Joint motor control method and device, robot and storage medium

Abstract

The invention relates to a joint motor control method and device, a robot and a storage medium, and the method comprises the steps: determining an expected joint torque according to an expected joint state and an actual joint state in a motion control instruction; inputting the expected joint torque, the actual joint torque fed back by the joint motor and the quadrature-axis actual current into a finite time convergence model to obtain quadrature-axis control voltage output by the finite time convergence model, the finite time convergence model is a model constructed according to a relative relationship between at least two of electromagnetic torque, quadrature-axis current, direct-axis current and quadrature-axis voltage; and controlling the joint motor to move according to the quadrature-axis control voltage and a preset direct-axis control current.

Description

Technical Field

[0001] The present disclosure relates to the field of robot technology, and in particular to a joint motor control method, device, robot and storage medium. Background Art

[0002] In recent years, the technology of robotics has been developing continuously, becoming more and more intelligent and automated, and the richness, stability and flexibility of actions have been improved to varying degrees. Bionic robots have multiple joints, each of which has a joint motor. The joint motor can drive the parts on both sides of the joint to move relative to each other. The robot relies on the movement of these joint motors to enable the robot to complete various actions. However, in the related technology, the control efficiency of the robot's joint motor is low, especially in complex working conditions, it is often difficult to converge, resulting in the robot being unable to complete more complex actions. Summary of the invention

[0003] In order to overcome the problems existing in the related art, the embodiments of the present disclosure provide a joint motor control method, device, robot and storage medium to solve the defects in the related art.

[0004] According to a first aspect of an embodiment of the present disclosure, a joint motor control method is provided, the method comprising:

[0005] Determine the expected joint torque according to the expected joint state and the actual joint state in the motion control command;

[0006] Inputting the desired joint torque, the actual joint torque fed back by the joint motor and the quadrature-axis actual current into a finite-time convergence model, and obtaining a quadrature-axis control voltage output by the finite-time convergence model, wherein the finite-time convergence model is a model constructed according to a relative relationship between at least two of the electromagnetic torque, the quadrature-axis current, the direct-axis current, and the quadrature-axis voltage;

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

[0008] In a possible embodiment of the present disclosure, the finite time convergence model is used to make the error between the desired joint torque and the actual joint torque converge within a finite time; the method further includes:

[0009] The finite time convergence model is constructed according to at least one of the following relative relations:

[0010] The relative relationship between the electromagnetic torque and the quadrature-axis current and the direct-axis current;

[0011] The relative relationship between the differential of the quadrature-axis current and the quadrature-axis current, the direct-axis current and the quadrature-axis voltage.

[0012] In a possible embodiment of the present disclosure, constructing the finite time convergence model according to at least one of the following relative relationships includes:

[0013] Using the superhelical synovial dynamic convergence model, the finite time convergence model is constructed according to at least one of the following:

[0014] The relative relationship between the electromagnetic torque and the quadrature-axis current and the direct-axis current;

[0015] The relative relationship between the differential of the quadrature-axis current and the quadrature-axis current, the direct-axis current and the quadrature-axis voltage.

[0016] In a possible embodiment of the present disclosure, determining the expected joint torque according to the expected joint state and the actual joint state in the motion control instruction includes:

[0017] The desired joint state and the actual joint state are input into an impedance controller to obtain a desired joint torque output by the impedance controller.

[0018] In a possible embodiment of the present disclosure, the desired joint state includes a desired joint position and a desired joint velocity; and / or,

[0019] The actual joint state includes an actual joint position and an actual joint velocity.

[0020] In a possible embodiment of the present disclosure, controlling the joint motor to move according to the quadrature-axis control voltage and the preset direct-axis control current includes:

[0021] Inputting the direct-axis control current and the direct-axis actual current into a current loop direct-axis controller to obtain a direct-axis control voltage output by the current loop direct-axis controller;

[0022] The joint motor is driven to move according to the quadrature-axis control voltage and the direct-axis control voltage.

[0023] In a possible embodiment of the present disclosure, the method further includes:

[0024] The actual joint state, the actual joint torque, the quadrature-axis actual current and the direct-axis actual current fed back by the joint motor are obtained.

[0025] According to a second aspect of an embodiment of the present disclosure, a joint motor control device is provided, the device comprising:

[0026] A torque module is used to determine the expected joint torque according to the expected joint state and the actual joint state in the motion control instruction;

[0027] A voltage module, used for inputting the desired joint torque, the actual joint torque fed back by the joint motor and the quadrature-axis actual current into a finite-time convergence model, and obtaining a quadrature-axis control voltage output by the finite-time convergence model, wherein the finite-time convergence model is a model constructed according to a relative relationship between at least two of the electromagnetic torque, the quadrature-axis current, the direct-axis current, and the quadrature-axis voltage;

[0028] The motion module is used to control the joint motor to move according to the quadrature-axis control voltage and a preset direct-axis control current.

[0029] In a possible embodiment of the present disclosure, the finite time convergence model is used to:

[0030] The finite time convergence model is constructed according to at least one of the following relative relations:

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

[0032] The relative relationship between the differential of the quadrature-axis current and the quadrature-axis current, the direct-axis current and the quadrature-axis voltage.

[0033] In a possible embodiment of the present disclosure, the building block is used to:

[0034] The finite time convergence model is constructed using the superhelical synovial dynamic convergence model according to at least one of the following relative relationships:

[0035] The relative relationship between the electromagnetic torque and the quadrature-axis current and the direct-axis current;

[0036] The relative relationship between the differential of the quadrature-axis current and the quadrature-axis current, the direct-axis current and the quadrature-axis voltage.

[0037] In a possible embodiment of the present disclosure, the torque module is used to:

[0038] The desired joint state and the actual joint state are input into an impedance controller to obtain a desired joint torque output by the impedance controller.

[0039] In a possible embodiment of the present disclosure, the desired joint state includes a desired joint position and a desired joint velocity; and / or,

[0040] The actual joint state includes an actual joint position and an actual joint velocity.

[0041] In a possible embodiment of the present disclosure, the motion module is used to:

[0042] Inputting the direct-axis control current and the direct-axis actual current into a current loop direct-axis controller to obtain a direct-axis control voltage output by the current loop direct-axis controller;

[0043] The joint motor is driven to move according to the quadrature-axis control voltage and the direct-axis control voltage.

[0044] In a possible embodiment of the present disclosure, the device further includes an acquisition module, and the acquisition module is used to:

[0045] The actual joint state, the actual joint torque, the quadrature-axis actual current and the direct-axis actual current fed back by the joint motor are obtained.

[0046] According to a third aspect of an embodiment of the present disclosure, a robot is provided, comprising a memory and a processor, wherein the memory is used to store computer instructions executable on the processor, and the processor is used to implement the joint motor control method described in the first aspect when executing the computer instructions.

[0047] According to a fourth aspect of an embodiment of the present disclosure, a computer-readable storage medium is provided, on which a computer program is stored, and when the program is executed by a processor, the method described in the first aspect is implemented.

[0048] The technical solution provided by the embodiments of the present disclosure may have the following beneficial effects:

[0049] The joint motor control method provided by the embodiment of the present disclosure first determines the expected joint torque according to the expected joint state and the actual joint state in the motion control instruction, and then inputs the expected joint torque, the actual joint torque fed back by the joint motor and the actual current of the quadrature axis into the finite time convergence model to obtain the quadrature axis control voltage output by the finite time convergence model, and finally controls the joint motor to move according to the quadrature axis control voltage and the preset direct axis control current. Since the finite time convergence model is a model constructed according to the relative relationship between at least two of the electromagnetic torque, quadrature axis current, direct axis current, and quadrature axis voltage, it can make the torque control converge within a limited time, especially can make the torque control converge under complex working conditions, so the frequency of torque control can still be guaranteed under complex working conditions, and the control efficiency and stability of the motor and the motion complexity of the robot are improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0051] Figure 1 is a flow chart of a joint motor control method shown in an exemplary embodiment of the present disclosure;

[0052] Figure 2 is a flow chart of a joint motor control method shown in an exemplary embodiment of the present disclosure;

[0053] Figure 3 is a structural schematic diagram of a joint motor control device shown in an exemplary embodiment of the present disclosure;

[0054] Figure 4 It is a structural block diagram of a robot shown in an exemplary embodiment of the present disclosure. DETAILED DESCRIPTION

[0055] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present disclosure. Instead, they are merely examples of devices and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0056] The terms used in this disclosure are for the purpose of describing specific embodiments only and are not intended to limit the disclosure. The singular forms of "a", "said" and "the" used in this disclosure and the appended claims are also intended to include plural forms unless the context clearly indicates otherwise. It should also be understood that the term "and / or" used herein refers to and includes any or all possible combinations of one or more associated listed items.

[0057] It should be understood that although the terms first, second, third, etc. may be used in the present disclosure to describe various information, such information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of the present disclosure, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining".

[0058] In recent years, the technology of robotics has been developing continuously, becoming more and more intelligent and automated, and the richness, stability and flexibility of actions have been improved to varying degrees. Bionic robots have multiple joints, each of which has a joint motor. The joint motor can drive the parts on both sides of the joint to move relative to each other. The robot relies on the movement of these joint motors to enable the robot to complete various actions. However, in the related technology, the control efficiency of the robot's joint motor is low, especially in complex working conditions, it is often difficult to converge, resulting in the robot being unable to complete more complex actions.

[0059] Based on this, in the first aspect, at least one embodiment of the present disclosure provides a joint motor control method, please refer to the attached Figure 1 , which shows the process of the method, including steps S101 to S103.

[0060] Among them, the method can be applied to robots, for example, to legged robots such as bipedal robots or quadrupedal robots; the robot has multiple joints, each joint is provided with a joint motor, and the method can be applied to each joint motor of the robot, that is, the method is used to drive the joint motor to move, so as to complete the desired joint state obtained by the upper-level operation and control according to the desired action.

[0061] In step S101, the expected joint torque is determined according to the expected joint state and the actual joint state in the motion control instruction.

[0062] The expected joint state can be the expected state of the joint controlled by the method determined by the upper-level operation control according to the expected action of the robot. The joint motor can feedback the joint state at a certain frequency during movement, and the state is recorded as the actual joint state. Therefore, the actual joint state fed back by the joint motor can be obtained before executing this step. The joint torque is the torque of the joint motor, and the expected joint torque refers to the torque expected to be achieved by the joint motor.

[0063] Exemplarily, an impedance controller can be used to determine the expected joint torque, that is, in this step, the expected joint state and the actual joint state are input into the impedance controller to obtain the expected joint torque output by the impedance controller. For example, the expected joint state includes the expected joint position and the expected joint speed, and the actual joint state includes the actual joint position and the actual joint speed. The position error can be determined according to the expected joint position and the actual joint position, and the speed error can be determined according to the expected joint speed and the actual joint speed, and then the position error and the speed error are input into the impedance controller; the impedance controller can determine the expected joint torque based on the position error and the speed error, combined with its internal parameters and feedforward torque, etc.

[0064] In step S102, the desired joint torque, the actual joint torque fed back by the joint motor and the actual quadrature-axis current are input into a finite-time convergence model to obtain a quadrature-axis control voltage output by the finite-time convergence model, wherein the finite-time convergence model is a model constructed based on the relative relationship between at least two of the electromagnetic torque, quadrature-axis current, direct-axis current and quadrature-axis voltage.

[0065] Optionally, the actual joint torque and quadrature axis actual current fed back by the joint motor may be obtained before executing this step. The joint torque is the torque of the joint motor, and the actual joint torque refers to the actual torque fed back by the joint motor. The quadrature axis actual current is the actual current value on the quadrature axis of the armature winding.

[0066] The quadrature-axis control voltage is a voltage value that is expected to be achieved on the quadrature axis of the armature winding.

[0067] The finite time convergence model is used to make the error between the desired joint torque and the actual joint torque converge within a finite time, that is, to make the torque control converge. The finite time convergence model can be constructed in advance according to at least one of the following relative relationships:

[0068] The first item is the relative relationship between the electromagnetic torque and the quadrature axis current and the direct axis current;

[0069] The second item is the relative relationship between the differential of the quadrature-axis current and the quadrature-axis current, the direct-axis current and the quadrature-axis voltage.

[0070] The content of the first item can be expressed by the following formula 1:

[0071]

[0072] Where, T e is the electromagnetic torque, is the permanent magnet torque of the permanent magnet synchronous motor, is the magnetic drag torque of the permanent magnet synchronous motor, n p is the pole pair number, ψ f is the permanent magnet flux, L d is the direct-axis inductance, L q is the quadrature-axis inductance, i d is the direct axis current, i q is the quadrature axis current.

[0073] The content of the second item can be expressed by the following formula 2:

[0074]

[0075] Where U q is the quadrature axis voltage, R s is the motor resistance, ω r is the motor speed;

[0076] The torque tracking error can be defined as the following equation:

[0077]

[0078] Furthermore, the following formula 4 is obtained according to the above formula 3 and the above formula 1:

[0079]

[0080] Furthermore, the following formula 5 is obtained according to the above formula 2 and the above formula 4:

[0081]

[0082] In the formula,

[0083] Furthermore, when the finite-time convergence model is constructed using the above-mentioned Formulas 1 to 5, the superhelical synovial membrane dynamic convergence model can be used to construct the finite-time convergence model according to at least one of the above-mentioned relative relationships.

[0084] For example, the dynamic convergence model of the super-helical sliding mode is as follows:

[0085]

[0086] Where α>0, σ>0, υ∈R is the state variable, and ξ(t) is differentiable.

[0087] The state v converges in a finite time, and the ring sliding surface can be defined as s t =e t , and then according to the above formula 6, the control rate of the model shown in the above formula 5 is designed as follows: Formula 7, and the finite time convergence model is obtained:

[0088]

[0089] In the formula, α q >0,σ q >0 is a constant.

[0090] In step S103, the joint motor is controlled to move according to the quadrature-axis control voltage and a preset direct-axis control current (eg, 0).

[0091] The direct-axis control current is the current value expected to be achieved on the direct axis of the armature winding.

[0092] Exemplarily, this step can be performed in the following manner:

[0093] First, the direct-axis control current and the direct-axis actual current are input into the current loop direct-axis controller to obtain the direct-axis control voltage output by the current loop direct-axis controller. Before this step, the direct-axis actual current fed back by the joint motor can be obtained. The direct-axis actual current is the actual current value on the direct axis of the armature winding. The direct-axis control voltage is the voltage value expected to be reached on the direct axis of the armature winding.

[0094] Next, the joint motor is driven to move according to the quadrature-axis control voltage and the direct-axis control voltage.

[0095] Please refer to the attached Figure 2 , which exemplarily shows a flow chart of a joint motor control method obtained by combining the above multiple embodiments. d , expected joint velocity v d , impedance controller parameter K p , K d and feedback torque τ ff , combined with the actual joint position θ and actual joint velocity v fed back by the joint motor, the desired joint torque is obtained through the impedance controller and the actual joint torque T fed back by the torque sensor e The error between t , and the actual quadrature axis current i of the joint motor feedback q The quadrature axis control voltage U is obtained by the finite time convergence model. q . Preset (e.g. 0) Combined with the actual direct axis current i of the joint motor feedback d , the direct-axis control voltage U is obtained through the direct-axis current loop controller d .U q and U d The three-phase voltage obtained through pulse width modulation drives the motor to run through the inverter.

[0096] The joint motor control method provided by the embodiment of the present disclosure first determines the expected joint torque according to the expected joint state and the actual joint state in the motion control instruction, then inputs the expected joint torque, the actual joint torque and the actual current of the quadrature axis into the finite time convergence model to obtain the quadrature axis control voltage output by the finite time convergence model, and finally controls the joint motor to move according to the quadrature axis control voltage and the preset direct axis control current. Since the finite time convergence model is a model constructed according to the relative relationship between the electromagnetic torque, the quadrature axis current, the direct axis current and the quadrature axis voltage, it can make the torque control converge within a limited time, especially can make the torque control converge under complex working conditions, so the frequency of torque control can still be guaranteed under complex working conditions, and the control efficiency and stability of the motor and the motion complexity of the robot are improved.

[0097] Compared with the hierarchical control of the traditional torque loop, this method adjusts the output to the quadrature-axis control voltage through model transformation, which simplifies the control design, reduces the parameters of the controller, and alleviates the debugging and maintenance burden.

[0098] According to a second aspect of the embodiment of the present disclosure, a joint motor control device is provided. Figure 3, the device comprises:

[0099] The torque module 301 is used to determine the expected joint torque according to the expected joint state and the actual joint state in the motion control instruction;

[0100] A voltage module 302 is used to input the desired joint torque, the actual joint torque fed back by the joint motor and the quadrature-axis actual current into a finite-time convergence model to obtain a quadrature-axis control voltage output by the finite-time convergence model, wherein the finite-time convergence model is a model constructed according to a relative relationship between at least two of the electromagnetic torque, the quadrature-axis current, the direct-axis current and the quadrature-axis voltage;

[0101] The motion module 303 is used to control the joint motor to move according to the quadrature-axis control voltage and the preset direct-axis control current.

[0102] In a possible embodiment of the present disclosure, the finite time convergence model is used to:

[0103] The finite time convergence model is constructed according to at least one of the following:

[0104] The relative relationship between the electromagnetic torque and the quadrature-axis current and the direct-axis current;

[0105] The relative relationship between the differential of the quadrature-axis current and the quadrature-axis current, the direct-axis current and the quadrature-axis voltage.

[0106] In a possible embodiment of the present disclosure, the building block is used to:

[0107] Using the superhelical synovial dynamic convergence model, the finite time convergence model is constructed according to at least one of the following:

[0108] The relative relationship between the electromagnetic torque and the quadrature-axis current and the direct-axis current;

[0109] The relative relationship between the differential of the quadrature-axis current and the quadrature-axis current, the direct-axis current and the quadrature-axis voltage.

[0110] In a possible embodiment of the present disclosure, the torque module is used to:

[0111] The desired joint state and the actual joint state are input into an impedance controller to obtain a desired joint torque output by the impedance controller.

[0112] In a possible embodiment of the present disclosure, the desired joint state includes a desired joint position and a desired joint velocity; and / or,

[0113] The actual joint state includes an actual joint position and an actual joint velocity.

[0114] In a possible embodiment of the present disclosure, the motion module is used to:

[0115] Inputting the direct-axis control current and the direct-axis actual current into a current loop direct-axis controller to obtain a direct-axis control voltage output by the current loop direct-axis controller;

[0116] The joint motor is driven to move according to the quadrature-axis control voltage and the direct-axis control voltage.

[0117] In a possible embodiment of the present disclosure, the device further includes an acquisition module, and the acquisition module is used to:

[0118] The actual joint state, the actual joint torque, the quadrature-axis actual current and the direct-axis actual current fed back by the joint motor are obtained.

[0119] In a third aspect, at least one embodiment of the present disclosure provides a robot, please refer to the attached Figure 4 , which shows the structure of the robot, the robot includes a memory and a processor, the memory is used to store computer instructions that can be executed on the processor, and the processor is used to control the joint motor based on the method described in any one of the first aspects when executing the computer instructions.

[0120] In a fourth aspect, at least one embodiment of the present disclosure provides a computer-readable storage medium having a computer program stored thereon, wherein the program, when executed by a processor, implements any of the methods described in the first aspect.

[0121] Those skilled in the art will readily appreciate other embodiments of the present disclosure after considering the specification and practicing the disclosure disclosed herein. This application is intended to cover any variations, uses, or adaptations of the present disclosure that follow the general principles of the present disclosure and include common knowledge or customary techniques in the art that are not disclosed in the present disclosure. The description and examples are intended to be exemplary only, and the true scope and spirit of the present disclosure are indicated by the following claims.

[0122] It should be understood that the present disclosure is not limited to the exact structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims

1. A joint motor control method, characterized in that: The method comprises: Determine the expected joint torque according to the expected joint state and the actual joint state in the motion control command; Inputting the desired joint torque, the actual joint torque fed back by the joint motor and the quadrature-axis actual current into a finite-time convergence model, and obtaining a quadrature-axis control voltage output by the finite-time convergence model, wherein the finite-time convergence model is a model constructed according to a relative relationship between at least two of the electromagnetic torque, the quadrature-axis current, the direct-axis current, and the quadrature-axis voltage; The joint motor is controlled to move according to the quadrature-axis control voltage and a preset direct-axis control current.

2. The joint motor control method according to claim 1, characterized in that: The finite time convergence model is used to make the error between the expected joint torque and the actual joint torque converge within a finite time; the method further includes: The finite time convergence model is constructed according to at least one of the following relative relations: The relative relationship between the electromagnetic torque and the quadrature-axis current and the direct-axis current; The relative relationship between the differential of the quadrature-axis current and the quadrature-axis current, the direct-axis current and the quadrature-axis voltage.

3. The joint motor control method according to claim 1, characterized in that: The finite time convergence model is constructed according to at least one of the following, comprising: The finite time convergence model is constructed using the superhelical synovial dynamic convergence model according to at least one of the following relative relationships: The relative relationship between the electromagnetic torque and the quadrature-axis current and the direct-axis current; The relative relationship between the differential of the quadrature-axis current and the quadrature-axis current, the direct-axis current and the quadrature-axis voltage.

4. The joint motor control method according to claim 1, characterized in that: Determining the expected joint torque according to the expected joint state and the actual joint state in the motion control instruction includes: The desired joint state and the actual joint state are input into an impedance controller to obtain a desired joint torque output by the impedance controller.

5. The joint motor control method according to claim 1 or 4, characterized in that: The desired joint state includes a desired joint position and a desired joint velocity; and / or, The actual joint state includes an actual joint position and an actual joint velocity.

6. The joint motor control method according to claim 1, characterized in that: The step of controlling the joint motor to move according to the quadrature-axis control voltage and the preset direct-axis control current comprises: Inputting the direct-axis control current and the direct-axis actual current into a current loop direct-axis controller to obtain a direct-axis control voltage output by the current loop direct-axis controller; The joint motor is driven to move according to the quadrature-axis control voltage and the direct-axis control voltage.

7. The joint motor control method according to claim 6, characterized in that: The method further comprises: The actual joint state, the actual joint torque, the quadrature-axis actual current and the direct-axis actual current fed back by the joint motor are obtained.

8. A joint motor control device, characterized in that: The device comprises: A torque module is used to determine the expected joint torque according to the expected joint state and the actual joint state in the motion control instruction; A voltage module, used for inputting the desired joint torque, the actual joint torque fed back by the joint motor and the quadrature-axis actual current into a finite-time convergence model, and obtaining a quadrature-axis control voltage output by the finite-time convergence model, wherein the finite-time convergence model is a model constructed according to a relative relationship between at least two of the electromagnetic torque, the quadrature-axis current, the direct-axis current, and the quadrature-axis control voltage; The motion module is used to control the joint motor to move according to the quadrature-axis control voltage and a preset direct-axis control current.

9. The joint motor control device according to claim 8, characterized in that: The finite time convergence model is used to: The finite time convergence model is constructed according to at least one of the following relative relations: The relative relationship between the electromagnetic torque and the quadrature-axis current and the direct-axis current; The relative relationship between the differential of the quadrature-axis current and the quadrature-axis current, the direct-axis current and the quadrature-axis voltage.

10. The joint motor control device according to claim 8, characterized in that: The building blocks are used to: The finite time convergence model is constructed using the superhelical synovial dynamic convergence model according to at least one of the following relative relationships: The relative relationship between the electromagnetic torque and the quadrature-axis current and the direct-axis current; The relative relationship between the differential of the quadrature-axis current and the quadrature-axis current, the direct-axis current and the quadrature-axis voltage.

11. The joint motor control device according to claim 8, characterized in that: The torque module is used to: The desired joint state and the actual joint state are input into an impedance controller to obtain a desired joint torque output by the impedance controller.

12. The joint motor control device according to claim 8 or 11, characterized in that: The desired joint state includes a desired joint position and a desired joint velocity; and / or, The actual joint state includes an actual joint position and an actual joint velocity.

13. The joint motor control device according to claim 8, characterized in that: The motion module is used to: Inputting the direct-axis control current and the direct-axis actual current into a current loop direct-axis controller to obtain a direct-axis control voltage output by the current loop direct-axis controller; The joint motor is driven to move according to the quadrature-axis control voltage and the direct-axis control voltage.

14. The joint motor control device according to claim 13, characterized in that: The device further includes an acquisition module, wherein the acquisition module is configured to: The actual joint state, the actual joint torque, the quadrature-axis actual current and the direct-axis actual current fed back by the joint motor are obtained.

15. A robot, characterized in that: The robot comprises a memory and a processor, wherein the memory is used to store computer instructions executable on the processor, and the processor is used to implement the joint motor control method according to any one of claims 1 to 7 when executing the computer instructions.

16. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.

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