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; the expected joint torque is input into a maximum torque-current ratio control model, and quadrature-axis control current and direct-axis control current output by the maximum torque-current ratio control model are obtained, the maximum torque current ratio control model is used for maximizing the ratio of the expected joint torque to the quadrature axis control current and the direct axis control current; and controlling the joint motor to move according to the quadrature axis control current and the 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, which makes the robot 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 into a maximum torque current ratio control model to obtain a quadrature-axis control current and a direct-axis control current output by the maximum torque current ratio control model, wherein the maximum torque current ratio control model is used to maximize the ratio of the desired joint torque to the quadrature-axis control current and the direct-axis control current;

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

[0008] In a possible embodiment of the present disclosure, the method further includes:

[0009] The maximum torque-to-current ratio control model is constructed according to at least one of the following:

[0010] The electromagnetic torque is the sum of the permanent magnet torque and the reluctance torque;

[0011] The relative relationship between the permanent magnet torque and the quadrature axis current;

[0012] The relative relationship between the reluctance torque and the quadrature-axis current and the direct-axis current;

[0013] The relative relationship between the quadrature-axis current and the direct-axis current.

[0014] In a possible embodiment of the present disclosure, the quadrature-axis control current output by the maximum torque-to-current ratio control model is used as an input for predicting the quadrature-axis control current.

[0015] In a possible embodiment of the present disclosure, the inputting the desired joint torque into a maximum torque current ratio control model to obtain a quadrature-axis control current and a direct-axis control current output by the maximum torque current ratio control model includes:

[0016] The desired joint torque is input into a maximum torque current ratio control model to obtain a quadrature-axis control current output by a quadrature-axis unit in the maximum torque current ratio control model, and a direct-axis control current output by a direct-axis unit in the maximum torque current ratio control model, wherein the direct-axis unit is used to determine the direct-axis control current based on the quadrature-axis control current.

[0017] 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:

[0018] 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.

[0019] In a possible embodiment of the present disclosure, the desired joint state includes a desired joint position and a desired joint velocity; and / or,

[0020] The actual joint state includes an actual joint position and an actual joint velocity.

[0021] In a possible embodiment of the present disclosure, controlling the joint motor to move according to the quadrature-axis control current and the direct-axis control current includes:

[0022] Inputting the quadrature-axis control current and the quadrature-axis actual current into a current loop quadrature-axis controller to obtain a quadrature-axis control voltage output by the current loop quadrature-axis controller;

[0023] 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;

[0024] The joint motor is driven to move according to the quadrature-axis control voltage and the direct-axis control voltage.

[0025] In a possible embodiment of the present disclosure, the method further includes:

[0026] The actual joint state, the actual current of the quadrature axis and the actual current of the direct axis fed back by the joint motor are obtained.

[0027] According to a second aspect of an embodiment of the present disclosure, a joint motor control device is provided, the device comprising:

[0028] A torque module, used to determine the expected joint torque according to the expected joint state and the actual joint state in the motion control instruction;

[0029] a current module, used for inputting the desired joint torque into a maximum torque current ratio control model to obtain a quadrature-axis control current and a direct-axis control current output by the maximum torque current ratio control model, wherein the maximum torque current ratio control model is used for maximizing the ratio of the desired joint torque to the quadrature-axis control current and the direct-axis control current;

[0030] The motion module is used to control the joint motor to move according to the quadrature-axis control current and the direct-axis control current.

[0031] In a possible embodiment of the present disclosure, the device further includes a building module, which is used to:

[0032] The maximum torque-to-current ratio control model is constructed according to at least one of the following:

[0033] The electromagnetic torque is the sum of the permanent magnet torque and the reluctance torque;

[0034] The relative relationship between the permanent magnet torque and the quadrature axis current;

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

[0036] The relative relationship between the quadrature-axis current and the direct-axis current.

[0037] In a possible embodiment of the present disclosure, the quadrature-axis control current output by the maximum torque-to-current ratio control model is used as an input for predicting the quadrature-axis control current.

[0038] In a possible embodiment of the present disclosure, the current module is used for:

[0039] The desired joint torque is input into a maximum torque current ratio control model to obtain a quadrature-axis control current output by a quadrature-axis unit in the maximum torque current ratio control model, and a direct-axis control current output by a direct-axis unit in the maximum torque current ratio control model, wherein the direct-axis unit is used to determine the direct-axis control current based on the quadrature-axis control current.

[0040] In a possible embodiment of the present disclosure, the torque module is used to:

[0041] 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.

[0042] In a possible embodiment of the present disclosure, the desired joint state includes a desired joint position and a desired joint velocity; and / or,

[0043] The actual joint state includes an actual joint position and an actual joint velocity.

[0044] In a possible embodiment of the present disclosure, the motion module is used to:

[0045] Inputting the quadrature-axis control current and the quadrature-axis actual current into a current loop quadrature-axis controller to obtain a quadrature-axis control voltage output by the current loop quadrature-axis controller;

[0046] 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;

[0047] The joint motor is driven to move according to the quadrature-axis control voltage and the direct-axis control voltage.

[0048] In a possible embodiment of the present disclosure, the device further includes an acquisition module, and the acquisition module is used to:

[0049] The actual joint state, the actual current of the quadrature axis and the actual current of the direct axis fed back by the joint motor are obtained.

[0050] 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.

[0051] 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.

[0052] The technical solution provided by the embodiments of the present disclosure may have the following beneficial effects:

[0053] 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 into the maximum torque current ratio control model, obtains the quadrature axis control current and the direct axis control current output by the maximum torque current ratio control model, and finally controls the joint motor to move according to the quadrature axis control current and the direct axis control current. Since the maximum torque current ratio model can maximize the ratio between the output expected joint torque and the quadrature axis control current and the direct axis control current, that is, the expected joint torque is achieved by the minimum stator current, thereby reducing the loss and improving the efficiency, thereby improving the control efficiency of the joint motor and increasing the complexity of the robot's movements. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] 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.

[0055] Figure 1 is a flow chart of a joint motor control method shown in an exemplary embodiment of the present disclosure;

[0056] Figure 2 is a schematic diagram of a maximum torque-to-current ratio control model shown in an exemplary embodiment of the present disclosure;

[0057] Figure 3 is a flow chart of a joint motor control method shown in an exemplary embodiment of the present disclosure;

[0058] Figure 4 is a structural schematic diagram of a joint motor control device shown in an exemplary embodiment of the present disclosure;

[0059] Figure 5 It is a structural block diagram of a robot shown in an exemplary embodiment of the present disclosure. DETAILED DESCRIPTION

[0060] 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.

[0061] 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.

[0062] 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".

[0063] 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, which makes the robot unable to complete more complex actions.

[0064] 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.

[0065] 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.

[0066] 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.

[0067] The expected joint state can be the expected state of the joint controlled by the method determined by the upper-level 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.

[0068] 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 based on the expected joint position and the actual joint position, and the speed error can be determined based on the expected joint speed and the actual joint speed. 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.

[0069] In step S102, the desired joint torque is input into the maximum torque current ratio control model to obtain the quadrature-axis control current and the direct-axis control current output by the maximum torque current ratio control model, wherein the maximum torque current ratio control model is used to maximize the ratio of the desired joint torque to the quadrature-axis control current and the direct-axis control current.

[0070] The quadrature-axis control current is the current 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.

[0071] The maximum torque current ratio control model (MTPA) can determine the stator current, i.e., the quadrature axis control current and the direct axis control current, when the electromagnetic torque per unit current is maximum. The maximum torque current ratio control model can be constructed in advance according to at least one of the following:

[0072] The first term, the electromagnetic torque, is the sum of the permanent magnet torque and the reluctance torque.

[0073] The second item is the relative relationship between the permanent magnet torque and the quadrature axis current.

[0074] The third item is the relative relationship between the magnetic resistance torque and the quadrature-axis current and the direct-axis current.

[0075] The fourth item is the relative relationship between the quadrature-axis current and the direct-axis current.

[0076] Among them, the contents of the first three items can be expressed by the following formula 1:

[0077]

[0078] Where, T e is the electromagnetic torque, is the permanent magnet torque of the permanent magnet synchronous motor, is the reluctance 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.

[0079] The content of the last item can be expressed by the following formula 2:

[0080]

[0081] In the formula, i d is the direct axis current, i q is the quadrature axis current, i s is the stator current, β is the stator current i s The phase angle with respect to the direct axis.

[0082] For example, the above formula 2 can be substituted into the above formula 1 to obtain the following formula 3:

[0083]

[0084] Furthermore, the relationship between the unit current electromagnetic torque and the phase angle β can be obtained according to the above formula 3, that is, the following formula 4:

[0085]

[0086] in i s When the amplitude of remains unchanged, f(β) in the above formula 4 takes the maximum value That is, the following formula 5 and formula 6 (wherein formula 6 is obtained by transforming formula 5):

[0087] (L d -L q )i s cos(2β)+ψ f cosβ=0

[0088] (L d -L q )i s (2cos 2 β-1)+ψ f cosβ=0

[0089] Solving the above equation 6 can yield the following equation 7:

[0090]

[0091] Substituting the above equation 7 into the above equation 2, the following equation 8 can be obtained:

[0092]

[0093] Furthermore, according to s ,i d ,i q The relationship between Bundle Substituting into the above equation 8, we can get the following equation 9:

[0094]

[0095] Substituting the above formula 9 into the above formula 1, the following formulas 10 and 11 are obtained (formula 11 is obtained by rearranging formula 10):

[0096]

[0097]

[0098] Finally, we can build a simulation model based on the above equations 9 and 11, and decompose i d and i q The maximum torque current ratio control model is completed by controlling the current ratio of the current and the torque. The schematic diagram of the model is shown in Figure 2 shown.

[0099] The above model building process and Figure 2 From the principle shown, it can be seen that the quadrature-axis control current output by the maximum torque current ratio control model is used as the input for predicting the quadrature-axis control current; and the maximum torque current ratio control model determines the direct-axis control current according to the quadrature-axis control current output by it.

[0100] It can be understood that the maximum torque-to-current ratio control model may include a quadrature-axis unit and a direct-axis unit, wherein the quadrature-axis unit may adopt a feedback control mode, that is, it is used to determine and output the quadrature-axis control current according to the desired joint torque and the quadrature-axis control current outputted by the quadrature-axis unit (this can be accomplished using the above formula 11), and the direct-axis unit is used to determine the direct-axis control current according to the quadrature-axis control current outputted by the above quadrature-axis unit (this can be accomplished using the above formula 9).

[0101] That is to say, in this step, the desired joint torque is input into the maximum torque current ratio control model to obtain the quadrature-axis control current output by the quadrature-axis unit in the maximum torque current ratio control model and the direct-axis control current output by the direct-axis unit in the maximum torque current ratio control model.

[0102] In step S103, the joint motor is controlled to move according to the quadrature-axis control current and the direct-axis control current.

[0103] Exemplarily, this step can be performed in the following manner:

[0104] First, the quadrature axis control current and the quadrature axis actual current are input into the current loop quadrature axis controller to obtain the quadrature axis control voltage output by the current loop quadrature axis controller, wherein the quadrature axis actual current fed back by the joint motor can be obtained before this step, and the quadrature axis actual current is the actual current value on the quadrature axis of the armature winding. The quadrature axis control voltage is the voltage value expected to be reached on the quadrature axis of the armature winding.

[0105] Next, 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, wherein the direct-axis actual current fed back by the joint motor can be obtained before this step, and 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.

[0106] Finally, the joint motor is driven to move according to the quadrature-axis control voltage and the direct-axis control voltage.

[0107] Please refer to the attached Figure 3 , 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 The quadrature axis control current is obtained by MTPA model and direct axis control current and Combined with the actual current i of the quadrature axis fed back by the joint motor q And the actual direct axis current i d , the AC and DC axis control voltage U is obtained through the AC and DC axis current loop controller q and U d .U q and U d The three-phase voltage obtained through pulse width modulation drives the motor to run through the inverter.

[0108] 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 into the maximum torque current ratio control model, obtains the quadrature axis control current and the direct axis control current output by the maximum torque current ratio control model, and finally controls the joint motor to move according to the quadrature axis control current and the direct axis control current. Since the maximum torque current ratio model is constructed according to the relative relationship between the electromagnetic torque, the permanent magnet torque, the reluctance torque, the quadrature axis current, and the direct axis current, the ratio between the output expected joint torque and the quadrature axis control current and the direct axis control current can be maximized, that is, the expected joint torque is achieved by the minimum stator current, thereby reducing the loss and improving the efficiency, thereby improving the control efficiency of the joint motor and the complexity of the robot's movements.

[0109] The method decomposes the desired joint torque into quadrature and direct-axis control currents through a maximum torque-to-current ratio control model, and then tracks and controls the quadrature and direct-axis control currents, saving hardware costs. For example, hardware facilities such as torque sensors and torque loop controllers are omitted. Moreover, compared with the method of presetting the direct-axis control current, this method makes full use of the reluctance torque of the permanent magnet synchronous motor, thereby improving the control efficiency and motion ability of the robot. Furthermore, this method eliminates the need to adjust the proportional and integral coefficients of the torque loop controller, reducing the burden of parameter debugging.

[0110] According to a second aspect of the embodiment of the present disclosure, a joint motor control device is provided. Figure 4 , the device comprises:

[0111] The torque module 401 is used to determine the expected joint torque according to the expected joint state and the actual joint state in the motion control instruction;

[0112] A current module 402 is used to input the desired joint torque into a maximum torque current ratio control model to obtain a quadrature-axis control current and a direct-axis control current output by the maximum torque current ratio control model, wherein the maximum torque current ratio control model is used to maximize the ratio of the desired joint torque to the quadrature-axis control current and the direct-axis control current;

[0113] The motion module 403 is used to control the joint motor to move according to the quadrature-axis control current and the direct-axis control current.

[0114] In a possible embodiment of the present disclosure, the device further includes a building module, which is used to:

[0115] The maximum torque-to-current ratio control model is constructed according to at least one of the following:

[0116] The electromagnetic torque is the sum of the permanent magnet torque and the reluctance torque;

[0117] The relative relationship between the permanent magnet torque and the quadrature axis current;

[0118] The relative relationship between the reluctance torque and the quadrature-axis current and the direct-axis current;

[0119] The relative relationship between the quadrature-axis current and the direct-axis current.

[0120] In a possible embodiment of the present disclosure, the quadrature-axis control current output by the maximum torque-to-current ratio control model is used as an input for predicting the quadrature-axis control current.

[0121] In a possible embodiment of the present disclosure, the current module is used for:

[0122] The desired joint torque is input into a maximum torque current ratio control model to obtain a quadrature-axis control current output by a quadrature-axis unit in the maximum torque current ratio control model, and a direct-axis control current output by a direct-axis unit in the maximum torque current ratio control model, wherein the direct-axis unit is used to determine the direct-axis control current based on the quadrature-axis control current.

[0123] In a possible embodiment of the present disclosure, the torque module is used to:

[0124] 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.

[0125] In a possible embodiment of the present disclosure, the desired joint state includes a desired joint position and a desired joint velocity; and / or,

[0126] The actual joint state includes an actual joint position and an actual joint velocity.

[0127] In a possible embodiment of the present disclosure, the motion module is used to:

[0128] Inputting the quadrature-axis control current and the quadrature-axis actual current into a current loop quadrature-axis controller to obtain a quadrature-axis control voltage output by the current loop quadrature-axis controller;

[0129] 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;

[0130] The joint motor is driven to move according to the quadrature-axis control voltage and the direct-axis control voltage.

[0131] In a possible embodiment of the present disclosure, the device further includes an acquisition module, and the acquisition module is used to:

[0132] The actual joint state, the actual current of the quadrature axis and the actual current of the direct axis fed back by the joint motor are obtained.

[0133] 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.

[0134] 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.

[0135] 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.

[0136] 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 into a maximum torque current ratio control model to obtain a quadrature-axis control current and a direct-axis control current output by the maximum torque current ratio control model, wherein the maximum torque current ratio control model is used to maximize the ratio of the desired joint torque to the quadrature-axis control current and the direct-axis control current; The joint motor is controlled to move according to the quadrature-axis control current and the direct-axis control current.

2. The joint motor control method according to claim 1, characterized in that: The method further comprises: The maximum torque-to-current ratio control model is constructed according to at least one of the following: The electromagnetic torque is the sum of the permanent magnet torque and the reluctance torque; The relative relationship between the permanent magnet torque and the quadrature axis current; The relative relationship between the reluctance torque and the quadrature-axis current and the direct-axis current; The relative relationship between the quadrature-axis current and the direct-axis current.

3. The joint motor control method according to claim 1 or 2, characterized in that: The quadrature-axis control current output by the maximum torque-to-current ratio control model is used as an input for predicting the quadrature-axis control current.

4. The joint motor control method according to claim 3, characterized in that: The step of inputting the desired joint torque into a maximum torque current ratio control model to obtain a quadrature-axis control current and a direct-axis control current output by the maximum torque current ratio control model includes: The desired joint torque is input into a maximum torque current ratio control model to obtain a quadrature-axis control current output by a quadrature-axis unit in the maximum torque current ratio control model, and a direct-axis control current output by a direct-axis unit in the maximum torque current ratio control model, wherein the direct-axis unit is used to determine the direct-axis control current based on the quadrature-axis control current.

5. 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.

6. The joint motor control method according to claim 1 or 5, 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.

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

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

9. A joint motor control device, characterized in that: The device comprises: A torque module, used to determine the expected joint torque according to the expected joint state and the actual joint state in the motion control instruction; a current module, used for inputting the desired joint torque into a maximum torque current ratio control model to obtain a quadrature-axis control current and a direct-axis control current output by the maximum torque current ratio control model, wherein the maximum torque current ratio control model is used for maximizing the ratio of the desired joint torque to the quadrature-axis control current and the direct-axis control current; The motion module is used to control the joint motor to move according to the quadrature-axis control current and the direct-axis control current.

10. The joint motor control device according to claim 9, characterized in that: The apparatus further comprises a building block for: The maximum torque-to-current ratio control model is constructed according to at least one of the following: The electromagnetic torque is the sum of the permanent magnet torque and the reluctance torque; The relative relationship between the permanent magnet torque and the quadrature axis current; The relative relationship between the reluctance torque and the quadrature-axis current and the direct-axis current; The relative relationship between the quadrature-axis current and the direct-axis current.

11. The joint motor control device according to claim 9 or 10, characterized in that: The quadrature-axis control current output by the maximum torque-to-current ratio control model is used as an input for predicting the quadrature-axis control current.

12. The joint motor control device according to claim 11, characterized in that: The current module is used to: The desired joint torque is input into a maximum torque current ratio control model to obtain a quadrature-axis control current output by a quadrature-axis unit in the maximum torque current ratio control model, and a direct-axis control current output by a direct-axis unit in the maximum torque current ratio control model, wherein the direct-axis unit is used to determine the direct-axis control current based on the quadrature-axis control current.

13. The joint motor control device according to claim 9, 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.

14. The joint motor control device according to claim 9 or 13, 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.

15. The joint motor control device according to claim 9, characterized in that: The motion module is used to: Inputting the quadrature-axis control current and the quadrature-axis actual current into a current loop quadrature-axis controller to obtain a quadrature-axis control voltage output by the current loop quadrature-axis controller; 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.

16. The joint motor control device according to claim 15, characterized in that: The device further includes an acquisition module, wherein the acquisition module is configured to: The actual joint state, the actual current of the quadrature axis and the actual current of the direct axis fed back by the joint motor are obtained.

17. 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 8 when executing the computer instructions.

18. 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 8 is implemented.

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