Motion control method and device, electronic equipment and medium

Abstract

The embodiment of the invention provides a motion control method and device, electronic equipment and a medium. The method comprises the following steps: controlling motor operation based on a given target position value by adopting a position control mode; in the target operation stage of the motor, the actual torque value and the theoretical torque value of the motor are compared in real time, and the time interval with the motor positioning error is determined according to the comparison result; calculating a corresponding motor positioning error value based on the time interval; compensating the target position value by using the motor positioning error value; and controlling motor operation based on the compensated target position value.

Description

Technical Field

[0001] The present disclosure relates to the technical field of motors and their control, and in particular to a motion control method, device, electronic equipment and medium. Background Art

[0002] During the operation of the motor-driven transmission mechanism, the transmission unit (such as chain, belt, etc.) in the transmission mechanism will inevitably wear out, which usually leads to problems such as gaps and tightness changes in the transmission unit, thus causing motor positioning errors. Moreover, as the use time increases, the motor positioning error will continue to increase. Summary of the invention

[0003] In view of this, the present disclosure provides a motion control method, device, electronic device and medium, which are used to at least partially solve the above technical problems.

[0004] In a first aspect, the present disclosure provides a motion control method, the method comprising: using a position control method to control the operation of a motor based on a given target position value; the motor is operated to drive a transmission mechanism to operate; in the target operation phase of the motor, the actual torque value of the motor is compared with the theoretical torque value in real time, and a time interval in which a motor positioning error exists is determined based on the comparison result; based on the time interval, a corresponding motor positioning error value is calculated; the target position value is compensated using the motor positioning error value; and using a position control method to control the operation of the motor based on the compensated target position value.

[0005] In the second aspect, the present disclosure also provides a motion control device, which includes: a first motor control module, which is used to control the motor operation based on a given target position value using a position control method; a time interval determination module, which is used to compare the actual torque value of the motor with the theoretical torque value in real time during the target operation phase of the motor, and determine the time interval in which the motor positioning error exists based on the comparison result; an error calculation module, which is used to calculate the corresponding motor positioning error value based on the time interval; a first error compensation module, which is used to compensate the target position value using the motor positioning error value; the first motor control module is also used to control the motor operation based on the compensated target position value using a position control method.

[0006] In a third aspect, the present disclosure further provides an electronic device, the electronic device comprising: a processor, a communication interface, a memory and a bus, the processor, the communication interface and the memory communicating with each other through the bus;

[0007] The memory is used to store at least one executable instruction, and the executable instruction enables the processor to execute operations corresponding to the method described in the first aspect.

[0008] In a fourth aspect, the present disclosure further provides a determination machine readable storage medium, on which determination machine instructions are stored. When the determination machine instructions are executed by a processor, the processor executes the method described in the first aspect above.

[0009] In an embodiment of the present application, a position control method is adopted to control the operation of the motor based on a given target position value, and the time interval in which the motor positioning error exists in the process of controlling the operation of the motor is determined according to the real-time comparison result of the actual torque value of the motor and the theoretical torque value, and the corresponding motor positioning error value is calculated. The calculated motor positioning error value is used to compensate the given target position value in real time, thereby improving the positioning accuracy of the motor. Further, in the process of controlling the operation of the motor in a cyclic manner, on the basis of real-time compensation of the motor positioning error in each cycle, the motor positioning error value is accumulated and based on the accumulated motor positioning error value and with the help of a detection switch, the cycle in which the given target position value needs to be superimposed and compensated is determined, and before this cycle, the current accumulated motor positioning error value is used to superimpose and compensate the target position value of the motor given in this cycle, thereby achieving the effect of eliminating the accumulated motor positioning error in the process of controlling the operation of the motor in a cyclic manner, further improving the positioning accuracy of the motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 is a flow chart of a motion control method according to an embodiment of the present disclosure.

[0011] Figure 2 is a structural diagram of a motion control device according to an embodiment of the present disclosure.

[0012] Figure 3 is a structural diagram of an electronic device according to an embodiment of the present disclosure.

[0013] List of reference numerals:

[0014] Motion control device 200; First motor control module 210;

[0015] Time interval determination module 220; Error calculation module 230;

[0016] First error compensation module 240; Electronic device 300;

[0017] Processor 302; Communication interface 304;

[0018] Memory 306; Bus 308;

[0019] Procedure 310. DETAILED DESCRIPTION

[0020] In order to make the purpose, technical scheme, and advantages of the present application more clearly understood, the present application is further described in detail with reference to the accompanying drawings and embodiments. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other technical schemes obtained by ordinary technicians in the field belong to the scope of protection of the present application.

[0021] Figure 1 FIG. 1 is a flow chart of a motion control method according to an embodiment of the present disclosure. Figure 1 As shown, the method includes:

[0022] In step S110, a position control method is adopted to control the operation of the motor based on a given target position value, wherein the position control method may be an absolute position control method or a relative position control method.

[0023] After that, enter step S120, in the target operation phase of the motor, compare the actual torque value of the motor with the theoretical torque value in real time and determine the time interval in which the motor positioning error exists according to the comparison result. Among them, the "actual torque value of the motor", for example, the actual torque value of the motor can be directly obtained from the drive device that drives the motor to operate. For the "theoretical torque value of the motor" in a uniform speed state, for example, it can be determined according to the speed of the motor fed back by the drive (if there is a reducer, the reduction ratio must be considered at the same time); for the "theoretical torque value of the motor" in an acceleration or deceleration state, for example, it can be determined by the moment of inertia of the system and the angular acceleration of the output shaft of the motor, wherein the moment of inertia of the system is obtained by adding the moment of inertia of the machine (such as the load, or the load and the reducer) to the moment of inertia of the motor.

[0024] Then, the process proceeds to step S130 to calculate the corresponding motor positioning error value based on the time interval.

[0025] In this embodiment, the specific implementation of step S120 and step S130 is varied. For example, in an exemplary implementation of step S120 and step S130, step S120 can also be specifically implemented as follows: in the target operation stage of the motor, the difference between the actual torque value and the theoretical torque value of the motor is calculated in real time; the first time when the difference between the actual torque value and the theoretical torque value of the motor begins to be greater than the first preset threshold value (greater than 0) is determined; the second time when the difference between the actual torque value and the theoretical torque value of the motor is restored to the first threshold range is determined; a time interval is determined according to the first time and the second time. And, in this exemplary implementation, step S130 is specifically implemented as follows: calculating the integral of the motor speed over time in the time interval; determining the corresponding motor positioning error value according to the integral of the motor speed over time in the time interval and the first preset coefficient. In this exemplary implementation, the first preset threshold is preferably a value greater than 0. The first preset coefficient can be, for example, 1; the first preset coefficient is preferably obtained through several tests and takes a value greater than 0 and less than 1.

[0026] For another example, in another exemplary implementation of step S120 and step S130, step S120 can also be specifically implemented as follows: in the target operation phase of the motor, the difference between the actual torque value and the theoretical torque value of the motor is calculated in real time; the third time when the difference between the actual torque value and the theoretical torque value of the motor begins to be less than the second preset threshold is determined; the fourth time when the difference between the actual torque value and the theoretical torque value of the motor is restored to the first threshold range is determined; and a time interval is determined according to the third time and the fourth time. And, in this exemplary implementation, step S130 is specifically implemented as follows: calculating the integral of the motor speed over time within the time interval; determining the corresponding motor positioning error value according to the integral of the motor speed over time within the time interval and the second preset coefficient. In this optional implementation, the second preset threshold is preferably a value less than 0. The second preset coefficient can be, for example, -1, and the second preset coefficient is preferably obtained through several tests, taking a value greater than -1 and less than 0.

[0027] In this embodiment, the "target operation stage" can be, for example, the entire operation stage of the motor operation. The "target operation stage" can also be, for example, one or more of the acceleration operation stage, the deceleration motion stage, and the uniform motion stage of the motor operation. In addition, the real-time comparison method of the actual torque value of the motor and the theoretical torque value is not limited to the aforementioned comparison method of comparing the difference between the two with a preset threshold value. For example, it can also be a comparison method of comparing the quotient of the two with a preset threshold value, or a comparison method of directly comparing the actual torque value of the motor with the theoretical torque value, etc.

[0028] In practical applications, when a time interval is determined according to the first time and the second time, or when a time interval is determined according to the third time and the fourth time, each determined time interval can be used to calculate the corresponding motor positioning error value; however, in order to improve calculation efficiency, time intervals whose duration is less than a threshold time length can also be ignored, that is, time intervals whose duration is less than a threshold time length. In addition, the present embodiment may include any of the two exemplary implementations of the aforementioned steps S120 and S130, or may include both of the aforementioned steps S120 and S130, and the configuration may be selected as needed. In addition, in the present embodiment, the number of "time intervals" may be one or more, and the specific number depends on the real-time comparison result of the actual torque value of the motor and the theoretical torque value.

[0029] Then, the process proceeds to step S140 to compensate the target position value using the motor positioning error value.

[0030] Afterwards, the process proceeds to step S150 to control the operation of the motor based on the compensated target position value.

[0031] In this embodiment, for a determined time interval, after the corresponding motor positioning error value is calculated, it is preferably to immediately use the motor positioning error to compensate the target position value to achieve a real-time error compensation effect. The motor positioning error can also be optionally used to compensate the target position value before the motor shaft position reaches a given target position and stops running.

[0032] This embodiment can be applied to any scenario where the motor operation is controlled by position control. Optionally, in an exemplary scenario where the motor is operated to drive the transmission mechanism, in this exemplary application scenario, the actual torque value of the motor is compared with the theoretical torque value in real time to detect the torque abnormality point, and then the time interval of continuous torque abnormality is obtained, so as to indirectly calculate the motor positioning error caused by the gap or tightness change caused by wear of the transmission unit.

[0033] Furthermore, the motor can be optionally operated to drive the conveying mechanism to move unidirectionally to drive an object on the conveying unit of the conveying mechanism to move from an initial position. The object can be a mark or a marker that only serves as a mark; the object can also be a device that serves a certain function, such as but not limited to a box-pushing device.

[0034] In an exemplary application scenario, the motor is also operated to drive the conveying mechanism to move unidirectionally to drive the object on the conveying unit of the conveying mechanism to move from an initial position to a circle and then return to the initial position in a cyclical motion. For this scenario, the method of this embodiment also includes: controlling the operation of the motor in a cyclical manner; for each cycle, using a positioning control method to control the operation of the motor according to steps S110, S120, S130, S140, and S150; wherein the motor is operated to drive the conveying mechanism to move unidirectionally in each cycle to drive the object on the conveying unit of the conveying mechanism to move from the initial position.

[0035] For the exemplary application scenario described in the previous paragraph, a detection switch is optionally provided at the position of the initial position or near the initial position (i.e., the end of each cycle). Based on the detection switch, the method of this embodiment may also optionally include: accumulating the motor position error value; when the current accumulated motor position error value is greater than the third preset threshold, controlling the motor to approach the detection switch at a first speed and stop moving when the device is detected to reach the position of the detection switch; before each subsequent cycle, using the current accumulated motor positioning error value to compensate the target position value of the motor given in the cycle. It can be understood that in this optional implementation, when it is detected that the object has reached the position of the detection switch, if the current accumulated motor position error value is not greater than the third preset threshold, it is not necessary to use the current accumulated motor positioning error value to compensate the target position value of the motor given in each subsequent cycle, which is conducive to the rapid operation of the system. Wherein, the third preset threshold value may be, for example, the maximum allowable error value after N cycles, and different application scenarios are usually set differently, and can be set according to experience. The first speed is preferably less than or equal to the speed of the motor in the uniform speed operation stage*M%. M is selected as any value as needed, and preferably less than or equal to 30. In addition, in order to avoid the problem of encoder overflow, the present embodiment can optionally use an absolute position control method to control the operation of the motor, and the position of the motor recorded by the encoder is cleared or re-initialized before step S110 of each cycle.

[0036] As mentioned above, the motor in this embodiment is, for example, a servo motor, and a positioning control method of servo control is adopted. Among them, the positioning control method can be an absolute position control method or a relative position control method. It can be understood that in the implementation method using the absolute position control method, the position of the motor recorded in the encoder is cleared or re-initialized before each cycle of step S110 to obtain the initial position value of the motor; and the target position value given in each cycle of step S110 is the same, determined according to the initial position value of the motor and the length of one cycle of the transmission unit; for example, when the initial position of the motor of each cycle is assigned to 0, the target position value given in each cycle is equal to the length of one cycle of the transmission unit. For the implementation method using the relative position control method, the initial position value of each cycle of the motor is the current value recorded in the encoder (the position of the motor recorded in the encoder is not cleared or re-initialized); and the target position value given in each cycle of step S110 is different, determined according to the initial position value of the motor and the length of one cycle of the transmission unit; the target position value given in each cycle is equal to the initial position value of each cycle of the motor superimposed on the length of one cycle of the transmission unit.

[0037] In order to better understand the technical solution of this embodiment, the following is an example of applying one aspect of the embodiment to a one-way box pushing mechanism in the tobacco packaging industry. It can be understood that the technical details in this example cannot be used as a limitation to this application. In the tobacco packaging industry, a conveying mechanism usually transports the packaged finished cigarettes to the finished product area through a conveying mechanism to ensure the continuous operation of the production line. This example can simultaneously complete the two functions of sealing and transporting. The transmission mechanism includes a transmission unit, a driving sprocket and a driven sprocket; wherein, the transmission unit adopts a chain (or a belt, etc.), the motor drives the driving sprocket to move so that the transmission mechanism operates, and the box-pushing device is connected to the chain through a link unit. When used, the motor operation is controlled in a cyclic manner. For each cycle, "the absolute positioning control method is used to control the motor operation based on a given target position value, and the actual torque value of the motor is compared with the theoretical torque value in real time during the target operation phase of the motor, and the time interval in which the motor positioning error exists is determined according to the comparison result, and the corresponding motor positioning error value is calculated based on the time interval, and the target position value is compensated by the motor positioning error value, and the absolute positioning control method is used to control the motor operation based on the compensated target position value", so that the box-pushing device returns to the initial position after moving one circle from the initial position in each cycle. Wherein, at the beginning of each cycle, the position of the motor recorded by the encoder is cleared and the given target position value is the length of one circle of the transmission unit. Further, a detection switch is set at the position of the initial position. When applied, the motor position error value is accumulated; when the current accumulated motor position error value is greater than the maximum allowable error value a after 10 cycles, the motor is controlled to approach the detection switch at the first speed and stop moving when the device is detected to reach the position of the detection switch; before each subsequent cycle of "using absolute positioning control to control the motor operation based on the given target position value", the current accumulated motor positioning error value is used to compensate for the target position value of the motor given in this cycle. In this example scenario, the motor goes through the acceleration operation stage, the uniform speed operation stage and the deceleration operation stage during each cycle of operation, and the speed V0 is equal to the speed of the uniform speed operation stage * 20%.

[0038] In addition, in order to implement the motion control method of the above embodiment, the embodiment of the present invention further provides a motion control device 200, such as Figure 2As shown, the device 200 includes a first motor control module 210, a time interval determination module 220, an error calculation module 230 and a first error compensation module 240. It should be noted that since the following embodiments are to implement the aforementioned method embodiments, each module in the device 200 is provided to implement each step of the aforementioned method, and therefore the present invention is not limited to the following embodiments, and any device or module that can implement the aforementioned method should be included in the protection scope of the present invention. In addition, in order to save space, some technical details that are the same as the aforementioned method embodiments are omitted below, but unless otherwise specified, all technical details in the aforementioned method embodiments are applicable to the device 200 of this embodiment.

[0039] Specifically, the first motor control module 210 is used to control the motor operation based on a given target position value using a position control method. The time interval determination module 220 is used to compare the actual torque value of the motor with the theoretical torque value in real time during the target operation phase of the motor, and determine the time interval in which the motor positioning error exists based on the comparison result. The error calculation module 230 is used to calculate the corresponding motor positioning error value based on the time interval. The first error compensation module 240 is used to compensate the target position value using the motor positioning error value. And the first motor control module 210 is also used to control the motor operation based on the compensated target position value using a position control method.

[0040] Optionally, the time interval determination module 220 is further used to compare the actual torque value of the motor with the theoretical torque value in real time during the target operation phase of the motor, and determine the time interval in which the motor positioning error exists according to the comparison result. The "target operation phase" may be, for example, the entire operation phase of the motor operation. The "target operation phase" may be, for example, one or more of the acceleration operation phase, the deceleration motion phase, and the uniform motion phase of the motor operation.

[0041] Optionally, the time interval determination module 220 is also used to: calculate the difference between the actual torque value and the theoretical torque value of the motor in real time during the target operation phase of the motor; determine the first time when the difference between the actual torque value and the theoretical torque value of the motor begins to be greater than a first preset threshold; the first preset threshold is greater than 0; determine the second time when the difference between the actual torque value and the theoretical torque value of the motor returns to the first threshold range; and determine a time interval based on the first time and the second time. In addition, in this optional implementation, the error calculation module 230 is also used to calculate the integral of the motor speed over time within the time interval, and determine the corresponding motor positioning error value based on the integral of the motor speed over time within the time interval and a first preset coefficient, and the first preset coefficient is greater than 0.

[0042] Optionally, the time interval determination module 220 is also used to: calculate the difference between the actual torque value and the theoretical torque value of the motor in real time during the target operation phase of the motor; determine the third time when the difference between the actual torque value and the theoretical torque value of the motor begins to be less than the second preset threshold value, and the second preset threshold value is less than 0; determine the fourth time when the difference between the actual torque value and the theoretical torque value of the motor recovers to the first threshold range; and determine a time interval according to the third time and the fourth time. And, in this optional implementation, the error calculation module 230 is also used to calculate the integral of the motor speed over time within the time interval, and determine the corresponding motor positioning error value according to the integral of the motor speed over time within the time interval and the second preset coefficient, and the second preset coefficient is less than 0.

[0043] Optionally, the motor is operated to drive the transmission mechanism to operate. Further, the device also includes a cycle control module, which is used to control the operation of the motor in a cycle, and the motor is operated to drive the transmission mechanism to move unidirectionally in each cycle to drive the object on the transmission unit of the transmission mechanism to move from an initial position. And the cycle control module is also used to call and execute the first motor control module 210, the time interval determination module 220, the error calculation module 230 and the first error compensation module 240 for each cycle to control the operation of the motor.

[0044] Optionally, a detection switch is also provided at the position of the initial position or at a position near the initial position. In this optional implementation, the device further includes an error accumulation module, a position detection module, a second motor control module and a second error compensation module. Specifically, the error accumulation module is used to accumulate the motor position error value; the position detection module is used to detect whether the object has reached the position of the detection switch; the second motor control module is used to control the motor to approach the detection switch at a first speed when the motor position error value currently accumulated by the error accumulation module is greater than the third preset threshold value and stop moving when it is detected that the device has reached the position of the detection switch; the second error compensation module is also used to compensate the target position value of the motor given in the current cycle by using the current accumulated motor positioning error value before each subsequent cycle. Optionally, the first speed is less than or equal to the speed of the motor in the uniform speed operation stage *M%, and M is less than or equal to 30. In addition, in this embodiment, the position control mode is preferably an absolute position control mode, and it is also optionally a relative position control mode.

[0045] Figure 3 3 is a schematic diagram of an electronic device 300 according to an embodiment of the present application. The specific embodiment of the present application does not limit the specific implementation of the electronic device 300. Figure 3The electronic device 300 provided in the embodiment of the present application includes: a processor (processor) 302, a communication interface (Communications Interface) 304, a memory (memory) 306, and a bus 308.

[0046] in:

[0047] The processor 302 , the communication interface 304 , and the memory 306 communicate with each other via the bus 308 .

[0048] The communication interface 304 is used to communicate with other electronic devices or servers.

[0049] The processor 302 is used to execute programs, and specifically can execute the relevant steps in the above method embodiment.

[0050] Specifically, the program 310 may include program codes, which include computer operation instructions.

[0051] The processor 302 may be a central processing unit (CPU), or an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application. The one or more processors included in the smart device may be processors of the same type, such as one or more CPUs; or processors of different types, such as one or more CPUs and one or more ASICs.

[0052] The memory 306 is used to store the program 310. The memory 306 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0053] The program 310 may be specifically configured to enable the processor 302 to execute the method in any of the aforementioned embodiments.

[0054] The specific implementation of each step in program 310 can refer to the corresponding description of the corresponding steps and units in the above method embodiment, which will not be repeated here. Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working process of the above-described devices and modules can refer to the corresponding process description in the above method embodiment, which will not be repeated here.

[0055] The present application also provides a computer-readable storage medium storing instructions for causing a machine to execute the method described herein. Specifically, a system or device equipped with a storage medium may be provided, on which a software program code implementing the functions of any of the above embodiments is stored, and a computer (or CPU or MPU) of the system or device is enabled to read and execute the program code stored in the storage medium.

[0056] In this case, the program code read from the storage medium itself can implement the function of any one of the above embodiments, so the program code and the storage medium storing the program code constitute part of the present application.

[0057] The storage medium embodiments for providing the program code include a floppy disk, a hard disk, a magneto-optical disk, an optical disk (such as CD-ROM, CD-R, CD-RW, DVD-ROM, DVD-RAM, DVD-RW, DVD+RW), a magnetic tape, a non-volatile memory card, and a ROM. Alternatively, the program code can be downloaded from a server computer by a communication network.

[0058] An embodiment of the present application also provides a computer program product, including computer instructions, which instruct a computing device to perform any corresponding operation in the above-mentioned multiple method embodiments.

[0059] It should be pointed out that, according to the needs of implementation, the various components / steps described in the embodiments of the present application can be split into more components / steps, or two or more components / steps or partial operations of components / steps can be combined into new components / steps to achieve the purpose of the embodiments of the present application.

[0060] The above-mentioned method according to the embodiment of the present application can be implemented in hardware, firmware, or implemented as software or computer code that can be stored in a recording medium (such as a CD ROM, RAM, floppy disk, hard disk or magneto-optical disk), or implemented as a computer code originally stored in a remote recording medium or a non-temporary machine-readable medium downloaded through a network and to be stored in a local recording medium, so that the method described herein can be stored in such software processing on a recording medium using a general-purpose computer, a special-purpose processor or programmable or special-purpose hardware (such as an ASIC or FPGA). It can be understood that a computer, a processor, a microprocessor controller or programmable hardware includes a storage component (e.g., RAM, ROM, flash memory, etc.) that can store or receive software or computer code, and when the software or computer code is accessed and executed by a computer, a processor or hardware, the method described herein is implemented. In addition, when a general-purpose computer accesses the code for implementing the method shown here, the execution of the code converts the general-purpose computer into a special-purpose computer for executing the method shown here.

[0061] It should be noted that not all steps and modules in the above-mentioned processes and system structure diagrams are necessary, and some steps or modules can be ignored according to actual needs. The execution order of each step is not fixed and can be adjusted as needed. The system structure described in the above-mentioned embodiments can be a physical structure or a logical structure, that is, some modules may be implemented by the same physical entity, or some modules may be implemented by multiple physical entities, or some components in multiple independent devices may be implemented together.

[0062] Nouns and pronouns in this patent application regarding people are not limited to specific genders. The terms "comprises", "comprising" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device that includes a series of elements includes not only those elements, but also includes other elements that are not explicitly listed, or also includes elements that are inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the statement "comprising a" does not exclude the presence of other identical elements in the process, method, article or device that includes the element.

[0063] In the above embodiments, the hardware module can be implemented mechanically or electrically. For example, a hardware module can include permanent dedicated circuits or logic (such as special processors, FPGA or ASIC) to complete the corresponding operation. The hardware module can also include programmable logic or circuits (such as general-purpose processors or other programmable processors), which can be temporarily set by software to complete the corresponding operation. The specific implementation method (mechanical method, or dedicated permanent circuit, or temporarily set circuit) can be determined based on cost and time considerations.

[0064] The present application is presented and described in detail above through the accompanying drawings and preferred embodiments; however, the present application is not limited to these disclosed embodiments. Based on the above multiple embodiments, those skilled in the art can know that the code review methods in the above different embodiments can be combined to obtain more embodiments of the present application, and these embodiments are also within the scope of protection of the present application.

Claims

1. A motion control method, characterized in that: include: A adopts position control method to control the motor operation based on the given target position value; B. During the target operation phase of the motor, the actual torque value of the motor is compared with the theoretical torque value in real time, and the time interval in which the motor positioning error exists is determined based on the comparison result; C. Calculate the corresponding motor positioning error value based on the time interval; D. compensating the target position value using the motor positioning error value; E controls the motor operation based on the compensated target position value.

2. The method according to claim 1, characterized in that Step B further comprises: In the target operation phase of the motor, the difference between the actual torque value and the theoretical torque value of the motor is calculated in real time; Determine a first time when a difference between an actual torque value and a theoretical torque value of the motor begins to be greater than a first preset threshold value; the first preset threshold value is greater than 0; Determine a second time at which the difference between the actual torque value and the theoretical torque value of the motor returns to a first threshold range; A time interval is determined according to the first time and the second time.

3. The method according to claim 2, characterized in that Step C further comprises: Calculating the time integral of the motor speed within the time interval; The corresponding motor positioning error value is determined based on the time integral of the motor speed within the time interval and a first preset coefficient; the first preset coefficient is greater than 0.

4. The method according to claim 1, characterized in that: Step B further comprises: In the target operation phase of the motor, the difference between the actual torque value and the theoretical torque value of the motor is calculated in real time; Determine a third time at which the difference between the actual torque value and the theoretical torque value of the motor begins to be less than a second preset threshold value; the second preset threshold value is less than 0; Determine a fourth time at which the difference between the actual torque value and the theoretical torque value of the motor returns to a first threshold range; A time interval is determined according to the third time and the fourth time.

5. The method according to claim 4, characterized in that Step C further comprises: Calculating the time integral of the motor speed within the time interval; The corresponding motor positioning error value is determined according to the time integral of the motor speed within the time interval and a second preset coefficient; the second preset coefficient is less than 0.

6. The method according to any one of claims 1 to 5, characterized in that The motor is operated to drive the transmission mechanism to operate.

7. The method according to claim 6, characterized in that The method further comprises: The motor operation is controlled in a cyclic manner; for each cycle, the motor operation is controlled according to step A, step B, step C, step D and step E; wherein the motor is operated to drive the conveying mechanism to move unidirectionally in each cycle to drive an object on a conveying unit of the conveying mechanism to move from an initial position.

8. The method according to claim 7, characterized in that A detection switch is also provided at the position of the initial position or at a position close to the initial position; The method further comprises: Accumulating the motor position error value; When the currently accumulated motor position error value is greater than the third preset threshold, controlling the motor to approach the detection switch at a first speed and stopping the movement when it is detected that the object reaches the position of the detection switch; Before step A of each subsequent cycle, the target position value of the motor given in the cycle is compensated by using the currently accumulated motor positioning error value.

9. The method according to claim 8, characterized in that The first speed is less than or equal to the speed of the motor in the uniform speed operation stage*M%, and M is less than or equal to 30.

10. The method according to claim 8, characterized in that The position control mode is an absolute position control mode; The method further comprises: Before step A of each cycle, the position of the motor recorded by the encoder is cleared or re-initialized.

11. A motion control device (200), characterized in that: include: A first motor control module (210) is used to control the operation of the motor based on a given target position value by adopting a position control method; A time interval determination module (220) is used to compare the actual torque value of the motor with the theoretical torque value in real time during the target operation phase of the motor, and determine the time interval in which the motor positioning error exists according to the comparison result; An error calculation module (230), used for calculating a corresponding motor positioning error value based on the time interval; A first error compensation module (240), used for compensating the target position value using the motor positioning error value; The first motor control module (210) is further used to control the motor operation based on the compensated target position value by adopting a position control method.

12. An electronic device (300), comprising: A processor (302), a communication interface (304), a memory (306) and a bus (308), wherein the processor (302), the communication interface (304) and the memory (306) communicate with each other via the bus (308); The memory (306) is used to store at least one executable instruction, and the executable instruction enables the processor (302) to perform operations corresponding to the method according to any one of claims 1 to 10.

13. A determination machine readable storage medium, wherein determination machine instructions are stored on the determination machine readable storage medium, and when the determination machine instructions are executed by a processor, the processor executes the method according to any one of claims 1 to 10.

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