Rotor motion control method, device, equipment and storage medium

Abstract

The application discloses a mover motion control method and device, equipment and storage medium, and relates to the technical field of magnetic suspension. The method comprises the following steps: a mover motion model is established according to Newton's second law; a state space equation is determined according to the mover motion model and preset state variables; the preset state variables comprise the position of the mover and the speed of the mover; the state space equation is subjected to discretization processing to obtain a mover motion model in a discrete space; the mover motion result at each prediction time is determined according to a preset prediction step and the mover motion model in the discrete space; a cost function is determined according to the mover motion result at each prediction time; the cost function is used for representing the position deviation of the mover and / or the current consumption; the cost function is subjected to optimization processing to obtain a current output value, and the mover motion is controlled according to the current output value. Therefore, the technical problem that the control of the motor has relatively low efficiency in the related art can be solved.

Description

Technical Field

[0001] This application relates to a method, device, equipment, and storage medium for controlling the motion of a moving part, and relates to the field of magnetic levitation technology. Background Technology

[0002] In the field of magnetic levitation technology, proportional-integral-derivative (PID) control is a relatively mature method in the traditional three-loop control of servo motors. Furthermore, because PID control does not rely on the mathematical model of the controlled object, it is relatively easy to implement and has therefore been widely used.

[0003] In related technologies, traditional servo motor three-loop control includes a position loop, a speed loop, and a current loop. Current feedback originates from current sampling data, while position and speed feedback come from encoder or magnetic grating feedback. The traditional servo motor three-loop control process involves receiving a position command, amplifying it proportionally in the position loop, and then outputting a speed loop command. The speed loop, upon receiving the speed command, adjusts it proportionally and integrally before outputting a current loop command. However, due to the high degree of parameter coupling between the position and speed loops, technicians need to frequently monitor position and speed changes during debugging, and obtain a satisfactory set of parameters through continuous parameter testing. It is also difficult to simultaneously meet multiple performance indicators. This results in relatively low efficiency in motor control. Summary of the Invention

[0004] This invention provides a method, apparatus, device, and storage medium for controlling the motion of a motor, thereby at least addressing the technical problem of low efficiency in motor control in related technologies. The technical solution of this application is as follows:

[0005] According to a first aspect of the embodiments of this application, a mover motion control method is provided, comprising: establishing a mover motion model according to Newton's second law; determining a state-space equation based on the mover motion model and preset state variables; the preset state variables including the position and velocity of the mover; discretizing the state-space equation to obtain a discrete-space mover motion model; determining the mover motion result at each prediction time based on a preset prediction step size and the discrete-space mover motion model; determining a cost function based on the mover motion result at each prediction time; the cost function representing the mover position deviation and / or current consumption; optimizing the cost function to obtain a current output value, and controlling the mover motion based on the current output value.

[0006] In one possible implementation, when there are multiple movers, the cost function described above also includes the spacing between adjacent movers.

[0007] In one possible implementation, the cost function further includes a first weighting coefficient, a second weighting coefficient, and a third weighting coefficient; the first weighting coefficient represents the weight of the mover position deviation in the cost function, the second weighting coefficient represents the weight of the current consumption in the cost function, and the third weighting coefficient represents the weight of the spacing between adjacent movers in the cost function. The method further includes: increasing the first weighting coefficient to reduce the mover position deviation; increasing the second weighting coefficient to reduce the current consumption; and increasing the third weighting coefficient to reduce the spacing between adjacent movers.

[0008] In one possible implementation, the above-mentioned motion model of the mover is as follows:

[0009] ;

[0010] Where 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 force, b is the coefficient of friction, v is the speed of motion, and Fc=Mgu k Represents Coulomb friction, g is the acceleration due to gravity, and u k is the Coulomb friction coefficient.

[0011] According to a second aspect of the embodiments of this application, a mover motion control device is provided. The device includes: a processing unit and a determining unit; the processing unit is configured to establish a mover motion model according to Newton's second law; the determining unit is configured to determine 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; the processing unit is further configured to discretize the state-space equation to obtain a discrete-space mover motion model; the determining unit is further configured to determine the mover motion result at each prediction time according to a preset prediction step size and the discrete-space mover motion model; the determining unit is further configured to determine a cost function according to the mover motion result at each prediction time; the cost function represents the mover position deviation and / or current consumption; the processing unit 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.

[0012] In one possible implementation, when the number of movers is multiple, the cost function also includes the spacing between adjacent movers when there are multiple movers.

[0013] In one possible implementation, the aforementioned mover motion control device further includes a first weighting coefficient, a second weighting coefficient, and a third weighting coefficient in the cost function; the first weighting coefficient represents the weight of the mover position deviation in the cost function, the second weighting coefficient represents the weight of the current consumption in the cost function, and the third weighting coefficient represents the weight of the distance between adjacent movers in the cost function. The processing unit is further configured to: increase the first weighting coefficient to reduce the mover position deviation; increase the second weighting coefficient to reduce the current consumption; and increase the third weighting coefficient to reduce the distance between adjacent movers.

[0014] In one possible implementation, the motion model of the mover in the above-described mover motion control device is as follows:

[0015] ;

[0016] Where 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 force, b is the coefficient of friction, v is the speed of motion, and Fc=Mgu k Represents Coulomb friction, g is the acceleration due to gravity, and u k is the Coulomb friction coefficient.

[0017] According to a third aspect of the embodiments of this application, an electronic device is provided, comprising: a processor; a memory for storing processor-executable instructions; wherein the processor is configured to execute instructions to implement the method of the first aspect described above and any possible implementation thereof.

[0018] According to a fourth aspect of the embodiments of this application, a computer-readable storage medium is provided, which, when the instructions in the computer-readable storage medium are executed by a processor of an electronic device, enables the electronic device to perform the methods of the first aspect and any possible implementation thereof.

[0019] According to a fifth aspect of the embodiments of this application, a computer program product is provided, the computer program product including computer instructions, which, when executed on an electronic device, cause the electronic device to perform the method described in the first aspect and any possible implementation thereof.

[0020] The technical solution of the first aspect provided by the embodiments of this application has at least the following beneficial effects:

[0021] The technical solution provided in this application establishes a motion model of a mover based on Newton's second law; determines a state-space equation based on the motion model and preset state variables; the preset state variables include the position and velocity of the mover; discretizes the state-space equation to obtain a discrete motion model of the mover; determines the motion result of the mover at each prediction time based on a preset prediction step size and the discrete motion model of the mover; determines a cost function based on the motion result of the mover at each prediction time; the cost function represents the mover position deviation and / or current consumption; optimizes the cost function to obtain a current output value, and controls the mover motion based on the current output value. Thus, by establishing a motion model of the mover, predicting the motion result of the mover at each time, and optimizing the cost function, repeated parameter trials are unnecessary, resulting in higher efficiency and the ability to simultaneously meet multiple performance indicators, leading to superior control performance.

[0022] It should be noted that the technical effects of any of the implementation methods in aspects two through five can be found in the technical effects of the corresponding implementation methods in aspect one, and will not be repeated here.

[0023] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0024] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application, and do not constitute an undue limitation of this application.

[0025] Figure 1 This is a flowchart illustrating a motion control method for a mover according to an exemplary embodiment;

[0026] Figure 2 This is a flowchart illustrating yet another motion control method for a mover, according to an exemplary embodiment;

[0027] Figure 3 This is a block diagram illustrating a motion control device for a mover according to an exemplary embodiment;

[0028] Figure 4 This is a block diagram illustrating an electronic device according to an exemplary embodiment. Detailed Implementation

[0029] In order to better understand the technical means of the present invention and to implement it in accordance with the contents of the specification, the specific embodiments of the present invention will be further described in detail below with reference to the accompanying drawings and examples. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0030] It should be noted that the terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0031] Before providing a detailed introduction to the motion control method for the mover provided in this application, let's first briefly introduce the application scenarios involved in this application.

[0032] In the field of magnetic levitation technology, proportional-integral-derivative (PID) control is a relatively mature method in the traditional three-loop control of servo motors. Furthermore, because PID control does not rely on the mathematical model of the controlled object, it is relatively easy to implement and has therefore been widely used.

[0033] In related technologies, traditional servo motor three-loop control includes a position loop, a speed loop, and a current loop. Current feedback originates from current sampling data, while position and speed feedback come from encoder or magnetic grating feedback. The traditional servo motor three-loop control process involves receiving a position command, amplifying it proportionally in the position loop, and then outputting a speed loop command. The speed loop, upon receiving the speed loop command, adjusts it proportionally and integrally before outputting a current loop command. However, due to the high degree of parameter coupling between the position and speed loops, during debugging, technicians need to frequently monitor position and speed changes and repeatedly experiment to obtain a suitable set of parameters. It is also difficult to simultaneously meet multiple performance indicators (such as mover response speed and overshoot). This results in relatively low efficiency in motor control.

[0034] This application replaces the position and velocity loops in traditional proportional-integral-derivative (PID) control with a model predictive control (MPC) algorithm. Position and velocity are selected as state variables, current command as the input variable, and position as the output state. The position and velocity information fed back from the encoder are used as the current system state. Then, by establishing a motion model of the mover of the magnetic levitation system, the system output is predicted, and an optimization solution is performed based on the prediction results to obtain the optimal control result.

[0035] Figure 1This is a flowchart illustrating a motion control method for a mover according to an exemplary embodiment. This method can be applied to electronic devices, or to motion control devices connected to or located within electronic devices. The following description uses an application of this method to an electronic device as an example. Figure 1 As shown, the motion control method for the mover includes the following steps:

[0036] S101. The electronic device establishes a motion model of the mover based on Newton's second law.

[0037] It should be noted that the motion model of the mover satisfies the following formula:

[0038] ;

[0039] Where M is the mass of the mover, F=Iq*K 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 force, b is the friction coefficient, v is the speed of motion, Fc=Mguk represents Coulomb friction, g is the acceleration due to gravity, and uk is the Coulomb friction coefficient.

[0040] S102. The electronic device determines the state-space equation based on the motion model of the mover and the preset state variables.

[0041] The preset state variables include the position of the mover and the velocity of the mover.

[0042] As one possible implementation, the electronic device transforms Equation 1 above to obtain Equation 2:

[0043] ;

[0044] Furthermore, the electronic device determines the system state variables X1=s, X2=v, y=s, u=Iq. Based on Formula 2 above, the state-space equation is obtained.

[0045] It should be noted that, in the above, s represents the position of the mover and v represents the velocity of the mover.

[0046] The state-space equations satisfy the following formula three:

[0047] .

[0048] S103. The electronic device discretizes the state-space equations to obtain a discrete motion model of the mover.

[0049] It should be noted that the motion model of the mover in discrete space satisfies the following formula:

[0050] ;

[0051] Where x(k) represents the initial state of the system.

[0052] For example, when M=3kg, b=0.2, Kf=8.5NM / A, uk=0.2, and the control period T=0.001s, the motion model of the mover in discrete space satisfies the following formula five:

[0053] .

[0054] S104. The electronic device determines the motion result of the mover at each prediction time according to the preset prediction step size and the motion model of the mover in the discrete space.

[0055] As one possible implementation, when the preset prediction step size is N p At each predicted moment, the motion result of the mover satisfies the following formula six: ;

[0056] It should be noted that the matrix form of Formula 6 above satisfies the following Formula 7: X d =A d x(k)+B d U d +Wd. .

[0057] because ,so: .

[0058] In practical applications, the smaller the preset prediction step size, the more accurate the motion result of the mover at each prediction time; the larger the preset prediction step size, the greater the error of the motion result of the mover at each prediction time.

[0059] S105. The electronic device determines the cost function based on the motion result of the mover at each prediction time.

[0060] The cost function represents the mover position deviation and / or current consumption. The mover position deviation is the deviation between the actual position and the target position of the mover, and the current consumption is the current consumed by the mover during its motion.

[0061] As one possible implementation, when the cost function is used to represent the mover position deviation and current consumption, the cost function satisfies the following formula: .

[0062] Furthermore, the electronic device simplifies Formula 8 above to obtain Formula 9: .

[0063] By comparing with the standard format of the cost function, we can obtain the following formula ten: .

[0064] It should be noted that the standard format of the cost function satisfies the following formula eleven: .

[0065] S106. The electronic device performs optimization processing on the cost function to obtain the current output value, and controls the movement of the mover based on the current output value.

[0066] As one possible implementation, the electronic device uses a QP solver to optimize the cost function in Equation 10 above to obtain the current output value, and controls the movement of the mover based on the current output value.

[0067] Understandably, the technical solution provided in this application establishes a motion model of the mover based on Newton's second law; determines the state space equation based on the motion model and preset state variables; the preset state variables include the position and velocity of the mover; discretizes the state space equation to obtain a discrete motion model of the mover; determines the motion result of the mover at each prediction time based on the preset prediction step size and the discrete motion model of the mover; determines the cost function based on the motion result of the mover at each prediction time; the cost function represents the mover position deviation and / or current consumption; optimizes the cost function to obtain the current output value, and controls the mover motion based on the current output value. Thus, by establishing a motion model of the mover, predicting the motion result of the mover at each time, and optimizing the cost function, repeated parameter testing is unnecessary, resulting in higher efficiency and the ability to simultaneously meet multiple performance indicators, leading to superior control performance.

[0068] In some embodiments, when the number of movers is multiple, the cost function further includes the spacing between adjacent movers.

[0069] Understandably, when the cost function also includes the spacing between adjacent movers, the spacing between movers can be controlled through the cost function, and a safe distance between movers can be guaranteed to prevent collisions during movement.

[0070] In some embodiments, the cost function further includes a first weighting coefficient, a second weighting coefficient, and a third weighting coefficient; the first weighting coefficient represents the weight of the mover position deviation in the cost function, the second weighting coefficient represents the weight of the current consumption in the cost function, and the third weighting coefficient represents the weight of the spacing between adjacent movers in the cost function. Figure 2 As shown in the embodiments of this application, the motion control method for the mover further includes the following steps:

[0071] S201. The electronic device adds a first weighting coefficient to reduce the position deviation of the mover.

[0072] S202. Electronic devices are given a second weighting coefficient to reduce current consumption.

[0073] S203. Electronic devices add a third weighting coefficient to reduce the spacing between adjacent movers.

[0074] It is understood that the technical solution provided in this application embodiment can be adjusted according to actual needs by adjusting the first weight coefficient, the second weight coefficient and the third weight coefficient, so as to enhance a certain item or performance indicator.

[0075] The foregoing mainly describes the solutions provided by the embodiments of this application from a methodological perspective. To achieve the above functions, the motion control device or electronic device includes hardware structures and / or software modules corresponding to the execution of each function. Those skilled in the art should readily recognize that, based on the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein, this application can be implemented in hardware or a combination of hardware and computer software. Whether a function is executed in hardware or by computer software driving hardware depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0076] This application embodiment can, according to the above method, exemplarily divide a motion control device or electronic device into functional modules. For example, the motion control device or electronic device may include functional modules corresponding to each functional division, or two or more functions may be integrated into one processing module. The integrated module can be implemented in hardware or as a software functional module. It should be noted that the module division in this application embodiment is illustrative and only represents one logical functional division; in actual implementation, there may be other division methods.

[0077] For example, embodiments of this application also provide a motion control device for a moving part.

[0078] In some embodiments, Figure 3 This is a block diagram illustrating a mover motion control device 300 according to an exemplary embodiment. (Refer to...) Figure 3 The motion control device 300 includes a processing unit 301 and a determination unit 302.

[0079] Processing unit 301 is used to establish a motion model of the mover based on Newton's second law.

[0080] The determining unit 302 is used to determine the state space equation based on the motion model of the mover and preset state variables; the preset state variables include the position of the mover and the velocity of the mover.

[0081] The processing unit 301 is also used to discretize the state-space equations to obtain a discrete motion model of the mover.

[0082] The determining unit 302 is also used to determine the motion result of the mover at each prediction time according to the preset prediction step size and the motion model of the mover in the discrete space.

[0083] The determining unit 302 is also used to determine the cost function based on the motion result of the mover at each prediction time; the cost function is used to represent the mover position deviation and / or the current consumption.

[0084] The processing unit 301 is also used to perform optimization processing on the cost function to obtain the current output value, and control the motion of the mover according to the current output value.

[0085] Optional, such as Figure 3 As shown, when there are multiple movers, the cost function also includes the spacing between adjacent movers.

[0086] Optional, such as Figure 3 As shown, the cost function also includes a first weighting coefficient, a second weighting coefficient, and a third weighting coefficient; the first weighting coefficient is used to represent the weight of the mover position deviation in the cost function, the second weighting coefficient is used to represent the weight of the current consumption in the cost function, and the third weighting coefficient is used to represent the weight of the spacing between adjacent movers in the cost function. The processing unit 301 provided in this embodiment is further used for:

[0087] Increase the first weighting coefficient to reduce the mover position deviation.

[0088] Add a second weighting factor to reduce current consumption.

[0089] A third weighting coefficient is added to reduce the spacing between adjacent movers.

[0090] Optional, such as Figure 3 As shown, the motion model of the mover provided in this application embodiment is as follows: .

[0091] Where 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 force, b is the coefficient of friction, v is the speed of motion, and Fc=Mgu k Represents Coulomb friction, g is the acceleration due to gravity, and u k is the Coulomb friction coefficient.

[0092] Regarding the apparatus in the above embodiments, the specific manner in which each module performs its operation has been described in detail in the embodiments related to the method, and will not be elaborated upon here.

[0093] Figure 4 This is a block diagram illustrating an electronic device according to an exemplary embodiment. Figure 4 As shown, the electronic device 400 includes, but is not limited to, a processor 401 and a memory 402.

[0094] The memory 402 described above is used to store the executable instructions of the processor 401. It is understood that the processor 401 is configured to execute instructions to implement the motion control method of the mover in the above embodiment.

[0095] It should be noted that those skilled in the art will understand that Figure 4 The electronic device structure shown does not constitute a limitation on the electronic device; the electronic device may include, but is not limited to, other electronic devices. Figure 4 This may indicate more or fewer components, or combinations of certain components, or different component arrangements.

[0096] Processor 401 is the control center of the electronic device. It connects various parts of the electronic device via various interfaces and lines. By running or executing software programs and / or modules stored in memory 402, and by calling data stored in memory 402, it performs various functions and processes data, thereby providing overall monitoring of the electronic device. Processor 401 may include one or more processing units. Optionally, processor 401 may integrate an application processor and a modem processor. The application processor mainly handles the operating system, user interface, and applications, while the modem processor mainly handles wireless communication. It is understood that the modem processor may not be integrated into processor 401.

[0097] The memory 402 can be used to store software programs and various data. The memory 402 may primarily include a program storage area and a data storage area. The program storage area may store the operating system, application programs required by at least one functional module (such as a determination unit, processing unit, etc.), etc. Furthermore, the memory 402 may include high-speed random access memory, and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other volatile solid-state storage device.

[0098] In an exemplary embodiment, a computer-readable storage medium including instructions is also provided, such as a memory 402 including instructions, which can be executed by a processor 401 of an electronic device 400 to implement the motion control method of the mover in the above embodiments.

[0099] In actual implementation, Figure 3 The functions of the processing unit 301 and the determining unit 302 can both be provided by Figure 4 The processor 401 calls the computer program stored in the memory 402 to implement the process. The specific execution process can be found in the description of the motion control method section of the previous embodiment, and will not be repeated here.

[0100] Optionally, the computer-readable storage medium may be a non-transitory computer-readable storage medium, such as a read-only memory (ROM), random access memory (RAM), CD-ROM, magnetic tape, floppy disk, and optical data storage device.

[0101] In an exemplary embodiment, this application also provides a computer program product including one or more instructions, which can be executed by a processor 801 of an electronic device to complete the motion control method of the mover in the above embodiments.

[0102] It should be noted that when one or more instructions in the computer-readable storage medium or computer program product are executed by the processor of the electronic device, they implement the various processes of the above-described motion control method embodiments and achieve the same technical effects as the above-described motion control method. To avoid repetition, they will not be described again here.

[0103] Through the above description of the embodiments, those skilled in the art can clearly understand that, for the sake of convenience and brevity, only the division of the above functional modules is used as an example. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0104] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another apparatus, or some features may be ignored or not executed. Furthermore, the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0105] The units described as separate components may or may not be physically separate. A component shown as a unit can be one or more physical units; that is, it can be located in one place or distributed in multiple different locations. Some or all of the classified units can be selected to achieve the purpose of this embodiment, depending on actual needs.

[0106] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0107] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a readable storage medium. Based on this understanding, the technical solution of the embodiments of this application, essentially, or the part that contributes to the prior art, or a complete or partial classification of the 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 cause a device (which may be a microcontroller, chip, etc.) or processor to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, ROM, RAM, magnetic disks, or optical disks.

[0108] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any changes or substitutions within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A method for controlling the motion of a mover, characterized in that, The method includes: Based on Newton's second law, establish a motion model for the motion of the mover; Based on the motion model of the mover and the preset state variables, the state space equation is determined; the preset state variables include the position of the mover and the velocity of the mover. Discretize the state-space equations to obtain a discrete-space motion model of the mover. Based on the preset prediction step size and the motion model of the discrete space, the motion result of the motion at each prediction time is determined; Based on the motion result of the mover at each predicted time, 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 the current output value, and the motion of the mover is controlled according to the current output value. The motion model of the mover is as follows: ; 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 coefficient of friction, v is the speed of motion, and Fc=Mgu k Represents Coulomb friction, g is the acceleration due to gravity, and u k is the Coulomb friction coefficient.

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 further includes a first weighting coefficient, a second weighting coefficient, and a third weighting coefficient; the first weighting coefficient represents the weight of the mover position deviation in the cost function, the second weighting coefficient represents the weight of the current consumption in the cost function, and the third weighting coefficient represents the weight of the spacing between adjacent movers in the cost function. The method further includes: Increase the first weighting coefficient to reduce the position deviation of the mover; Increase the second weighting coefficient to reduce the current consumption; Increase the third weighting coefficient to reduce the spacing between adjacent movers.

4. A motion control device for a moving part, characterized in that, The device includes: a processing unit and a determination unit; The processing unit is used to establish a motion model of the mover based on Newton's second law; the motion model of the mover is as follows: ; 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 coefficient of friction, v is the speed of motion, and Fc=Mgu k Represents Coulomb friction, g is the acceleration due to gravity, and u k Coulomb friction coefficient; The determining unit is used to determine the state-space equation based on the motion model of the mover and preset state variables; the preset state variables include the position of the mover and the velocity of the mover. The processing unit is also used to discretize the state space equation to obtain a discrete space motion model of the mover. The determining unit is further configured to determine the motion result of the mover at each prediction time based on the preset prediction step size and the motion model of the discrete space. The determining unit is further configured to determine a cost function based on the motion result of the mover at each predicted time; the cost function is used to represent the mover position deviation and / or the current consumption. The processing unit is further configured to perform optimization processing on the cost function to obtain a current output value, and control the motion of the mover based on the current output value.

5. The apparatus according to claim 4, characterized in that, When there are multiple movers, the cost function also includes the spacing between adjacent movers.

6. The apparatus according to claim 5, characterized in that, The cost function further includes a first weighting coefficient, a second weighting coefficient, and a third weighting coefficient; the first weighting coefficient represents the weight of the mover position deviation in the cost function, the second weighting coefficient represents the weight of the current consumption in the cost function, and the third weighting coefficient represents the weight of the spacing between adjacent movers in the cost function. The processing unit is further configured to: Increase the first weighting coefficient to reduce the position deviation of the mover; Increase the second weighting coefficient to reduce the current consumption; Increase the third weighting coefficient to reduce the spacing between adjacent movers.

7. An electronic device, characterized in that, include: processor; Memory used to store the processor's executable instructions; The processor is configured to execute the instructions to implement the method as described in any one of claims 1 to 3.

8. A computer-readable storage medium, characterized in that, When the computer-executable instructions stored in the computer-readable storage medium are executed by the processor of the electronic device, the electronic device is capable of performing the method as described in any one of claims 1 to 3.

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