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: carrying out the tracking processing of an expected joint torque, obtaining a tracking value of an actual joint torque, and obtaining a first estimation value and a second estimation value according to the actual joint torque fed back by a joint motor, the first estimated value is used for representing an estimated value of actual joint torque, and the second estimated value is used for representing an estimated value of system disturbance; and according to the tracking value of the actual joint torque, the first estimation value and the second estimation value, a quadrature-axis control voltage is determined, and according to the quadrature-axis control voltage and a preset direct-axis control current, the joint motor is controlled to move.

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 joint motor of the robot is subject to system disturbance during control, resulting in low control accuracy, making it impossible for the robot 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] Tracking the expected joint torque to obtain the tracking value of the actual joint torque;

[0006] Obtaining a first estimated value and a second estimated value according to the actual joint torque fed back by the joint motor, wherein the first estimated value is used to characterize the estimated value of the actual joint torque, and the second estimated value is used to characterize the estimated value of the system disturbance;

[0007] The quadrature-axis control voltage is determined according to the tracking value of the actual joint torque, the first estimated value and the second estimated value, and 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, determining the quadrature-axis control voltage according to the tracking value of the actual joint torque, the first estimated value, and the second estimated value includes:

[0009] Determining a disturbance-containing voltage according to the tracking value of the actual joint torque and the first estimated value;

[0010] The quadrature-axis control voltage is determined according to the disturbance-containing voltage and the second estimated value.

[0011] In a possible embodiment of the present disclosure, it further includes:

[0012] The expected joint torque is determined based on the expected joint state and the actual joint state in the motion control instruction.

[0013] 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:

[0014] 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.

[0015] In a possible embodiment of the present disclosure, the desired joint state includes a desired joint position and a desired joint velocity; and / or,

[0016] The actual joint state includes an actual joint position and an actual joint velocity.

[0017] 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:

[0018] 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;

[0019] The joint motor is driven to move according to the quadrature-axis control voltage and the direct-axis control voltage.

[0020] In a possible embodiment of the present disclosure, the method further includes:

[0021] The actual joint state, the actual joint torque and the actual direct-axis current fed back by the joint motor are obtained.

[0022] According to a second aspect of an embodiment of the present disclosure, a joint motor control device is provided, the device comprising:

[0023] A tracking module is used to track the expected joint torque to obtain the tracking value of the actual joint torque;

[0024] An estimation module, used to obtain a first estimation value and a second estimation value according to an actual joint torque fed back by a joint motor, wherein the first estimation value is used to characterize an estimation value of the actual joint torque, and the second estimation value is used to characterize an estimation value of a system disturbance;

[0025] A motion module is used to determine a quadrature-axis control voltage according to the tracking value of the actual joint torque, the first estimated value and the second estimated value, and to control the joint motor to move according to the quadrature-axis control voltage and a preset direct-axis control current.

[0026] In a possible embodiment of the present disclosure, the motion module is used to:

[0027] Determining a disturbance-containing voltage according to the tracking value of the actual joint torque and the first estimated value;

[0028] The quadrature-axis control voltage is determined according to the disturbance-containing voltage and the second estimated value.

[0029] In a possible embodiment of the present disclosure, the device further includes a torque module, and the device torque module is used to:

[0030] The expected joint torque is determined based on the expected joint state and the actual joint state in the motion control instruction.

[0031] In a possible embodiment of the present disclosure, the torque module is used to:

[0032] 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.

[0033] In a possible embodiment of the present disclosure, the desired joint state includes a desired joint position and a desired joint velocity; and / or,

[0034] The actual joint state includes an actual joint position and an actual joint velocity.

[0035] In a possible embodiment of the present disclosure, the motion module is used to:

[0036] 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;

[0037] The joint motor is driven to move according to the quadrature-axis control voltage and the direct-axis control voltage.

[0038] In a possible embodiment of the present disclosure, the device further includes an acquisition module, and the device acquisition module is used to:

[0039] The actual joint state, the actual joint torque and the actual direct-axis current fed back by the joint motor are obtained.

[0040] 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.

[0041] 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.

[0042] The technical solution provided by the embodiments of the present disclosure may have the following beneficial effects:

[0043] The joint motor control method provided by the embodiment of the present disclosure first tracks the expected joint torque to obtain the tracking value of the actual joint torque, then obtains the first estimated value and the second estimated value based on the actual joint torque fed back by the joint motor, and finally determines the cross-axis control voltage based on the tracking value of the actual joint torque, the first estimated value and the second estimated value, and controls the joint motor to move based on the cross-axis control voltage and the preset direct-axis control current. Since the method evaluates the estimated value of the actual joint torque and the estimated value of the system disturbance, and combines the above two estimated values ​​on the basis of the tracking value of the expected joint torque to determine the cross-axis control voltage, the anti-interference ability of the motor control is improved, so that the control precision and accuracy of the motor are improved, thereby improving the complexity of the robot's movement. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] 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.

[0045] Figure 1 is a flow chart of a joint motor control method shown in an exemplary embodiment of the present disclosure;

[0046] Figure 2 is a flow chart of a joint motor control method shown in an exemplary embodiment of the present disclosure;

[0047] Figure 3 is a schematic diagram of a torque loop auto-disturbance rejection control framework shown in an exemplary embodiment of the present disclosure;

[0048] Figure 4 is a structural schematic diagram of a joint motor control device shown in an exemplary embodiment of the present disclosure;

[0049] Figure 5 It is a structural block diagram of a robot shown in an exemplary embodiment of the present disclosure. DETAILED DESCRIPTION

[0050] 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.

[0051] 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.

[0052] 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".

[0053] 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 joint motor of the robot is subject to system disturbance during control, resulting in low control accuracy, making it impossible for the robot to complete more complex actions.

[0054] 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.

[0055] 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.

[0056] In step S101 , the expected joint torque is tracked to obtain a tracking value of the actual joint torque.

[0057] The joint torque is the torque of the joint motor, the expected joint torque is the torque expected to be achieved by the joint motor, and the actual joint torque is the torque actually achieved by the joint motor feedback.

[0058] Among them, the expected joint torque can be determined in advance according to the expected joint state and the actual joint state in the motion control instruction in the following manner: 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.

[0059] The expected joint state can be the expected state of the joint controlled by the method determined by the expected action of the upper-level operation control. The joint motor can feedback the joint state at a certain frequency when moving, 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. Exemplarily, 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.

[0060] Exemplarily, the desired joint torque is input to a tracking differentiator to obtain a tracking value of the actual joint torque output by the tracking differentiator. The tracking differentiator (TD) may be a first-order tracking differentiator or a multi-order tracking differentiator. Figure 3 In the torque loop ADRC framework composed of the first-order tracking differentiator (first-order TD), extended state observer (second-order ESO) and nonlinear feedback controller (NLSEF), the first-order tracking differentiator is shown in the following equation 1:

[0061]

[0062] Where ν1 is the tracking value, v is the state quantity (when applied to this step, the state quantity is the expected joint torque), r, α0, δ0 are adjustable parameters, and 0≤α0≤1, δ0>0, fal(ε0,α0,δ0) is a nonlinear function, defined as follows:

[0063]

[0064] In step S102, a first estimated value and a second estimated value are obtained according to the actual joint torque fed back by the joint motor, wherein the first estimated value is used to characterize the estimated value of the actual joint torque, and the second estimated value is used to characterize the estimated value of the system disturbance. As an example, the actual joint torque can be input into an extended state observer to obtain the first estimated value and the second estimated value output by the extended state observer.

[0065] Optionally, the actual joint torque fed back by the joint motor may be obtained before executing this step.

[0066] The torque equation on the dq coordinate axis (i.e., the coordinate system composed of the direct axis and quadrature axis of the armature winding) is as follows:

[0067]

[0068] Where, T e is the joint motor torque, 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.

[0069] According to the above formula 1, the motor torque T e and the quadrature axis current i q The relationship between can be expressed as a first-order nonlinear function as shown in the following equation 2:

[0070]

[0071] Where b is the system parameter.

[0072] The differential of the quadrature-axis current has a relative relationship with the quadrature-axis current, the direct-axis current and the quadrature-axis voltage as shown in the following equation 3:

[0073]

[0074] Where U q is the quadrature axis voltage, R s is the motor resistance, ω r is the motor speed;

[0075] Substituting the above formula 3 into the above formula 2, the following formula 4 can be obtained:

[0076]

[0077] Where b3 is the control gain and f3(x) is the system disturbance.

[0078] Based on the above equations 1 to 4, an extended state observer can be constructed as shown in the following equation:

[0079]

[0080] Where z1 is the actual joint torque T e , z2 is the estimated value of the system disturbance f3(x), β1, β2 are the adjustable parameters of the extended state observer, α1, δ1 are adjustable parameters, and 0≤α1≤1, δ1>0, fal(ε1,α1,δ1) is a nonlinear function, defined as follows:

[0081]

[0082] This step is based on the above-mentioned extended state observer. In this step, the actual joint torque and the cross-axis control voltage determined by the method can be used as inputs of the extended state observer, and the estimated value z1 of the actual joint torque and the estimated value z2 of the system disturbance can be used as outputs to run the extended state observer in feedback mode to obtain the first estimated value z1 and the second estimated value z2 of the output.

[0083] In step S103, a quadrature-axis control voltage is determined according to the tracking value of the actual joint torque, the first estimated value and the second estimated value, and the joint motor is controlled to move according to the quadrature-axis control voltage and a preset direct-axis control current.

[0084] The quadrature axis control voltage is the voltage value expected to be achieved on the quadrature axis of the armature winding, and the direct axis control current is the current value expected to be achieved on the direct axis of the armature winding.

[0085] Exemplarily, first, the disturbance-containing voltage is determined according to the tracking value of the actual joint torque and the first estimated value; next, the quadrature-axis control voltage is determined according to the disturbance-containing voltage and the second estimated value. That is, the following nonlinear feedback control law (NLSEF) can be designed to determine the quadrature-axis control voltage:

[0086]

[0087] Among them, U q is the quadrature-axis control voltage, which is used as the output and also as the input of the extended state observer in the form of feedback. u0 is the disturbance-containing voltage, β3, α2, δ2 are adjustable parameters, and 0≤α2≤1, δ2>0, fal(ε2,α2,δ2) is a nonlinear function, defined as follows:

[0088]

[0089] As another example, the joint motor may be controlled to move according to the quadrature-axis control voltage and a preset direct-axis control current (for example, preset to 0) in the following manner:

[0090] 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. The direct-axis control current is the current value (e.g., 0) expected to be reached on the direct axis of the armature winding. 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.

[0091] Next, the joint motor is driven to move according to the quadrature-axis control voltage and the direct-axis control voltage.

[0092] Please refer to the attached Figure 2 and attached Figure 3 , Figure 2 The flowchart of the joint motor control method obtained by combining the above multiple embodiments is exemplarily shown. Figure 3 Shows Figure 2 The structure of the torque loop ADRC framework is composed of a first-order tracking differentiator (first-order TD), an extended state observer (second-order ESO), and a nonlinear feedback controller (NLSEF). The upper-level control sends the desired joint position θ d , expected joint velocity v d , impedance controller parameter K p , K d and feedback torque τ ff , 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 through Figure 3 The torque loop ADRC framework shown in the figure obtains the quadrature axis control voltage U q , and the quadrature axis control voltage U q The feedback mode is also used as the input of the torque loop anti-disturbance control framework. (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.

[0093] The joint motor control method provided by the embodiment of the present disclosure first tracks the expected joint torque to obtain the tracking value of the actual joint torque, then obtains the first estimated value and the second estimated value based on the actual joint torque fed back by the joint motor, and finally determines the cross-axis control voltage based on the tracking value of the actual joint torque, the first estimated value and the second estimated value, and controls the joint motor to move based on the cross-axis control voltage and the preset direct-axis control current. Since the method evaluates the estimated value of the actual joint torque and the estimated value of the system disturbance, and combines the above two estimated values ​​on the basis of the tracking value of the expected joint torque to determine the cross-axis control voltage, the anti-interference ability of the motor control is improved, so that the control precision and accuracy of the motor are improved, thereby improving the complexity of the robot's movement.

[0094] Compared with the traditional hierarchical control of the torque loop, this method adjusts the output of the torque loop control framework to the cross-axis control voltage through model transformation, which simplifies the control design, reduces the parameters of the control framework, and alleviates the debugging and maintenance burden; moreover, the torque loop control framework in this method has self-anti-disturbance capability, which ensures the robustness of the torque control, thereby ensuring the stability of the controller under complex working conditions.

[0095] According to a second aspect of the embodiment of the present disclosure, a joint motor control device is provided. Figure 4 , the device comprises:

[0096] A tracking module 401 is used to track the expected joint torque to obtain a tracking value of the actual joint torque;

[0097] An estimation module 402 is used to obtain a first estimation value and a second estimation value according to the actual joint torque fed back by the joint motor, wherein the first estimation value is used to characterize the estimation value of the actual joint torque, and the second estimation value is used to characterize the estimation value of the system disturbance;

[0098] The motion module 403 is used to determine the quadrature-axis control voltage according to the tracking value of the actual joint torque, the first estimated value and the second estimated value, and control the joint motor to move according to the quadrature-axis control voltage and a preset direct-axis control current.

[0099] In a possible embodiment of the present disclosure, the motion module is used to:

[0100] Determining a disturbance-containing voltage according to the tracking value of the actual joint torque and the first estimated value;

[0101] The quadrature-axis control voltage is determined according to the disturbance-containing voltage and the second estimated value.

[0102] In a possible embodiment of the present disclosure, the device further includes a torque module, and the device torque module is used to:

[0103] The expected joint torque is determined based on the expected joint state and the actual joint state in the motion control instruction.

[0104] In a possible embodiment of the present disclosure, the torque module is used to:

[0105] 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.

[0106] In a possible embodiment of the present disclosure, the desired joint state includes a desired joint position and a desired joint velocity; and / or,

[0107] The actual joint state includes an actual joint position and an actual joint velocity.

[0108] In a possible embodiment of the present disclosure, the motion module is used to:

[0109] 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;

[0110] The joint motor is driven to move according to the quadrature-axis control voltage and the direct-axis control voltage.

[0111] In a possible embodiment of the present disclosure, the device further includes an acquisition module, and the device acquisition module is used to:

[0112] Obtain the actual joint state, the actual joint torque and the actual direct axis current fed back by the joint motor

[0113] In a third aspect, at least one embodiment of the present disclosure provides a robot, please refer to the attached Figure 5 , 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.

[0114] 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.

[0115] 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.

[0116] 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: Tracking the expected joint torque to obtain the tracking value of the actual joint torque; Obtaining a first estimated value and a second estimated value according to the actual joint torque fed back by the joint motor, wherein the first estimated value is used to characterize the estimated value of the actual joint torque, and the second estimated value is used to characterize the estimated value of the system disturbance; The quadrature-axis control voltage is determined according to the tracking value of the actual joint torque, the first estimated value and the second estimated value, and 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 determining of the quadrature axis control voltage according to the tracking value of the actual joint torque, the first estimated value and the second estimated value comprises: Determining a disturbance-containing voltage according to the tracking value of the actual joint torque and the first estimated value; The quadrature-axis control voltage is determined according to the disturbance-containing voltage and the second estimated value.

3. The joint motor control method according to claim 1, characterized in that: Also includes: The expected joint torque is determined based on the expected joint state and the actual joint state in the motion control instruction.

4. The joint motor control method according to claim 3, 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 3, 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 and the actual direct-axis current fed back by the joint motor are obtained.

8. A joint motor control device, characterized in that: The device comprises: A tracking module is used to track the expected joint torque to obtain the tracking value of the actual joint torque; An estimation module, used to obtain a first estimation value and a second estimation value according to an actual joint torque fed back by a joint motor, wherein the first estimation value is used to characterize an estimation value of the actual joint torque, and the second estimation value is used to characterize an estimation value of a system disturbance; A motion module is used to determine a quadrature-axis control voltage according to the tracking value of the actual joint torque, the first estimated value and the second estimated value, and 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 motion module is used to: Determining a disturbance-containing voltage according to the tracking value of the actual joint torque and the first estimated value; The quadrature-axis control voltage is determined according to the disturbance-containing voltage and the second estimated value.

10. The joint motor control device according to claim 8, characterized in that: The device further comprises a torque module, wherein the torque module is used for: The expected joint torque is determined based on the expected joint state and the actual joint state in the motion control instruction.

11. The joint motor control device according to claim 10, 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 10, 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, which is used to: The actual joint state, the actual joint torque and the actual direct-axis 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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