Motor control method, device, computer equipment, readable storage medium and program product

Abstract

The present application relates to a motor control method, apparatus, computer device, computer-readable storage medium, and computer program product. The method comprises: obtaining the error data between the target position data and the actual position data of the mover in the linear motor at the previous moment; inputting the error data at the previous moment into a sliding mode controller, and controlling the linear motor based on a first control signal output by the sliding mode controller to obtain the actual position data of the mover at the current moment; calculating the error data between the target position data and the actual position data of the mover at the current moment; and, if the maximum value of the error data within a historical time period is less than a preset threshold, inputting the error data at the current moment into a proportional-integral-differential controller, and controlling the linear motor based on a second control signal output by the proportional-integral-differential controller. This method can improve the control effect of the stator follower linear motor in an air-floating platform.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of air floating platform driving, and in particular to a motor control method and device, computer equipment, a computer readable storage medium and a computer program product. BACKGROUND

[0002] An air floating platform is a device that uses the principle of gas static pressure to achieve smooth floating and high-precision positioning, and is widely used in fields such as precision manufacturing, semiconductor processing and optical instruments. A stator-following linear motor can be used as a driving component of an air floating platform, and its performance directly affects the motion precision and stability of the air floating platform.

[0003] The stator in the stator-following linear motor is limited by dampers on both sides, and compared with the fixed mode of the stator, the stator-following linear motor can shorten the settling time of the linear motor under the same control parameters. However, in the response process of the stator-following linear motor, the high-frequency and small displacement movement of the stator will exert a reaction force on the mover, and the currently commonly used Proportion Integration Differentiation (PID) control algorithm has poor control effect, thereby affecting the overall control precision of the air floating platform. SUMMARY

[0004] Therefore, it is necessary to provide a motor control method, device, computer equipment, computer readable storage medium and computer program product capable of improving the control effect of the stator-following linear motor in the air floating platform.

[0005] In a first aspect, the present application provides a motor control method, comprising:

[0006] obtaining error data between target position data and actual position data of a mover in a linear motor at a previous time; dampers are arranged on both sides of a stator in the linear motor, and the dampers are used for damping and limiting the stator when the stator follows the movement of the mover;

[0007] inputting the error data at the previous time into a sliding mode controller, and controlling the linear motor based on a first control signal output by the sliding mode controller to obtain actual position data of the mover at a current time;

[0008] calculating error data between target position data and actual position data of the mover at the current time;

[0009] in a case where a maximum value of the error data in a historical time period is less than a preset threshold, inputting the error data at the current time into a proportion integration differentiation controller, and controlling the linear motor based on a second control signal output by the proportion integration differentiation controller.

[0010] In one of the embodiments, the calculating of the error data between the target position data and the actual position data of the mover at the current time point comprises:

[0011] In the case that the maximum value of the error data in the historical time period is greater than or equal to the preset threshold value, the error data at the current time point is input to the sliding mode controller, and the linear motor is controlled based on the first control signal output by the sliding mode controller.

[0012] In one of the embodiments, the calculating of the error data between the target position data and the actual position data of the mover at the current time point comprises:

[0013] The control law of the sliding mode controller is determined based on a power approaching law and an exponential approaching law.

[0014] In one of the embodiments, the calculating of the error data between the target position data and the actual position data of the mover at the current time point comprises:

[0015] A limiting element is connected between the output of the proportional integral differential controller and the input of the integral element in the proportional integral differential controller; the limiting element is used to limit the output of the proportional integral differential controller and then introduce the input of the integral element.

[0016] In one of the embodiments, the calculating of the error data between the target position data and the actual position data of the mover at the current time point comprises:

[0017] The error data at the current time point is added to a preset length of a judgment array to obtain the error data in the historical time period; the judgment array adopts a first-in first-out mode to store data.

[0018] In one of the embodiments, the calculating of the error data between the target position data and the actual position data of the mover at the current time point comprises:

[0019] The judgment array is initialized so that the data in the judgment array at the initial time point are all greater than the preset threshold value.

[0020] In a second aspect, the application further provides a motor control device, comprising:

[0021] The acquisition module is configured to acquire error data between target position data and actual position data of the mover at a previous time point; the linear motor is provided with dampers on both sides of the stator, and the dampers are configured to perform damping limiting when the stator moves following the mover;

[0022] The first control module is configured to input the error data at the previous time point into a sliding mode controller, and control the linear motor based on a first control signal output by the sliding mode controller to obtain actual position data of the mover at a current time point;

[0023] The calculation module is configured to calculate error data between target position data and actual position data of the mover at the current time point;

[0024] The second control module is configured to input the error data at the current time point into a proportional-integral-derivative controller in a case where a maximum value of error data in a historical time period is less than a preset threshold, and control the linear motor based on a second control signal output by the proportional-integral-derivative controller.

[0025] In a third aspect, the present application further provides a computer device, comprising a memory and a processor, the memory stores a computer program, and the processor implements the steps of the method in any of the above aspects when executing the computer program.

[0026] In a fourth aspect, the present application further provides a computer readable storage medium, which stores a computer program, and the computer program implements the steps of the method in any of the above aspects when executed by a processor.

[0027] In a fifth aspect, the present application further provides a computer program product, comprising a computer program, and the computer program implements the steps of the method in any of the above aspects when executed by a processor.

[0028] The motor control method, device, computer device, computer readable storage medium and computer program product can realize the following effects. Firstly, the sliding mode control algorithm with stronger nonlinear control capability is used for control, which can facilitate adjustment of control parameters, reduce the influence of the reaction force generated by the stator on the mover in the stator-following motor and the influence of the action force of the nonlinear damper, improve the robustness of the control system, and enable rapid and accurate adjustment of output in the dynamic stage. When the error data tends to be stable, the PID control with shorter response time is switched to, which can improve the stability and accuracy of the output in the steady state stage and avoid the chattering influence caused by the sliding mode control. Therefore, the response performance of the DC motor is improved as a whole. BRIEF DESCRIPTION OF DRAWINGS

[0029] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the related art, the following will briefly introduce the drawings needed to be used in the description of the embodiments of the present application or the related art. Obviously, the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other related drawings can also be obtained from these drawings without creative labor.

[0030] Figure 1 Flowchart of a motor control method in one embodiment;

[0031] Figure 2 Schematic diagram of a state space of a DC motor control system in one embodiment;

[0032] Figure 3 Flowchart of a motor control method in another embodiment;

[0033] Figure 4 Schematic block diagram of a motor control system in one embodiment;

[0034] Figure 5 Flowchart of a motor control method in still another embodiment;

[0035] Figure 6 Schematic block diagram of a position type PID in one embodiment;

[0036] Figure 7 Flowchart of a motor control method in yet another embodiment;

[0037] Figure 8 Structural block diagram of a motor control device in one embodiment;

[0038] Figure 9 Internal structural diagram of a computer device in one embodiment. DETAILED DESCRIPTION

[0039] In order to make the purposes, technical solutions and advantages of the present application more clear, the following will further describe the present application in combination with the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application, and are not used to limit the present application.

[0040] In the related art, a PID control algorithm is mainly used to control a linear motor. However, the PID controller is a linear controller, and the control precision is not high for a nonlinear system. In the process of driving a gas floating platform by a stator-following linear motor, the high-frequency and small displacement movement of the stator-following sub is generated, and under the action of the reaction force generated by the movement of the stator on the moving sub and the action force of the nonlinear damper, the control ability of the PID controller is insufficient, resulting in poor response performance of the stator-following linear motor.

[0041] In one embodiment, as shown in Figure 1 A motor control method is provided, and the embodiment is exemplified by the method applied to a terminal. It can be understood that the method can also be applied to a server, and can also be applied to a system including a terminal and a server, and is implemented through the interaction of the terminal and the server. In the embodiment, the method includes the following steps:

[0042] In step S102, error data between target position data and actual position data of the mover in the linear motor at the last moment is obtained. The damper is arranged on both sides of the stator in the linear motor, and the damper is used for damping and limiting when the stator follows the movement of the mover.

[0043] In step S104, the error data at the last moment is input to the sliding mode controller, and the linear motor is controlled based on the first control signal output by the sliding mode controller to obtain the actual position data of the mover at the current moment.

[0044] Exemplarily, the target position data of the mover in the linear motor can be input to the sliding mode controller at the initial moment; the linear motor is controlled based on the output of the sliding mode controller; and the output of the linear motor is superimposed on the input of the sliding mode controller as a negative feedback. Since the sliding mode control algorithm (SMC, Sliding Mode Control) has strong control ability on a nonlinear system, the control parameters are easy to adjust, and overshoot is not easy to produce, the sliding mode control algorithm is used in the rising stage of system response, so that the speed and anti-interference of control can be improved.

[0045] In one possible implementation, since the friction in the air floating platform can be ignored, the DC motor system can be simplified as a first expression, and the first expression can include:

[0046] ;

[0047] Wherein, m is the equivalent mass of the mover and the load, x is the actual position of the mover, and u is the SMC control amount. u can include the amount of current.

[0048] Further, since the first expression is a second-order system and is a position loop control, the sliding mode surface can be designed by taking the position error and the speed error as state variables. The sliding mode surface can be designed as a second expression, and the second expression can include:

[0049] ;

[0050] Wherein, c is a sliding mode state variable coefficient, s is a sliding mode surface, and e is the difference between the expected position x d of the mover and the actual position x of the mover.

[0051] Further, derivation of the sliding surface can obtain a third expression, and the third expression can include:

[0052] ;

[0053] For example, refer to Figure 2 , Figure 2 is a schematic diagram of the state space of the DC motor control system in an embodiment.

[0054] In step S106, error data between the target position data of the mover at the current time and the actual position data is calculated.

[0055] In step S108, when the maximum value of the error data in the historical time period is less than the preset threshold value, the error data at the current time is input to the proportional integral derivative controller, and the linear motor is controlled based on the second control signal output by the proportional integral derivative controller.

[0056] Illustratively, the maximum value of the error data in the historical time period being less than the preset threshold value can be used to represent the chattering interval of entering the sliding mode control. The error data in the historical time period includes the error data at the current time, and the error data at the current time is the difference between the target position data of the mover at the current time and the actual position data of the mover at the current time.

[0057] Since the sliding mode control algorithm has unremovable chattering, when the system response approaches the steady state value (at this time, the influence of the stator on the mover can be ignored), the PID control algorithm is switched to be used, which can improve the speed and accuracy of the control. In a possible implementation manner, the proportional integral derivative controller can be designed as a fourth expression, and the fourth expression can include:

[0058] ;

[0059] wherein, is the kth PID output control amount; , , are control coefficients of the proportional, integral and derivative links in the PID controller, respectively; , are the kth and k-1th errors of the DC motor control system, respectively.

[0060] The motor control method can realize convenient adjustment of control parameters, reduce the influence of the reaction force generated by the stator on the rotor in the stator servo motor and the influence of the action force of the nonlinear damper, improve the robustness of the control system, and quickly and accurately adjust the output in the dynamic stage; when the error data tends to be stable, the motor control method can switch to the PID control with shorter response time, so as to improve the stability and accuracy of the output in the steady state and avoid the chattering influence caused by the sliding mode control. Therefore, the response performance of the DC motor is improved as a whole.

[0061] In an exemplary embodiment, as shown in Figure 3 The motor control method can further include:

[0062] In step S109, when the maximum value of the error data in the historical time period is greater than or equal to the preset threshold value, the error data at the current time is input to the sliding mode controller, and the linear motor is controlled based on the first control signal output by the sliding mode controller.

[0063] For example, please refer to Figure 4 , Figure 4 is a schematic block diagram of the motor control system in an embodiment. The algorithm switching judgment function can be used to control the output of the DC motor by the sliding mode controller / PID controller. The algorithm switching judgment function can be used to output the first control signal output by the sliding mode controller when the maximum value of the error data in the historical time period is greater than or equal to the preset threshold value, and output the second control signal output by the PID controller when the error data in the historical time period is less than the preset threshold value. Optionally, the preset threshold value can be adjusted based on the observation of the chattering interval to ensure a shorter response time. Optionally, the output of the integral element in the PID controller can be assigned to 0 during the execution of the algorithm switching judgment function to prevent the output of the PID controller from being too large during the switching algorithm.

[0064] In this embodiment, when the error fluctuation is large, that is, the rise time of the system response, the sliding mode controller is used for control, which can quickly adjust to the target position and reduce the rise time.

[0065] In an exemplary embodiment, an exponential and power double approaching law sliding mode variable structure control algorithm containing a nonlinear term can be designed. As shown in Figure 5 The motor control method can further include:

[0066] In step S1011, the control law of the sliding mode controller is determined based on the power approaching law and the exponential approaching law.

[0067] For example, the power approaching law can be adjusted by adjusting The exponential and power double approaching law can realize that when the system state is far from the sliding mode s, the approaching speed is large, and when the system state is close to the sliding mode s, the control gain is small. Therefore, the chattering can be reduced. Further, the exponential approaching law can realize that the approaching speed gradually decreases from large to zero during the approaching process, so that the approaching time can be shortened. Alternatively, since the exponential approaching law cannot guarantee the reaching in a finite time, an equal-speed approaching term can be added.

[0068] In a possible implementation, the exponential and power double approaching law can be designed as a fifth expression, and the fifth expression can include:

[0069] ;

[0070] wherein, is an approaching speed coefficient, ; is a sign function; is an exponential approaching term coefficient, ; is a power approaching term coefficient, ; is a power coefficient, ;

[0071] Further, based on the first expression, the second expression, the third expression and the fourth expression, the control law of the sliding mode controller can be designed as a sixth expression, and the sixth expression can include:

[0072] ;

[0073] wherein, is an output of the sliding mode controller.

[0074] In the embodiment, by using the exponential and power double approaching law to dynamically adjust the output during the control process, the complex and variable working environment can be better adapted to, and the reliable operation of the system under various working conditions can be ensured.

[0075] In an exemplary embodiment, to prevent the error integral accumulation from being too large, causing the response to enter the steady-state error setting window, the integral link in the PID controller can be subjected to anti-saturation processing. Please continue to refer to Figure 5 The motor control method can further include:

[0076] In step S1012, a limiting link is connected between the output end of the proportional integral differential controller and the input end of the integral link in the proportional integral differential controller; the limiting link is used to limit the output of the proportional integral differential controller and then introduce the input end of the integral link.

[0077] Exemplarily, the integral element can be designed as a seventh expression, which can include:

[0078] ;

[0079] wherein, is an input value of the kth integral element, is an error of the kth time of the DC motor control system, is an integral anti-windup coefficient, is an output value of the k-1th time of the PID controller, is a limiting amplitude value.

[0080] Further, please refer to Figure 6 , Figure 6 is a schematic block diagram of the positional PID in an embodiment. In order to prevent the occurrence of high-frequency interference leading to differential explosion, a low-pass filter can be added to the differential element. The low-pass filter can be designed as an eighth expression, which can include:

[0081] ;

[0082] wherein, is an output value of the kth differential element; is a filter coefficient, .

[0083] In the embodiment, the maximum value of the output of the PID controller is effectively limited by the limiting element, which prevents the accumulation of errors from leading to excessive integral value and avoids unnecessary steady-state error.

[0084] In an exemplary embodiment, as Figure 7 shown, the above motor control method can further include:

[0085] In step S1072, the error data at the current time is added to a preset length of the judgment array to obtain the error data in the historical time period; the judgment array stores data in a first-in first-out manner.

[0086] It can be understood that the historical time period can include errors of multiple servo periods. Exemplarily, a set of judgment arrays A with a length of L can be defined, which receives the error of each servo period in a head-in tail-out manner, and a window interval coefficient is defined. At this time, the algorithm switching judgment function for controlling the output of the sliding mode controller / PID controller to control the DC motor can be designed as a ninth expression, which can include:

[0087] ;

[0088] wherein, an output of the algorithm switching judgment function, an output of the sliding mode controller, an output of the PID controller, a maximum value function.

[0089] Further, please continue to refer to Figure 7 The motor control method can further include:

[0090] In step S1071, the determination array is initialized so that the data in the determination array are all greater than the preset threshold at the initial moment.

[0091] In a possible implementation, the initial value of the data in the determination array can be much greater than Optionally, the length of the determination array can be adjusted according to the servo period and the size of the step. For example, in the case where the servo period and the step increase, the length of the determination array can be increased.

[0092] In this embodiment, by introducing the determination array to record the error data in the historical time period, the change trend of the error can be effectively monitored and evaluated, and the control instability caused by the instantaneous error fluctuation can be avoided. Further, by setting a larger initial value when initializing the determination array, it can be ensured that the sliding mode control algorithm is automatically selected in the starting stage of the control system, and the rapid response and effective control in various operating environments are ensured.

[0093] To sum up, in the motor control method, the sliding mode control algorithm with stronger nonlinear control ability is first used for control, which can realize the adjustment of the control parameters, reduce the influence of the reaction force generated by the stator on the rotor in the stator-follower motor and the influence of the nonlinear damper, improve the robustness of the control system, and quickly and accurately adjust the output in the dynamic stage. When the error data tends to be stable, the PID control with shorter response time is switched to, which can improve the stability and accuracy of the output in the steady state and avoid the chattering effect caused by the sliding mode control. Therefore, the response performance of the DC motor is improved as a whole.

[0094] It should be understood that although the steps in the flowcharts involved in the embodiments described above are shown in sequence according to the arrows, the steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified herein, the execution of the steps is not strictly limited in sequence, and the steps can be executed in other orders. Moreover, at least some of the steps in the flowcharts involved in the embodiments described above can include multiple steps or multiple stages, which are not necessarily executed at the same time, but can be executed at different times, and the execution order of the steps or stages is not necessarily sequential, but can be alternately or alternately executed with at least part of other steps or steps or stages in other steps.

[0095] Based on the same inventive concept, the embodiments of the present application also provide a motor control device for implementing the above-mentioned motor control method. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme described in the above method, so the specific limitations in one or more motor control device embodiments provided below can refer to the limitations of the motor control method described above, and will not be repeated here.

[0096] In one exemplary embodiment, as shown in Figure 8 A motor control device 300 is provided, comprising: an acquisition module 301, a first control module 302, a calculation module 303, and a second control module 304, wherein:

[0097] The acquisition module 301 is configured to acquire error data between target position data and actual position data of the mover at the previous time.

[0098] The first control module 302 is configured to input the error data at the previous time into a sliding mode controller, and control the linear motor based on a first control signal output by the sliding mode controller to obtain the actual position data of the mover at the current time.

[0099] The calculation module 303 is configured to calculate error data between target position data and actual position data of the mover at the current time.

[0100] The second control module 304 is configured to input the error data at the current time into a proportional-integral-derivative controller if the maximum value of the error data in the historical time period is less than a preset threshold, and control the linear motor based on a second control signal output by the proportional-integral-derivative controller.

[0101] In one exemplary embodiment, the first control module 302 described above is further configured to:

[0102] In a case where the maximum value of the error data in the historical time period is greater than or equal to the preset threshold value, the error data of the current moment is input to the sliding mode controller, and the linear motor is controlled based on the first control signal output by the sliding mode controller.

[0103] In an exemplary embodiment, the motor control device 300 further comprises:

[0104] The first initialization module is configured to determine the control law of the sliding mode controller based on the power approaching law and the exponential approaching law.

[0105] In an exemplary embodiment, the motor control device 300 further comprises:

[0106] The second initialization module is configured to connect a limiting element between the output of the proportional-integral-derivative controller and the input of the integral element in the proportional-integral-derivative controller; the limiting element is configured to limit the output of the proportional-integral-derivative controller and introduce the input of the integral element.

[0107] In an exemplary embodiment, the motor control device 300 further comprises:

[0108] The storage module is configured to add the error data of the current moment to a preset length of a judgment array to obtain the error data in the historical time period; the judgment array stores data in a first-in-first-out manner.

[0109] In an exemplary embodiment, the motor control device 300 further comprises:

[0110] The third initialization module is configured to initialize the judgment array, so that the data in the judgment array are all greater than the preset threshold value at the initial moment.

[0111] Each module in the motor control device can be realized by software, hardware, or a combination thereof, in whole or in part. Each module can be embedded in or independent of the processor in the computer device in hardware form, or can be stored in the memory in the computer device in software form, so as to be called and executed by the processor to perform the operations corresponding to each module.

[0112] In an exemplary embodiment, a computer device is provided, which can be a server, and the internal structure diagram thereof can be as shown in Figure 9As shown in the figure. The computer device includes a processor, a memory, an input / output interface (Input / Output, referred to as I / O) and a communication interface. Among them, the processor, the memory and the input / output interface are connected through the system bus, and the communication interface is connected to the system bus through the input / output interface. Among them, the processor of the computer device is used to provide computing and control capability. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store data. The input / output interface of the computer device is used to exchange information between the processor and the external device. The communication interface of the computer device is used to communicate with the terminal outside through the network connection. The computer program is executed by the processor to realize a motor control method.

[0113] Those skilled in the art can understand that, Figure 9 The structure shown in the figure is only a block diagram of part of the structure related to the scheme of the present application, and does not constitute a limitation on the computer device to which the scheme of the present application is applied. The specific computer device can include more or less components than those shown in the figure, or combine certain components, or have a different component arrangement.

[0114] In one exemplary embodiment, a computer device is provided, including a memory and a processor, the memory storing a computer program, and the processor executing the computer program to implement the steps in each of the method embodiments described above.

[0115] In one embodiment, a computer readable storage medium is provided, which stores a computer program, and the computer program is executed by the processor to implement the steps in each of the method embodiments described above.

[0116] In one embodiment, a computer program product is provided, including a computer program, and the computer program is executed by the processor to implement the steps in each of the method embodiments described above.

[0117] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a non-volatile computer readable storage medium, and when executed, can include the processes of the above-mentioned embodiment methods. Any reference to memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile memory and volatile memory. The non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical storage, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. The volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration but not limitation, the RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc. The database involved in the embodiments provided in the present application can include at least one of a relational database and a non-relational database. The non-relational database can include a distributed database based on a block chain, etc., without being limited thereto. The processor involved in the embodiments provided in the present application can be a general-purpose processor, a central processing unit, a graphics processing unit, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, an artificial intelligence (AI) processor, etc., without being limited thereto.

[0118] The technical features of the above embodiments can be combined in any manner. To make the description concise, all possible combinations of the technical features in the above embodiments are not described, but as long as the combinations of the technical features do not exist, they should be considered as the scope of the present application.

[0119] The above-described embodiments are merely illustrative of several embodiments of the present application, and the description is relatively specific and detailed, but should not be understood as a limitation on the scope of the patent. It should be noted that for those skilled in the art, without departing from the concept of the present application, a number of modifications and improvements can be made, which are all within the scope of the present application. Therefore, the scope of protection of the present application should be subject to the appended claims.

Claims

1. A motor control method, characterized in that: The method comprises: Connecting a limiting link between the output end of the proportional-integral-differential controller and the input end of the integral link in the proportional-integral-differential controller; the limiting link is used to limit the output of the proportional-integral-differential controller and then introduce it into the input end of the integral link; Obtaining error data between target position data and actual position data of a mover in a linear motor at a previous moment; dampers are provided on both sides of a stator in the linear motor, and the dampers are used to perform damping and limiting when the stator follows the movement of the mover; Inputting the error data at the previous moment into the sliding mode controller, and controlling the linear motor based on the first control signal output by the sliding mode controller to obtain the actual position data of the mover at the current moment; Calculating the error data between the target position data and the actual position data of the mover at the current moment; When the maximum value of the error data in the historical time period is less than a preset threshold, the error data at the current moment is input into the proportional-integral-differential controller, and the linear motor is controlled based on a second control signal output by the proportional-integral-differential controller; When the maximum value of the error data in the historical time period is greater than or equal to a preset threshold, the error data at the current moment is input into the sliding mode controller, and the linear motor is controlled based on the first control signal output by the sliding mode controller.

2. The method according to claim 1, characterized in that Inputting the error data at the previous moment into the sliding mode controller, and controlling the linear motor based on the first control signal output by the sliding mode controller to obtain the actual position data of the mover at the current moment, the method includes: Based on the power reaching law and the exponential reaching law, a control law of the sliding mode controller is determined.

3. The method according to claim 1, characterized in that After calculating the error data between the target position data and the actual position data of the mover at the current moment, the method further comprises: The error data at the current moment is added to a determination array of a preset length to obtain the error data within a historical time period; the determination array stores data in a first-in-first-out manner.

4. The method according to claim 3, characterized in that The step of adding the error data at the current moment to the determination array of a preset length to obtain the error data within the historical time period includes: The determination array is initialized so that at an initial moment, the data in the determination array are all greater than a preset threshold.

5. A motor control device, characterized in that: The device comprises: A second initialization module is configured to connect a limiting link between an output terminal of a proportional-integral-differential controller and an input terminal of an integral link in the proportional-integral-differential controller; the limiting link is configured to perform limiting processing on the output of the proportional-integral-differential controller and then introduce the limiting link into the input terminal of the integral link; an acquisition module, configured to acquire error data between target position data and actual position data of a mover in a linear motor at a previous moment; dampers are provided on both sides of a stator in the linear motor, and the dampers are configured to provide damping and limiting when the stator follows the mover; a first control module, configured to input error data at a previous moment into a sliding mode controller, and control the linear motor based on a first control signal output by the sliding mode controller to obtain actual position data of the mover at a current moment; A calculation module, used to calculate the error data between the target position data and the actual position data of the mover at the current moment; a second control module, configured to input the error data at a current moment into a proportional-integral-differential controller when a maximum value of the error data in a historical time period is less than a preset threshold, and control the linear motor based on a second control signal output by the proportional-integral-differential controller; The first control module is also used to input the error data at the current moment into the sliding mode controller when the maximum value of the error data in the historical time period is greater than or equal to a preset threshold, and control the linear motor based on the first control signal output by the sliding mode controller.

6. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 4 are implemented.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 4 are implemented.

8. A computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 4 are implemented.

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