Control method and system of outer rotor brushless double magnetic encoder steering engine, robot and readable storage medium

Abstract

The invention discloses a control method and system of an outer rotor brushless double-magnetic encoder steering engine, a robot and a readable storage medium, and the method comprises the steps: detecting the angle positions of a motor rotor and an output shaft through a double-magnetic encoder, and calculating the angle position and differential speed of a motor and the output shaft of a gear set; according to the power difference value converted by the reduction gear set, high-precision adjustment of output of the steering engine is achieved through compensation detection of the double magnetic encoders, the problems of gear clearance, shaking and small locking torque of a traditional steering engine are solved, and then the activity upper limit and the operation precision of the robot in an actual application scene are improved.

Description

Technical Field

[0001] The present invention relates to the field of motor technology, and in particular to a control method, system, robot and readable storage medium for an outer rotor brushless dual magnetic encoder servo. Background Art

[0002] With the development of robotic arms and humanoid robots, the difficulty of projects carried out in many industrial fields has gradually increased, and the requirements for the accuracy and speed of robot joints have also become higher and higher. Among them, servos, as common robot joint power units, introduce outer rotor brushless motors and dual encoders through innovative structures to improve the performance of servos. Although servos can improve the overall performance of robots, they also have strict requirements on control systems and control methods.

[0003] In the prior art, traditional servos are generally used to achieve precise control of robots. Since the error problem caused by the gear processing technology is inevitable, the problem of gear virtual position will inevitably occur in the traditional servo. In addition, since the traditional servo has the problems of gear virtual position, jitter, and small locking torque, there will be work safety risks in the operation of the robot, resulting in the inability to complete the work instructions smoothly, which not only affects the work efficiency of the robot, but also creates certain safety hazards. Therefore, how to increase the control accuracy of the servo while ensuring that the servo does not jitter and can increase the locking torque of the servo is a technical problem that needs to be solved urgently. Summary of the invention

[0004] In view of the shortcomings of the above-mentioned technology that traditional servos have gear virtual position, jitter, and small locking torque, resulting in poor servo control accuracy, affecting the work efficiency of the robot in the actual working process and causing certain safety hazards, the present invention provides a control method, system, robot and readable storage medium for an outer rotor brushless dual magnetic encoder servo.

[0005] To achieve the above object, the present invention provides a control method for an outer rotor brushless dual magnetic encoder servo, comprising the following steps:

[0006] S1, initialize the state parameters of the servo and controller, and obtain the initial position of the servo;

[0007] S2, setting the target position and expected parameters of the steering gear, and detecting and obtaining the current angular positions of the steering gear motor rotor and the output shaft of the gear set through the motor magnetic encoder and the output shaft magnetic encoder respectively;

[0008] S3, calculating the distance between the current position of the output shaft and the target position;

[0009] S4. Use the controller to adjust the motor parameters so that the output shaft reaches the target position. First, determine whether the current speed of the output shaft is 0. If the current speed is 0, accelerate to the target speed and move at a constant speed. When approaching the target position, slowly decelerate until the target position is reached. If the current speed of the output shaft is not 0, determine whether the direction of the current speed is consistent with the target speed. If consistent, determine whether the current speed is the same as the target speed. If they are not the same, accelerate or decelerate to the same magnitude as the target speed. If they are not consistent, the output shaft decelerates to 0, and re-accelerates to the target speed and moves at a constant speed. When approaching the target position, slowly decelerates until the target position is reached.

[0010] As an improved solution of the present invention, in S2, firstly, the actual angular position P of the motor rotor and the output shaft is obtained respectively through the motor magnetic encoder and the output shaft encoder. m_actual and P actual In S3, the motor rotor output is converted to output power to the output shaft through the reduction gear set, and then the angular change of the output shaft is obtained as:

[0011]

[0012] Where P m△ is the angular change of the motor rotor, P △ is the angular change of the output shaft, R gear is the gear reduction ratio. Further, the angle required for the output shaft to move from the current angular position to the target position is calculated as:

[0013] P △ =P now -P actual

[0014] Where P now is the current angular position of the output shaft, and then the angle required for the motor rotor to move from the current angular position to the output shaft reaching the target position is calculated as:

[0015] P m△ =P △ ·R gear =(P now -P actual )·R gear

[0016] As an improved solution of the present invention, in S4, according to the target speed V input by the user target and target acceleration A accel , with a fixed frequency f m Repeat the motion, and calculate the time T for the motor to accelerate from 0 to the target speed accel , the number of control cycles T ticks_accel , the angle Saccel They are

[0017]

[0018]

[0019] As an improved solution of the present invention, when the steering gear reaches the uniform speed stage, the duration T const , the number of control cycles T ticks_const 、Distance S const for

[0020]

[0021] S const =|P target -P start |-S accel -S decel

[0022] Among them, P target is the output axis target angle input by the user, P start This is the starting angle of the entire acceleration and deceleration process. After the servo reaches the target speed, it maintains a constant speed at the target speed.

[0023] As an improved solution of the present invention, when the servo starts to decelerate at the current target speed and approaches the target position, the time required for the deceleration process is T decel , the number of control cycles T ticks_decel , the angle S decel for:

[0024]

[0025] As an improved solution of the present invention, the calculation formula when the steering gear is in the acceleration motion stage is:

[0026]

[0027] The calculation formula when the servo is in the uniform motion stage is:

[0028] V now =V target

[0029]

[0030] The calculation formula when the servo is in the deceleration stage is:

[0031]

[0032] Among them, V now is the desired speed of the servo at the current moment, Vlast is the expected speed of the servo at the last moment, P now is the desired position of the servo at the current moment, P last is the expected position of the servo at the last moment, A accel is the acceleration set by user input.

[0033] As an improved solution of the present invention, when the motor movement is finished, the current angular position P of the motor rotor now Equal to the output axis target angle P input by the user target , so that the actual angular position of the output shaft is P actual Equal to the output axis target angle P input by the user target , adjust the actual angular position P of the output shaft by the following formula actual :

[0034] P m_target =P m_actual +(P target -P actual )·R gear

[0035] When the actual position is consistent with the target position, record the current motor P m_actual , stop repeating the above motion process, and set the actual angular position of the motor rotor P m_actual As the target angular position P of the motor rotor m_target , the motor control program locks the motor rotor angle position at P m_actual Until the next exercise process begins.

[0036] As an improved solution of the present invention, the present invention also discloses a control system for an outer rotor brushless dual magnetic encoder servo, which is used to execute a control method for an outer rotor brushless dual magnetic encoder servo, comprising:

[0037] Output module, used to generate power to make the servo work;

[0038] A control module, used for inputting steering gear parameters and adjusting parameters of the output module;

[0039] The detection module is used to detect the rotation speed and angle of the output module and feed back the rotation speed and angle to the control module.

[0040] As an improved solution of the present invention, it also includes an outer rotor brushless dual magnetic encoder servo, which is used to execute the control method of the outer rotor brushless dual magnetic encoder servo, including a shell and an outer rotor brushless motor, a reduction gear set and a main control board arranged in the shell, the brushless motor is connected to the reduction gear set through a motor output shaft, and the reduction gear set is provided with a gear set output shaft; the main control board is provided with a first magnetic encoder and a second magnetic encoder for detecting the rotational speed and angle of the motor rotor and the gear set output shaft of the outer rotor brushless motor.

[0041] As an improved solution of the present invention, a readable storage medium is also provided, on which a computer program is stored. When the computer program is executed by a robot, it is used to implement the control method of the outer rotor brushless dual magnetic encoder servo.

[0042] The beneficial effects of the present invention are as follows: compared with the prior art, the present invention provides a control method, system, robot and readable storage medium for an outer rotor brushless dual magnetic encoder servo. The present invention uses a dual magnetic encoder to detect the angular position of the motor rotor and the output shaft, calculates the angular position and differential of the motor and the output shaft of the gear set, and based on the power difference between the two converted through the reduction gear set, high-precision adjustment of the servo output is achieved through compensation detection of the dual magnetic encoder, thereby avoiding the problems of gear virtual position, jitter and small locking torque in traditional servos, thereby improving the upper limit of the robot's activity and the operating accuracy in actual application scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 It is a logic block diagram of the motion state of the steering gear of the present invention;

[0044] Figure 2 A logic block diagram of the multi-turn angular position calculation of the motor rotor of the present invention;

[0045] Figure 3 It is a schematic diagram of the internal structure of the steering gear of the present invention;

[0046] Figure 4 It is a cross-sectional view of the steering gear of the present invention. DETAILED DESCRIPTION

[0047] In order to more clearly illustrate the present invention, the present invention is further described below in conjunction with the accompanying drawings.

[0048] In the following description, the example details are given to provide a deeper understanding of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all embodiments. It should be understood that the specific embodiments are only used to explain the present invention and are not used to limit the present invention.

[0049] It should be understood that when the terms "include" and / or "comprises" are used in this specification, they indicate the existence of the stated features, integers, steps, operations, elements or components, but do not exclude the existence or addition of one or more other features, integers, steps, operations, elements, components or combinations thereof.

[0050] See also Figure 1-Figure 4 A control method for an outer rotor brushless dual magnetic encoder steering gear of the present invention comprises the following steps:

[0051] S1, initialize the state parameters of the servo and controller, and obtain the initial position of the servo;

[0052] S2, setting the target position and expected parameters of the steering gear, and detecting and obtaining the current angular positions of the steering gear motor rotor and the output shaft of the gear set through the motor magnetic encoder and the output shaft magnetic encoder respectively;

[0053] S3, calculating the distance between the current position of the output shaft and the target position;

[0054] S4. Use the controller to adjust the motor parameters so that the output shaft reaches the target position. First, determine whether the current speed of the output shaft is 0. If the current speed is 0, accelerate to the target speed and move at a constant speed. When approaching the target position, slowly decelerate until the target position is reached. If the current speed of the output shaft is not 0, determine whether the direction of the current speed is consistent with the target speed. If consistent, determine whether the current speed is the same as the target speed. If they are not the same, accelerate or decelerate to the same magnitude as the target speed. If they are not consistent, the output shaft decelerates to 0, and re-accelerates to the target speed and moves at a constant speed. When approaching the target position, slowly decelerates until the target position is reached.

[0055] Since the present invention adopts an outer rotor brushless motor to drive the steering gear, the power density and torque density of the outer rotor brushless motor are greater than those of the traditional DC brushed motor. Therefore, the brushless motor can achieve a larger locking torque to ensure the stable operation of the steering gear. At the same time, the present invention adopts a dual magnetic encoder to detect the angle of the motor rotor and the output shaft of the brushless motor, which can play a high role in the control output of the steering gear. Since the jitter of the steering gear is caused by the increase of the response gain, the greater the locking torque of the steering gear, the greater the response gain, and it is more likely to cause overshoot when the steering gear moves from the starting position to the target position. Therefore, it is necessary to achieve a large gain for the steering gear without generating jitter. It is necessary to use a brushless motor in conjunction with the detection of a dual magnetic encoder to achieve precise control of the angular position of the motor rotor to ensure the normal operation of the steering gear.

[0056] The acceleration during the brushless motor's acceleration and deceleration, the maximum speed during motion, and the target position of the output shaft are all specified by the user through the communication interface input data, and the controller will execute the motion control logic at a fixed frequency.

[0057] According to the above control logic, the expected speed V of the corresponding servo at the current moment is calculated according to the motion parameters. now 、The expected position P at the current time now , let the initial velocity be V start , the user inputs the maximum speed V target , the acceleration is A accel . Controlled by frequency f m Repeat the motion control logic and the time from acceleration to maximum speed is T accel for

[0058]

[0059] The number of control cycles T from 0 to the maximum speed ticks_accel for

[0060]

[0061] The angle S from 0 acceleration to maximum speed accel for

[0062]

[0063] When the servo accelerates to the target speed, it moves at the target speed until it approaches the target position and then starts to decelerate. The acceleration during deceleration is equal in magnitude and opposite in direction to the acceleration during acceleration, i.e. A decel =-A accel So the time taken for the deceleration process is T decel , the number of control cycles T ticks_decel , the angle S decel They are

[0064]

[0065] Where P target is the output axis target angle input by the user, P start It is the starting angle of the entire acceleration and deceleration process of the servo.

[0066] The duration of the servo in the uniform speed stage T const , the number of control cycles T ticks_const 、Distance S const for:

[0067]

[0068] S const =|P target -P start |-S accel -S decel

[0069] After obtaining the duration of acceleration and deceleration in each stage of the servo, the current time and the start time of the motion process should be checked each time the motion control program is run, and the specific time T from the start time to the current time should be calculated, so as to determine how the servo should move.

[0070] T=T now -T start

[0071] Where T is the time from the start time to the current time, T now is the current time, T start It is the starting time of the whole movement process.

[0072] Acceleration time: T <T accel

[0073] Uniform time: T accel <=T <T accel +T const

[0074] Deceleration time: T accel +T const <=T <T accel +T const +Tdecel

[0075] After the control program completes the judgment of the motion state of the servo, the expected position and expected speed at the current moment are calculated according to the motion state of the servo, wherein the expected speed is obtained by integrating the acceleration, and the expected position of the servo is obtained by integrating the speed.

[0076] The calculation formula of the servo in the acceleration stage is based on the uniform acceleration motion calculation formula

[0077]

[0078]

[0079] The calculation formula of the servo in the uniform motion stage is:

[0080] V now =V target

[0081]

[0082] The calculation formula of the servo during the deceleration stage is:

[0083]

[0084] Where V now is the expected speed at the current moment, V lastis the expected speed at the previous moment, P now is the expected position at the current moment, P last is the expected position at the previous moment, A accel is the acceleration entered by the user.

[0085] After calculating the current expected position and current expected speed of the servo in each stage of acceleration, uniform motion and deceleration, the actual angular position P of the output shaft collected by the output shaft magnetic encoder can be obtained. actual The motor magnetic encoder collects the actual angular position P of the motor rotor m_actual , calculate the angle change of the motor rotor output to the output shaft through the reduction gear set, so as to achieve accurate control of the output shaft angle. The angle change relationship is:

[0086]

[0087] Where P m△ is the angular change of the motor rotor, P △ is the angular change of the output shaft, R gear is the gear reduction ratio. Further, the angle formula to be calculated from the current actual position of the output shaft to the desired position is:

[0088] P △ =P now -P actual

[0089] The formula for calculating the angle from the current position of the motor to the desired position of the output shaft is:

[0090] P m△ =P △ ·R gear =(P now -P actual )·R gear

[0091] Then the motor target angle position P m_target for:

[0092] P m_target =P m_actual +P m△ =P m_actual +(P now -P actual )·R gear

[0093] The new motor target position is used as the target position of the motor control program position PID. The motor control program generates a control torque based on the target position and the current position. The motor control program mainly implements the general FOC force position control. FOC (field vector control) is a motor control method, which is called vector control. This method converts the three-phase current of the motor into two direct-alternating currents, namely the direct-axis current I d and the quadrature axis current I q , by controlling the direct axis current I d and the quadrature axis current I q The size of the motor is used to achieve precise control of the motor, force position control, that is, torque and position control. Repeat the above motion process until the motion process is completed. The expected position at the end of the last motion process is equal to the target position, that is, P now =P target After the movement process is completed, continue to repeat the following process until P actual =P target .

[0094] P m_target =P m_actual +(P target -P actual )·R gear

[0095] When the actual position of the motor rotor is consistent with the target position, the actual position P of the motor rotor at the current moment is recorded. m_actual , stop the repetitive process and set P m_actual As the output shaft target angle P m_target The motor control program locks the position at P m_actual Until the next movement process begins. Since the slight disturbance of the servo output shaft will be amplified by the reduction gear set and fed back to the motor, resulting in a larger disturbance on the motor output shaft, the motor control program directly controls and adjusts according to the disturbance, greatly improving the response speed of the servo.

[0096] As mentioned above, due to the existence of the reduction gear set between the motor rotor and the servo output shaft, the servo output shaft rotates only 1° The control accuracy is relatively high. Due to the gear clearance of the reduction gear and the size of the load, there will be virtual positions. Therefore, the above method can reduce the error between the output shaft position detected by the magnetic encoder of the servo output shaft and the actual position. The accuracy resolution of the magnetic encoder can reach 0.02°, which is compensated by the motor rotor magnetic encoder. The compensation resolution can reach Therefore, faster response and higher control bandwidth can be achieved on the motor rotor, and ultimately the two encoders can be fully utilized to achieve high-precision position control to meet the accuracy requirements of robots such as robotic arms.

[0097] The position output of the magnetic encoder is a single-turn absolute value, that is, it can detect angles of 0 to 360 degrees, and restart from 0 after exceeding the limit. For the output shaft, the motor rotor rotates through the transmission of the reduction gear set. In the actual application of robot joints, the movement generally does not exceed 360 degrees, so no special treatment is required. For the motor rotor, most of the actual movements during the operation of the servo are multi-turn movements, so it is necessary to implement multi-turn absolute position calculation in the software. The calculation process is as follows:

[0098] Please refer to Figure 2 First, the magnetic encoder is used to detect and obtain the single-turn angle position of the motor rotor of the current brushless motor. According to the current motor rotor position and the position of the motor rotor at the previous moment, it is determined whether the current number of turns increases or decreases, that is, the current angle position P now -Last position P last >180°, and then the multi-turn absolute position of the electronic rotor is obtained as the current angle position P now + number of turns × 360°, when the next movement is performed, the angle obtained this time is assigned as the current angle position P now , so the absolute position of the motor rotor over multiple turns can be calculated.

[0099] In order to ensure that the output shaft of the gear set can move smoothly and without overshoot when the gear set moves or changes speed, the user can input the target position, speed, acceleration and other parameters through the control interface to control the rotation of the motor and determine how to change the motion state according to the current motion state. The specific judgment logic is as follows: Figure 2 As shown, it is determined whether the motion control parameters of the current servo have been updated. If an update has occurred, the current position of the output shaft is obtained, and the distance between the output shaft position and the set target position and whether the motor speed is 0 are calculated. When the current speed of the motor is 0, it is accelerated to the same magnitude as the target speed and moves at a uniform speed until it approaches the target position and then decelerates until it completely reaches the target position so that the speed is 0; when the current speed of the motor is not 0 and is consistent with the direction of the set target speed, it is further determined whether the current speed is less than the target speed according to the direction. If it is greater than the target speed, it is decelerated to the target speed. If the current speed is less than the target speed, it is accelerated to the target speed. If the direction of the current speed of the motor is inconsistent with that of the target speed, the current speed of the motor is decelerated to 0, and re-accelerated to the same magnitude and direction as the target speed, and then moves at a uniform speed at the target speed to approach the target position, and when the current speed is slowly decelerated to 0, the target position is reached.

[0100] In this embodiment, the present invention further discloses a control system for an outer rotor brushless dual magnetic encoder servo, which is used to execute a control method for an outer rotor brushless dual magnetic encoder servo, including:

[0101] Output module, used to generate power to make the servo work;

[0102] Control module, used to input servo parameters and adjust parameters of output module;

[0103] The detection module is used to detect the rotation speed and angle of the output module and feed back to the control module.

[0104] See also Figure 3-Figure 4 In this embodiment, an outer rotor brushless dual magnetic encoder servo is also included, which is used to execute the control method of the outer rotor brushless dual magnetic encoder servo, including a housing 1 and an outer rotor brushless motor 2, a reduction gear set 3 and a main control board 4 arranged in the housing 1. The brushless motor 2 is connected to the reduction gear set 3 through a motor output shaft 5, and the reduction gear set 3 is provided with a gear set output shaft 6; the main control board 4 is provided with a first magnetic encoder 7 and a second magnetic encoder 8 for detecting the rotation speed and angle of the motor rotor and the gear set output shaft of the outer rotor brushless motor.

[0105] In this embodiment, a readable storage medium is also provided, on which a computer program is stored. When the computer program is executed by a robot, it is used to implement any one of the control methods of the outer rotor brushless dual magnetic encoder servo.

[0106] The advantages of the present invention are:

[0107] 1) The present invention improves the control accuracy by arranging dual magnetic encoders to detect the angle and rotation speed of the motor rotor and the output shaft respectively.

[0108] 2) The transmission ratio of the brushless motor and the output shaft is accurately controlled by a dual magnetic encoder, which ensures that the motor gain is large while ensuring that there is no jitter, thus preventing the servo from overshooting and jittering. The use of a brushless motor also solves the problem of low locking torque of traditional servos.

[0109] The above disclosures are only several specific embodiments of the present invention, but the present invention is not limited thereto, and any changes that can be conceived by those skilled in the art should fall within the protection scope of the present invention.

Claims

1. A control method for an outer rotor brushless dual magnetic encoder servo, characterized in that: Here are the steps: S1, initialize the state parameters of the servo and controller, and obtain the initial position of the servo; S2, setting the target position and expected parameters of the steering gear, and detecting and obtaining the current angular positions of the steering gear motor rotor and the output shaft of the gear set through the motor magnetic encoder and the output shaft magnetic encoder respectively; S3, calculating the distance between the current position of the output shaft and the target position; S4, adjusting the motor parameters through the controller so that the output shaft reaches the target position, first determine whether the current speed of the output shaft is 0, if the current speed is 0, accelerate to the target speed and move at a constant speed, and slowly decelerate when approaching the target position until it reaches the target position; If the current speed of the output shaft is not 0, determine whether the direction of the current speed is consistent with the target speed. If they are consistent, determine whether the current speed is the same as the target speed. If they are not the same, accelerate or decelerate to the same magnitude as the target speed. If they are not consistent, the output shaft decelerates to 0, re-accelerates to the target speed and moves at a constant speed. When approaching the target position, it slowly decelerates until it reaches the target position.

2. The control method of an outer rotor brushless dual magnetic encoder servo according to claim 1, characterized in that: In S2, the actual angular position P of the motor rotor and output shaft is first obtained through the motor magnetic encoder and the output shaft encoder respectively. m_actual and P actual In S3, the motor rotor output is converted to output power to the output shaft through the reduction gear set, and then the angular change of the output shaft is obtained as: Among them, P m△ is the angular change of the motor rotor, P △ is the angular change of the output shaft, R gear is the gear reduction ratio. Further, the angle required for the output shaft to move from the current angle position to the target position is calculated as: P △ =P now -P actual Then the angle required for the motor rotor to move from the current angular position to the output shaft reaching the target position is calculated as: P mΔ =P Δ ·R gear =(P now -P actual )·R gear Among them, P now is the current angular position of the output shaft.

3. The control method of an outer rotor brushless dual magnetic encoder servo according to claim 2, characterized in that: In S4, according to the target speed V input by the user target and target acceleration A accel , with a fixed frequency f m Repeat the motion, and calculate the time T for the motor to accelerate from 0 to the target speed accel , the number of control cycles T ticks_accel , the angle S accel They are:

4. The control method of an outer rotor brushless dual magnetic encoder steering gear according to claim 3 is characterized in that: When the servo reaches the uniform speed stage, the duration T const , the number of control cycles T ticks_const 、Distance S const for: S const =|P target -P start |-S accel -S decel Among them, P target is the output axis target angle input by the user, P start The starting angle of the entire acceleration and deceleration process of the motor. After the servo reaches the target speed, it maintains a constant speed at the target speed.

5. The control method of an outer rotor brushless dual magnetic encoder servo according to claim 4, characterized in that: When the servo moves at a constant speed at the current target speed and approaches the target position, it starts to decelerate. The time required for the deceleration process is T decel , the number of control cycles T ticks_decel , the angle S decel for:

6. The control method of an outer rotor brushless dual magnetic encoder servo according to claim 5, characterized in that: The calculation formula when the servo is in the acceleration stage is: The calculation formula when the servo is in the uniform motion stage is: V now =V target The calculation formula when the servo is in the deceleration stage is: Among them, V now is the desired speed of the servo at the current moment, V last is the expected speed of the servo at the last moment, P now is the desired position of the servo at the current moment, P last is the expected position of the servo at the last moment, A accel is the acceleration set by user input.

7. The control method of an outer rotor brushless dual magnetic encoder servo according to claim 5, characterized in that: When the motor stops moving, the current angular position of the motor rotor is P now Equal to the output axis target angle P input by the user target , so that the actual angular position of the output shaft is P actual Equal to the output axis target angle P input by the user target , adjust the actual angular position P of the output shaft by the following formula actual : P m_target =P m_actual +(P target -P actual )·R gear When the actual position is consistent with the target position, record the current motor P m_actual , stop repeating the above motion process, and set the actual angular position of the motor rotor P m_actual As the target angular position P of the motor rotor m_target , the motor control program locks the motor rotor angle position at P m_actual Until the next exercise process begins.

8. A control system for an outer rotor brushless dual magnetic encoder steering gear, used to execute the control method for an outer rotor brushless dual magnetic encoder steering gear according to claims 1-7, characterized in that: include Output module, used to generate power to make the servo work; A control module, used for inputting steering gear parameters and adjusting parameters of the output module; The detection module is used to detect the rotation speed and angle of the output module and feed back the rotation speed and angle to the control module.

9. An outer rotor brushless dual magnetic encoder steering gear, used to execute the outer rotor brushless dual magnetic encoder steering gear control method according to claims 1-7, characterized in that: It includes a shell and an outer rotor brushless motor, a reduction gear set and a main control board arranged in the shell. The brushless motor is connected to the reduction gear set through a motor output shaft, and the reduction gear set is sleeved with a gear set output shaft; the main control board is provided with a first magnetic encoder and a second magnetic encoder for detecting the rotational speed and angle of the motor rotor and the gear set output shaft of the outer rotor brushless motor.

10. A readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by the robot, the control method of the outer rotor brushless dual magnetic encoder servo as described in any one of claims 1 to 7 is implemented.

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