments and detecting whether the driving current satisfies the preset current change state, then when the driving current satisfies the preset current change state, the current position information of the current moment is obtained, the current position information is used as the real-time position information, and the step of determining the driving control mode according to the real-time position information and the current theoretical position information at the current moment is performed if the real-time position information collected is received, that is, the change waveform of the driving current satisfies the preset current change state, and a high-precision control process is performed for a period of time, thereby ensuring the driving accuracy of the entire servo driver when working, wherein the driving current is the output driving current of the servo driver, and the current change state is the current change condition set by the user, such as the current change waveform diagram when the driving is abnormal or the current change waveform diagram when the driving is normal, etc., this embodiment takes the current change waveform diagram when the driving is abnormal as an example, and the current position information is the actual position collected by the current collector. When the driving current satisfies the preset current change state, the step of obtaining the driving current of multiple adjacent moments and detecting whether the driving current satisfies the preset current change state is performed, that is, continuously detecting whether the servo driver control method of this application is performed. Furthermore, based on the drive current detection, the control accuracy of the servo driver can be adjusted according to actual needs (abnormal drive current), thereby ensuring that the error of each control will not continue to amplify, thereby improving the accuracy of the servo driver control.

[0108] It is worth noting that the above are only two criteria for determining whether to use the servo drive control solution. Other criteria may also be used for judgment, such as user needs, which are not limited here.

[0109] The present application also provides a schematic diagram of a servo drive control device module, referring to Figure 3 , the servo drive control device comprises:

[0110] A mode determination module A10, for determining a drive control mode according to the real-time position information and the current theoretical position information at the current moment if the collected real-time position information is received, wherein the drive control mode includes a normal drive mode and a special drive mode;

[0111] The instruction determination module A20 is used to obtain the next theoretical position information at the next moment, and determine the drive control instruction according to the next theoretical position information and the real-time position information;

[0112] A first control module A30, configured to perform drive control based on the drive control instruction and a preset normal drive control instruction if the drive control mode is the normal drive mode;

[0113] The second control module A40 is configured to perform drive control based on the drive control instruction and a preset special drive control instruction if the drive control mode is the special drive mode.

[0114] Optionally, the mode determination module A10 is further used to:

[0115] Determine a first position in the real-time position information and a second position in the current theoretical position information at the current moment, and detect whether a position difference between the first position and the second position is greater than a preset first position difference threshold;

[0116] If the position difference between the first position and the second position is greater than a preset first position difference threshold, determining that the drive control mode is a special drive mode;

[0117] If the position difference between the first position and the second position is less than or equal to a preset first position difference threshold, it is determined that the driving control mode is a normal driving mode.

[0118] Optionally, the instruction determination module A20 is further used to:

[0119] Determine a third position in the next theoretical position information and a first position in the real-time position information, and determine a first control instruction corresponding to an actual position difference between the third position and the first position;

[0120] Determine a compensated position difference in the real-time position information, determine a second control instruction corresponding to the compensated position difference, and update the first control instruction based on the second control instruction to obtain a drive control instruction;

[0121] The step of determining the compensated position difference in the real-time position information comprises:

[0122] Each time the real-time position information is collected, a compensated position difference between the real-time position information and the current theoretical position information at the current moment is determined.

[0123] Optionally, the first control module A30 is further configured to:

[0124] Determine a driving current based on the driving control instruction, and determine a front-stage driving current in the driving current based on the dual-stage driving instruction;

[0125] A front-stage position error under the driving control of the front-stage driving current is determined, and based on the front-stage position error, a remaining driving current in the driving current is updated to obtain a rear-stage driving current, and driving control is performed based on the rear-stage driving current.

[0126] Optionally, the second control module A40 is further configured to:

[0127] Determine a driving current based on the driving control instruction, and determine a plurality of segmented driving currents in the driving current based on the plurality of segmented driving instructions;

[0128] Determine a first position error under driving control of a first segment driving current in the segmented driving current, and update the first segment driving current in the segmented driving current, and update the first segment driving current after updating based on the first position error to obtain a current driving current;

[0129] Determine the second position error under the current driving current driving control, and determine the mean difference error between the first position error and the second position error, use the mean difference error as the first position error and execute the step of updating the first segment driving current in the segmented driving current until each segmented driving current is driven and controlled.

[0130] Optionally, the second control module A40 is further configured to:

[0131] Obtaining real-time position information at a next moment of the current moment, determining a fourth position in the real-time position information at the next moment and a third position in the next theoretical position information, and detecting whether a position difference between the fourth position and the third position is greater than a preset second position difference threshold;

[0132] If the position difference between the fourth position and the third position is greater than a preset second position difference threshold, the real-time position information is updated based on the real-time position information at the next moment, and the step of determining the drive control mode according to the real-time position information and the current theoretical position information at the current moment is performed;

[0133] If the position difference between the fourth position and the third position is less than or equal to a preset second position difference threshold, the step of determining the drive control mode according to the real-time position information and the current theoretical position information at the current moment if the collected real-time position information is received is executed.

[0134] Optionally, the mode determination module A10 is further used to:

[0135] Obtain the current timing duration, and detect whether the timing duration reaches a preset duration threshold;

[0136] If the timing duration reaches a preset duration threshold, the current position information at the current moment is obtained, the current position information is used as the real-time position information, and the step of determining the drive control mode according to the real-time position information and the current theoretical position information at the current moment is performed if the collected real-time position information is received;

[0137] If the timing duration does not reach the preset duration threshold, the steps of obtaining the timing duration at the current moment and detecting whether the timing duration reaches the preset duration threshold are executed; and / or

[0138] Acquire a plurality of driving currents at adjacent moments, and detect whether the driving currents satisfy a preset current change state;

[0139] If the driving current satisfies the preset current change state, the current position information at the current moment is obtained, the current position information is used as the real-time position information, and the step of determining the driving control mode according to the real-time position information and the current theoretical position information at the current moment is performed if the collected real-time position information is received;

[0140] If the driving current satisfies the preset current change state, the step of acquiring the driving currents at a plurality of adjacent moments and detecting whether the driving current satisfies the preset current change state is performed.

[0141] The present application also provides a servo drive control device.

[0142] The device of the present application includes: a memory, a processor, and a servo drive control program stored in the memory and executable on the processor. When the servo drive control program is executed by the processor, the steps of the servo drive control method described above are implemented.

[0143] The present application also provides a storage medium.

[0144] The storage medium of the present application stores a servo drive control program, and when the servo drive control program is executed by a processor, the steps of the servo drive control method described above are implemented.

[0145] Among them, the method implemented when the servo driver control program running on the processor is executed can refer to the various embodiments of the servo driver control method of the present application, and will not be repeated here.

[0146] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or system. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or system including the element.

[0147] The serial numbers of the above-mentioned embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0148] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes a number of instructions for a terminal device (which can be a mobile phone, computer, server, or network device, etc.) to execute the methods described in each embodiment of the present application.

[0149] The above are only preferred embodiments of the present application, and are not intended to limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A servo drive control method, characterized in that: The servo drive control method comprises the following steps: If the collected real-time position information is received, a drive control mode is determined according to the real-time position information and the current theoretical position information at the current moment, wherein the drive control mode includes a normal drive mode and a special drive mode; Acquire next theoretical position information at the next moment, and determine a drive control instruction according to the next theoretical position information and the real-time position information; If the drive control mode is the normal drive mode, drive control is performed based on the drive control instruction and a preset normal drive control instruction, wherein the normal drive control instruction includes a two-stage drive instruction, and the step of performing drive control based on the drive control instruction and the preset normal drive control instruction includes: Determine the driving current based on the driving control instruction, and determine the front-stage driving current in the driving current based on the two-stage driving instruction; determine the front-stage position error under the driving control of the front-stage driving current, and update the remaining driving current in the driving current based on the front-stage position error to obtain the rear-stage driving current, and perform driving control based on the rear-stage driving current; If the drive control mode is the special drive mode, drive control is performed based on the drive control instruction and a preset special drive control instruction, wherein the special drive control instruction includes multiple drive instructions, and the step of performing drive control based on the drive control instruction and the preset special drive control instruction includes: Determine a driving current based on the driving control instruction, and determine multiple segmented driving currents in the driving current based on the multiple driving instructions; determine a first position error under the driving control of a first segment driving current in the segmented driving current, and execute the step of updating the first segment driving current in the segmented driving current, wherein the step of updating the first segment driving current in the segmented driving current includes taking the first segment of the segmented driving current that is not driven as the first segment driving current, and updating the first segment driving current after update based on the first position error to obtain a current driving current; determine a second position error under the driving control of the current driving current, and determine the average difference error of the first position error and the second position error, take the average difference error as the first position error and execute the step of updating the first segment driving current in the segmented driving current, until each of the segmented driving currents is driven and controlled.

2. The servo drive control method according to claim 1, characterized in that: The step of determining the driving control mode according to the real-time position information and the current theoretical position information at the current moment comprises: Determine a first position in the real-time position information and a second position in the current theoretical position information at the current moment, and detect whether a position difference between the first position and the second position is greater than a preset first position difference threshold; If the position difference between the first position and the second position is greater than a preset first position difference threshold, determining that the drive control mode is a special drive mode; If the position difference between the first position and the second position is less than or equal to a preset first position difference threshold, it is determined that the driving control mode is a normal driving mode.

3. The servo drive control method according to claim 1, characterized in that: The step of determining the drive control instruction according to the next theoretical position information and the real-time position information comprises: Determine a third position in the next theoretical position information and a first position in the real-time position information, and determine a first control instruction corresponding to an actual position difference between the third position and the first position; Determine a compensated position difference in the real-time position information, determine a second control instruction corresponding to the compensated position difference, and update the first control instruction based on the second control instruction to obtain a drive control instruction; The step of determining the compensated position difference in the real-time position information comprises: Each time the real-time position information is collected, a compensated position difference between the real-time position information and the current theoretical position information at the current moment is determined.

4. The servo drive control method according to claim 1, characterized in that: After the step of performing drive control based on the drive control instruction and the preset special drive control instruction, the method further comprises: Obtaining real-time position information at a next moment of the current moment, determining a fourth position in the real-time position information at the next moment and a third position in the next theoretical position information, and detecting whether a position difference between the fourth position and the third position is greater than a preset second position difference threshold; If the position difference between the fourth position and the third position is greater than a preset second position difference threshold, the real-time position information is updated based on the real-time position information at the next moment, and the step of determining the drive control mode according to the real-time position information and the current theoretical position information at the current moment is performed; If the position difference between the fourth position and the third position is less than or equal to a preset second position difference threshold, the step of determining the drive control mode according to the real-time position information and the current theoretical position information at the current moment if the collected real-time position information is received is executed.

5. The servo drive control method according to any one of claims 1 to 4, characterized in that: Before the step of determining the driving control mode according to the real-time position information and the current theoretical position information at the current moment if the collected real-time position information is received, the method includes: Obtain the current timing duration, and detect whether the timing duration reaches a preset duration threshold; If the timing duration reaches a preset duration threshold, the current position information at the current moment is obtained, the current position information is used as the real-time position information, and the step of determining the drive control mode according to the real-time position information and the current theoretical position information at the current moment is performed if the collected real-time position information is received; If the timing duration does not reach the preset duration threshold, the steps of obtaining the timing duration at the current moment and detecting whether the timing duration reaches the preset duration threshold are executed; and / or Acquire a plurality of driving currents at adjacent moments, and detect whether the driving currents satisfy a preset current change state; If the driving current satisfies the preset current change state, the current position information at the current moment is obtained, the current position information is used as the real-time position information, and the step of determining the driving control mode according to the real-time position information and the current theoretical position information at the current moment is performed if the collected real-time position information is received; If the driving current satisfies the preset current change state, the step of acquiring the driving currents at a plurality of adjacent moments and detecting whether the driving current satisfies the preset current change state is performed.

6. A servo drive control device, characterized in that: The servo drive control device comprises: A mode determination module, for determining a drive control mode according to the real-time position information and the current theoretical position information at the current moment if the collected real-time position information is received, wherein the drive control mode includes a normal drive mode and a special drive mode; An instruction determination module, used to obtain the next theoretical position information at the next moment, and determine the drive control instruction according to the next theoretical position information and the real-time position information; A first control module is configured to, if the drive control mode is the normal drive mode, perform drive control based on the drive control instruction and a preset normal drive control instruction, wherein the normal drive control instruction includes a two-stage drive instruction, and the step of performing drive control based on the drive control instruction and the preset normal drive control instruction includes: Determine the driving current based on the driving control instruction, and determine the front-stage driving current in the driving current based on the two-stage driving instruction; determine the front-stage position error under the driving control of the front-stage driving current, and update the remaining driving current in the driving current based on the front-stage position error to obtain the rear-stage driving current, and perform driving control based on the rear-stage driving current; A second control module is used for performing drive control based on the drive control instruction and a preset special drive control instruction if the drive control mode is the special drive mode, wherein the special drive control instruction includes a plurality of drive instructions, and the step of performing drive control based on the drive control instruction and the preset special drive control instruction includes: Determine a driving current based on the driving control instruction, and determine multiple segmented driving currents in the driving current based on the multiple driving instructions; determine a first position error under the driving control of a first segment driving current in the segmented driving current, and execute the step of updating the first segment driving current in the segmented driving current, wherein the step of updating the first segment driving current in the segmented driving current includes taking the first segment of the segmented driving current that is not driven as the first segment driving current, and updating the first segment driving current after update based on the first position error to obtain a current driving current; determine a second position error under the driving control of the current driving current, and determine the average difference error of the first position error and the second position error, take the average difference error as the first position error and execute the step of updating the first segment driving current in the segmented driving current, until each of the segmented driving currents is driven and controlled.

7. A servo drive control device, characterized in that: The servo drive control device comprises: a memory, a processor, and a servo drive control program stored in the memory and executable on the processor. When the servo drive control program is executed by the processor, the steps of the servo drive control method according to any one of claims 1 to 5 are implemented.

8. A storage medium, characterized in that: The storage medium stores a servo drive control program, and when the servo drive control program is executed by the processor, the steps of the servo drive control method according to any one of claims 1 to 5 are implemented.

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