Rotor motion control method, device and equipment and storage medium

Abstract

The invention discloses a rotor motion control method, device and equipment and a storage medium, and relates to the technical field of magnetic suspension. The method comprises the following steps: establishing a mover motion model according to the Newton second law; determining a state space equation according to the rotor motion model and a preset state variable; the preset state variable comprises the position of the rotor and the speed of the rotor; discretizing the state space equation to obtain a rotor motion model of a discrete space; determining a mover motion result at each prediction moment according to a preset prediction step length and the mover motion model of the discrete space; determining a cost function according to the rotor motion result at each prediction moment; the cost function is used for representing rotor position deviation and / or current consumption; and optimizing the cost function to obtain a current output value, and controlling the rotor to move according to the current output value. Therefore, the technical problem of relatively low efficiency of motor control in the prior art can be solved.

Description

Technical Field

[0001] The present application relates to a mover motion control method, device, equipment and storage medium, and relates to the technical field of magnetic levitation. Background Art

[0002] In the technical field of magnetic levitation, proportional integral derivative (PID) control is relatively mature in the three-loop control of traditional servo motors. Moreover, since the proportional, integral and derivative control methods do not depend on the mathematical model of the controlled object and are relatively easy to implement, they have been widely applied.

[0003] In the related art, the three-loop control of traditional servo motors includes a position loop, a speed loop and a current loop. Among them, the current feedback comes from current sampling data, and the position feedback and speed feedback come from an encoder or a magnetic grating feedback. The process of the three-loop control of traditional servo motors is that after receiving a position command, the speed loop command is output after proportional amplification by the position loop. After the speed loop receives the speed loop command, the current loop command is output after proportional and integral adjustment. However, due to the very high degree of parameter coupling between the position loop and the speed loop, during the debugging process, technicians need to frequently pay attention to the changes in position and speed, and can only obtain a set of relatively good parameters through continuous parameter trial, and it is also difficult to simultaneously meet multiple performance indicators. In this way, it leads to the technical problem of relatively low control efficiency of the motor. Summary of the Invention

[0004] The present invention provides a mover motion control method, device, equipment and storage medium, so as to at least solve the technical problem of relatively low control efficiency of the motor in the related art. The technical solution of the present application is as follows: According to the first aspect of the embodiments of the present application, a mover motion control method is provided, including: establishing a mover motion model according to Newton's second law; determining a state space equation according to the mover motion model and preset state variables; the preset state variables include the position of the mover and the speed of the mover; performing discretization processing on the state space equation to obtain a mover motion model in the discrete space; determining the mover motion result at each prediction moment according to the preset prediction step length and the mover motion model in the discrete space; determining a cost function according to the mover motion result at each prediction moment; the cost function is used to represent the mover position deviation and / or the current consumption; performing optimization processing on the cost function to obtain a current output value, and controlling the mover motion according to the current output value.

[0005] In a possible implementation manner, when the number of movers is multiple, the above cost function further includes the distance between adjacent movers.

[0006] In a possible implementation manner, the above cost function further includes a first weight coefficient, a second weight coefficient, and a third weight coefficient; the first weight coefficient is used to represent the weight of the mover position deviation in the cost function, the second weight coefficient is used to represent the weight of the current consumption in the cost function, and the third weight coefficient is used to represent the weight of the distance between adjacent movers. The method further includes: increasing the first weight coefficient to reduce the mover position deviation; increasing the second weight coefficient to reduce the current consumption; and increasing the third weight coefficient to reduce the distance between adjacent movers.

[0007] In a possible implementation manner, the above mover motion model is: ; where M is the mass of the mover, F = Iq*Kf is the thrust generated by the motor on the mover through the current, Iq is the Q-axis current of the motor, Kf is the motor torque coefficient, Fv = bV is the viscous friction force, b is the friction coefficient, v is the motion speed, and Fc = Mgu k represents Coulomb friction, g is the acceleration due to gravity, and u k is the Coulomb friction coefficient.

[0008] According to the second aspect of the embodiments of the present application, a mover motion control device is provided. The device includes: a processing unit and a determination unit; the processing unit is configured to establish a mover motion model according to Newton's second law; the determination unit is configured to determine a state space equation according to the mover motion model and a preset state variable; the preset state variable includes the position of the mover and the speed of the mover; the processing unit is further configured to discretize the state space equation to obtain a mover motion model in the discrete space; the determination unit is further configured to determine the mover motion result at each prediction moment according to a preset prediction step length and the mover motion model in the discrete space; the determination unit is further configured to determine a cost function according to the mover motion result at each prediction moment; the cost function is used to represent the mover position deviation and / or the current consumption; the processing unit is further configured to perform an optimization process on the cost function to obtain a current output value and control the mover motion according to the current output value.

[0009] In a possible implementation manner, in the above mover motion control device, when the number of movers is multiple, the cost function further includes the distance between adjacent movers.

[0010] In a possible implementation, in the above mover motion control device, the cost function further includes a first weight coefficient, a second weight coefficient, and a third weight coefficient; the first weight coefficient is used to represent the weight of the mover position deviation in the cost function, the second weight coefficient is used to represent the weight of the current consumption in the cost function, and the third weight coefficient is used to represent the weight of the distance between adjacent movers in the cost function. The processing unit is further configured to: increase the first weight coefficient to reduce the mover position deviation; increase the second weight coefficient to reduce the current consumption; and increase the third weight coefficient to reduce the distance between adjacent movers.

[0011] In a possible implementation, in the above mover motion control device, the mover motion model is: ; where M is the mass of the mover, F = Iq * Kf is the thrust generated by the motor on the mover through the current, Iq is the Q-axis current of the motor, Kf is the motor torque coefficient, Fv = bV is the viscous friction force, b is the friction coefficient, v is the motion speed, and Fc = Mgu k represents Coulomb friction, g is the acceleration due to gravity, and u k is the Coulomb friction coefficient.

[0012] According to a third aspect of the embodiments of the present application, there is provided an electronic device, including: a processor; a memory for storing processor-executable instructions; wherein the processor is configured to execute the instructions to implement the method according to the first aspect and any of its possible implementations above.

[0013] According to a fourth aspect of the embodiments of the present application, there is provided a computer-readable storage medium, when the instructions in the computer-readable storage medium are executed by the processor of the electronic device, enabling the electronic device to execute the method according to the first aspect and any of its possible implementations above.

[0014] According to a fifth aspect of the embodiments of the present application, there is provided a computer program product, the computer program product includes computer instructions, when the computer instructions run on the electronic device, enabling the electronic device to execute the method according to the first aspect and any of its possible implementations above.

[0015] The technical solution of the first aspect provided by the embodiments of the present application at least brings the following beneficial effects: The technical solution provided by the embodiment of the present application establishes a mover motion model according to Newton's second law; determines a state space equation according to the mover motion model and preset state variables; the preset state variables include the position of the mover and the velocity of the mover; discretizes the state space equation to obtain a mover motion model in the discrete space; determines the mover motion result at each prediction moment according to the preset prediction step length and the mover motion model in the discrete space; determines a cost function according to the mover motion result at each prediction moment; the cost function is used to represent the mover position deviation and / or the current consumption; performs an optimization process on the cost function to obtain a current output value, and controls the mover motion according to the current output value. In this way, by establishing a mover motion model, predicting the mover motion result at each moment, and optimizing the cost function, it is not necessary to repeatedly try parameters, the efficiency is higher, and multiple performance indicators can be satisfied simultaneously, and the control performance is better.

[0016] It should be noted that the technical effects brought by any implementation manner in the second aspect to the fifth aspect can be referred to the technical effects brought by the corresponding implementation manner in the first aspect, and will not be elaborated here.

[0017] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The drawings here are incorporated into the specification and constitute a part of this specification, showing the embodiments consistent with the present application, and are used together with the specification to explain the principles of the present application, and do not constitute an improper limitation to the present application.

[0019] Figure 1 is a flowchart of a mover motion control method shown according to an exemplary embodiment; Figure 2 is a flowchart of another mover motion control method shown according to an exemplary embodiment; Figure 3 is a block diagram of a mover motion control device shown according to an exemplary embodiment; Figure 4 is a block diagram of an electronic device shown according to an exemplary embodiment. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0020] In order to be able to more clearly understand the technical means of the present invention and implement it according to the content of the specification, the following combines the drawings and embodiments to further describe in detail the specific implementation manners of the present invention. The following embodiments are used to illustrate the present invention but are not used to limit the scope of the present invention.

[0021] It should be noted that the terms "first", "second", etc. in the description, claims and the above drawings of this application are used to distinguish similar objects, and do not necessarily describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances, so that the embodiments of this application described here can be implemented in an order other than those illustrated or described here. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. On the contrary, they are only examples of devices and methods consistent with some aspects of this application as detailed in the appended claims.

[0022] Before introducing the mover motion control method provided by this application in detail, a brief introduction to the application scenarios involved in this application will be given first.

[0023] In the field of magnetic levitation technology, proportional, integral and derivative (PID) control is relatively mature in the traditional three-loop control of servo motors. Moreover, since the proportional, integral and derivative control methods do not depend on the mathematical model of the controlled object and are relatively easy to implement, they have been widely used.

[0024] In the related art, the traditional three-loop control of servo motors includes a position loop, a speed loop and a current loop. Among them, the current feedback comes from the current sampling data, and the position feedback and speed feedback come from the encoder or magnetic grating feedback. The process of the traditional three-loop control of servo motors is that after receiving the position command, it outputs the speed loop command after proportional amplification by the position loop. After the speed loop receives the speed loop command, it outputs the current loop command after proportional and integral adjustment. However, due to the very high degree of parameter coupling between the position loop and the speed loop, during the debugging process, technicians need to frequently pay attention to the changes in position and speed, and can only obtain a set of relatively good parameters through continuous parameter testing, and it is also difficult to simultaneously meet multiple performance indicators (such as the response speed and overshoot of the mover). In this way, it leads to the technical problem of relatively low control efficiency of the motor.

[0025] This application replaces the position loop and speed loop in the traditional proportional integral derivative control with a model predictive control (MPC) algorithm, selects position and speed as state variables, current command as input variables, position as output state, and uses the position information and speed information fed back by the encoder as the state of the current system. Then, by establishing a mover motion model of the magnetic levitation system, the output of the system is predicted, and an optimal solution is obtained according to the prediction result, and finally the optimal control result is obtained.

[0026] Figure 1FIG. 0 is a flowchart of a mover motion control method shown according to an exemplary embodiment. This method can be applied to an electronic device, or to a mover motion control device connected to or inside the electronic device. Hereinafter, taking this method applied to an electronic device as an example, this method will be described. As shown in Figure 1 FIG. 1, the mover motion control method includes the following steps: S101. The electronic device establishes a mover motion model according to Newton's second law.

[0027] It should be noted that the mover motion model satisfies the following formula (1): ; where M is the mass of the mover, F = Iq * K is the thrust generated by the motor on the mover through current, Iq is the Q-axis current of the motor, Kf is the motor torque coefficient, Fv = bV is the viscous friction force, b is the friction coefficient, v is the motion speed, Fc = Mguk represents the Coulomb friction, g is the acceleration due to gravity, and uk is the Coulomb friction coefficient.

[0028] S102. The electronic device determines a state space equation according to the mover motion model and preset state variables.

[0029] The preset state variables include the position of the mover and the speed of the mover.

[0030] As a possible implementation, the electronic device converts the above formula (1) to obtain the following formula (2): ; Further, the electronic device determines the system state variables X 1 = s, X 2 = v, y = s, u = Iq. And based on the above formula (2), the state space equation is obtained.

[0031] It should be noted that s represents the position of the mover and v represents the speed of the mover.

[0032] The state space equation satisfies the following formula (3): .

[0033] S103. The electronic device discretizes the state space equation to obtain a mover motion model in the discrete space.

[0034] It should be noted that the mover motion model in the discrete space satisfies the following formula (4): ; where x(k) represents the initial state of the system.

[0035] Exemplarily, when M = 3 kg, b = 0.2, Kf = 8.5 N·m / A, uk = 0.2, and the control period T = 0.001 s, the mover motion model in the discrete space satisfies the following Formula 5: .

[0036] S104. The electronic device determines the mover motion results at each prediction moment according to the preset prediction step and the mover motion model in the discrete space.

[0037] As a possible implementation manner, when the preset prediction step is N p , the mover motion results at each prediction moment satisfy the following Formula 6: ;

[0038] It should be noted that the matrix form of the above Formula 6 satisfies the following Formula 7: X d = A d x(k) + B d U d + Wd. .

[0039] Since , so: .

[0040] In the actual application process, when the preset prediction step is smaller, the mover motion results at each prediction moment are more accurate; when the preset prediction step is larger, the error of the mover motion results at each prediction moment is larger.

[0041] S105. The electronic device determines the cost function according to the mover motion results at each prediction moment.

[0042] Among them, the cost function is used to represent the mover position deviation and / or the current consumption. The mover position deviation is the deviation between the actual position of the mover and the target position of the mover, and the current consumption is the current consumption of the mover during the movement.

[0043] As a possible implementation manner, when the cost function is used to represent the mover position deviation and the current consumption, the cost function satisfies the following Formula 8: .

[0044] Furthermore, the electronic device simplifies the above Formula 8 to obtain the following Formula 9: .

[0045] Comparing with the standard format of the cost function, the following Formula 10 can be obtained: .

[0046] It should be noted that the standard format of the cost function satisfies the following Formula XI: .

[0047] S106. The electronic device optimizes the cost function to obtain a current output value, and controls the movement of the mover according to the current output value.

[0048] As a possible implementation, the electronic device uses a QP solver to optimize the cost function in the above Formula X to obtain a current output value, and controls the movement of the mover according to the current output value.

[0049] It can be understood that for the technical solution provided in the embodiments of the present application, according to Newton's second law, a mover motion model is established; according to the mover motion model and preset state variables, a state space equation is determined; the preset state variables include the position of the mover and the speed of the mover; the state space equation is discretized to obtain a mover motion model in the discrete space; according to the preset prediction step and the mover motion model in the discrete space, the mover motion results at each prediction moment are determined; according to the mover motion results at each prediction moment, a cost function is determined; the cost function is used to represent the mover position deviation and / or the current consumption; the cost function is optimized to obtain a current output value, and the movement of the mover is controlled according to the current output value. In this way, by establishing a mover motion model, predicting the mover motion results at each moment, and optimizing the cost function, it is not necessary to repeatedly try parameters, the efficiency is higher, and multiple performance indicators can be satisfied simultaneously, and the control performance is better.

[0050] In some embodiments, in the mover motion control method provided in the embodiments of the present application, when the number of movers is multiple, the cost function further includes the distance between adjacent movers.

[0051] It can be understood that when the cost function further includes the distance between adjacent movers, the distance between the movers can be controlled by the cost function, and the safe distance between the movers can be ensured to prevent the movers from colliding during the movement.

[0052] In some embodiments, the cost function further includes a first weight coefficient, a second weight coefficient, and a third weight coefficient; the first weight coefficient is used to represent the weight of the mover position deviation in the cost function, the second weight coefficient is used to represent the weight of the current consumption in the cost function, and the third weight coefficient is used to represent the weight of the distance between adjacent movers in the cost function. As Figure 2 shown, the mover motion control method provided in the embodiments of the present application further includes the following steps: S201. The electronic device increases the first weight coefficient to reduce the mover position deviation.

[0053] S202. The electronic device increases the second weight coefficient to reduce the current consumption.

[0054] S203. The electronic device increases the third weight coefficient to reduce the distance between adjacent movers.

[0055] It can be understood that the technical solution provided in the embodiments of the present application can be adjusted according to actual needs by adjusting the first weight coefficient, the second weight coefficient, and the third weight coefficient, so that a certain item or performance index is enhanced.

[0056] The above mainly introduces the solution provided in the embodiments of the present application from the perspective of methods. To implement the above functions, the mover motion control device or the electronic device includes the corresponding hardware structures and / or software modules for executing each function. Those skilled in the art should easily realize that, combining the units and algorithm steps of each example described in the embodiments disclosed herein, the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a certain function is executed in the way of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Professional technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present application.

[0057] The embodiments of the present application can, according to the above method, exemplarily divide the function modules of the mover motion control device or the electronic device. For example, the mover motion control device or the electronic device may include each function module corresponding to each function division, or two or more functions may be integrated into one processing module. The above integrated module can be implemented in the form of hardware or in the form of a software function module. It should be noted that the division of modules in the embodiments of the present application is illustrative, only a logical function division, and there may be other division methods in actual implementation.

[0058] For example, the embodiments of the present application also provide a mover motion control device.

[0059] In some embodiments, Figure 3 is a block diagram of a mover motion control device 300 shown according to an exemplary embodiment. Referring to Figure 3 , the mover motion control device 300 includes a processing unit 301 and a determination unit 302.

[0060] The processing unit 301 is configured to establish a mover motion model according to Newton's second law.

[0061] The determination unit 302 is configured to determine a state space equation according to the mover motion model and a preset state variable; the preset state variable includes the position of the mover and the speed of the mover.

[0062] The processing unit 301 is further configured to discretize the state space equation to obtain a mover motion model in the discrete space.

[0063] The determination unit 302 is further configured to determine the mover motion result at each prediction moment according to a preset prediction step length and the mover motion model in the discrete space.

[0064] The determination unit 302 is further configured to determine a cost function according to the mover motion result at each prediction moment; the cost function is used to represent the mover position deviation and / or the current consumption.

[0065] The processing unit 301 is further configured to optimize the cost function to obtain a current output value, and control the mover motion according to the current output value.

[0066] Optionally, as Figure 3 shown, when the number of movers is multiple, the cost function further includes the distance between adjacent movers.

[0067] Optionally, as Figure 3 shown, the cost function further includes a first weight coefficient, a second weight coefficient, and a third weight coefficient; the first weight coefficient is used to represent the weight of the mover position deviation in the cost function, the second weight coefficient is used to represent the weight of the current consumption in the cost function, and the third weight coefficient is used to represent the weight of the distance between adjacent movers in the cost function. The processing unit 301 provided in the embodiment of the present application is further configured to: Increase the first weight coefficient to reduce the mover position deviation.

[0068] Increase the second weight coefficient to reduce the current consumption.

[0069] Increase the third weight coefficient to reduce the distance between adjacent movers.

[0070] Optionally, as Figure 3 shown, the mover motion model provided in the embodiment of the present application is: .

[0071] Wherein, M is the mass of the mover, F = Iq*Kf is the thrust generated by the motor on the mover through the current, Iq is the Q-axis current of the motor, Kf is the motor torque coefficient, Fv = bV is the viscous friction force, b is the friction coefficient, v is the movement speed, Fc = Mgu k represents Coulomb friction, g is the acceleration due to gravity, and u k is the Coulomb friction coefficient.

[0072] Regarding the device in the above embodiments, the specific manners in which each module performs operations have been described in detail in the embodiments related to the method, and will not be elaborated herein.

[0073] Figure 4 is a block diagram of an electronic device shown according to an exemplary embodiment. As Figure 4 shown, the electronic device 400 includes, but is not limited to: a processor 401 and a memory 402.

[0074] Among them, the above-mentioned memory 402 is used to store executable instructions of the above-mentioned processor 401. It can be understood that the above-mentioned processor 401 is configured to execute instructions to implement the mover motion control method in the above-mentioned embodiment.

[0075] It should be noted that those skilled in the art can understand that Figure 4 the structure of the electronic device shown in Figure 4 does not constitute a limitation on the electronic device. The electronic device may include more or fewer components than Figure 4 shown, or combine certain components, or have different component arrangements.

[0076] The processor 401 is the control center of the electronic device, connecting various parts of the entire electronic device using various interfaces and lines. By running or executing software programs and / or modules stored in the memory 402, and by calling data stored in the memory 402, it executes various functions of the electronic device and processes data, thereby monitoring the electronic device as a whole. The processor 401 may include one or more processing units. Optionally, the processor 401 may integrate an application processor and a modem processor. Among them, the application processor mainly processes the operating system, user interface, and application programs, etc., and the modem processor mainly processes wireless communication. It can be understood that the above-mentioned modem processor may not be integrated into the processor 401 either.

[0077] The memory 402 can be used to store software programs and various data. The memory 402 may mainly include a program storage area and a data storage area. Among them, the program storage area may store the operating system, application programs required by at least one functional module (such as a determination unit, a processing unit, etc.), etc. In addition, the memory 402 may include high-speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0078] In an exemplary embodiment, there is also provided a computer-readable storage medium including instructions, such as the memory 402 including instructions. The above-mentioned instructions can be executed by the processor 401 of the electronic device 400 to implement the mover motion control method in the above-mentioned embodiment.

[0079] In actual implementation, Figure 3 the functions of the processing unit 301 and the determination unit 302 in Figure 4The processor 401 in it calls the computer program stored in the memory 402 to implement. For the specific execution process, reference can be made to the description of the mover motion control method in the above embodiment, which will not be elaborated here.

[0080] Optionally, the computer-readable storage medium may be a non-transitory computer-readable storage medium. For example, the non-transitory computer-readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, and an optical data storage device, etc.

[0081] In an exemplary embodiment, the embodiment of the present application further provides a computer program product including one or more instructions, and the one or more instructions can be executed by a processor 801 of an electronic device to complete the mover motion control method in the above embodiment.

[0082] It should be noted that when the instructions in the above computer-readable storage medium or the one or more instructions in the computer program product are executed by the processor of the electronic device, each process of the mover motion control method embodiment is implemented, and the same technical effects as the above mover motion control method can be achieved. To avoid repetition, it will not be elaborated here.

[0083] Through the description of the above embodiments, those skilled in the art can clearly understand that for the convenience and simplicity of description, only the above division of each functional module is used as an example. In actual applications, the above functions can be allocated to different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above.

[0084] In several embodiments provided by the present application, it should be understood that the disclosed device and method can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of modules or units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the displayed or discussed coupling or direct coupling or communication connection to each other can be through some interfaces. The indirect coupling or communication connection of the device or unit can be in an electrical, mechanical or other form.

[0085] The unit described as a separating component may or may not be physically separated. The component displayed as a unit may be a physical unit or multiple physical units, that is, it may be located in one place or may be distributed to multiple different places. Some or all of the classification units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0086] In addition, each functional unit in various embodiments of the present application may be integrated in a processing unit, may be physically present separately for each unit, or two or more units may be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of a software functional unit.

[0087] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a readable storage medium. Based on such an understanding, the technical solution of the embodiments of the present application, in essence, or the part that contributes to the prior art, or all or part of this technical solution can be embodied in the form of a software product. This software product is stored in a storage medium and includes several instructions to enable a device (which can be a single-chip microcomputer, a chip, etc.) or a processor to execute all or part of the steps of the methods in various embodiments of the present application. The aforementioned storage medium includes: USB flash drives, mobile hard disks, ROM, RAM, magnetic disks, or optical discs and other various media that can store program codes.

[0088] The above is only the specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions within the technical scope disclosed in the present application should be covered by the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A method for controlling the motion of a mover, characterized in that: The method comprises: According to Newton's second law, the motion model of the mover is established; Determine the state space equation according to the mover motion model and preset state variables; the preset state variables include the position of the mover and the speed of the mover; Discretizing the state space equation to obtain a mover motion model in a discrete space; Determine the motion result of the mover at each prediction moment according to the preset prediction step size and the mover motion model in the discrete space; Determine a cost function according to the mover motion result at each prediction moment; the cost function is used to represent the mover position deviation and / or current consumption; The cost function is optimized to obtain a current output value, and the movement of the mover is controlled according to the current output value.

2. The method according to claim 1, characterized in that When there are multiple movers, the cost function also includes the spacing between adjacent movers.

3. The method according to claim 2, characterized in that The cost function also includes a first weight coefficient, a second weight coefficient and a third weight coefficient; the first weight coefficient is used to represent the weight of the position deviation of the mover in the cost function, the second weight coefficient is used to represent the weight of the current consumption in the cost function, and the third weight coefficient is used to represent the weight of the spacing between adjacent movers in the cost function. The method also includes: Increasing the first weight coefficient to reduce the position deviation of the mover; Increasing the second weight coefficient to reduce the current consumption; The third weight coefficient is increased to reduce the distance between the adjacent movers.

4. The method according to any one of claims 1 to 3, characterized in that The mover motion model is: Among them, M is the mass of the mover, F=Iq*Kf is the thrust generated by the motor through the current on the mover, Iq is the Q-axis current of the motor, Kf is the motor torque coefficient, Fv=bV is the viscous friction, b is the friction coefficient, v is the movement speed, Fc=Mgu k represents Coulomb friction, g is the acceleration due to gravity, u is k is the Coulomb friction coefficient.

5. A mover motion control device, characterized in that: The device comprises: a processing unit and a determining unit; The processing unit is used to establish a mover motion model according to Newton's second law; The determination unit is used to determine the state space equation according to the mover motion model and preset state variables; the preset state variables include the position of the mover and the speed of the mover; The processing unit is further used to discretize the state space equation to obtain a mover motion model in a discrete space; The determination unit is further used to determine the mover motion result at each prediction moment according to a preset prediction step size and the mover motion model in the discrete space; The determination unit is further used to determine a cost function according to the mover motion result at each prediction moment; the cost function is used to represent the mover position deviation and / or the current consumption; The processing unit is further used to optimize the cost function to obtain a current output value, and control the movement of the mover according to the current output value.

6. The device according to claim 5, characterized in that When there are multiple movers, the cost function also includes the spacing between adjacent movers.

7. The device according to claim 6, characterized in that The cost function also includes a first weight coefficient, a second weight coefficient and a third weight coefficient; the first weight coefficient is used to represent the weight of the position deviation of the mover in the cost function, the second weight coefficient is used to represent the weight of the current consumption in the cost function, and the third weight coefficient is used to represent the weight of the spacing between adjacent movers in the cost function. The processing unit is further used to: Increasing the first weight coefficient to reduce the position deviation of the mover; Increasing the second weight coefficient to reduce the current consumption; The third weight coefficient is increased to reduce the distance between the adjacent movers.

8. The device according to any one of claims 5 to 7, characterized in that: The mover motion model is: Among them, M is the mass of the mover, F=Iq*Kf is the thrust generated by the motor through the current on the mover, Iq is the Q-axis current of the motor, Kf is the motor torque coefficient, Fv=bV is the viscous friction, b is the friction coefficient, v is the movement speed, Fc=Mgu k represents Coulomb friction, g is the acceleration due to gravity, u is k is the Coulomb friction coefficient.

9. An electronic device, characterized in that: include: processor; a memory for storing instructions executable by the processor; The processor is configured to execute the instructions to implement the method according to any one of claims 1 to 4.

10. A computer-readable storage medium, characterized in that: When the computer-executable instructions stored in the computer-readable storage medium are executed by a processor of an electronic device, the electronic device can perform the method as claimed in any one of claims 1 to 4.

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