Online speed control method for electric steering engine

Abstract

The invention relates to an electric steering engine online speed control method, which comprises the following steps: acquiring an initial instruction and an instruction increment s based on the initial state of an electric steering engine; obtaining a first control instruction of the electric steering engine, and obtaining the interval time of the instruction based on the initial instruction and the first control instruction; obtaining a first terminal instruction and a speed V1 based on the first control instruction; according to the use requirement, a timer used for instruction incremental is preset, the timer is provided with a plurality of timing periods T, and the total time of the timing periods T is smaller than the interval time; obtaining a first instruction control output according to a preset closed-loop control algorithm; and controlling the output according to the first instruction to carry out online adjustment on the speed of the electric steering engine. According to the electric steering engine on-line speed control method, the working speed of the steering engine can be conveniently adjusted on line according to needs, the power consumption of the steering engine is reduced under the condition that the use requirement is met, and the service life of the steering engine is prolonged.

Description

Technical Field

[0001] The present invention relates to the technical field of electric actuator control, and more particularly, to an online speed control method for an electric actuator. Background Art

[0002] With the rapid development of electric servo technology, the types and application scenarios of electric actuator products have become increasingly rich, and they are widely used in fields such as aerospace, ships, automobiles, robots, and industrial automation. However, due to factors such as structural space, functional performance, and service life, many electric actuators are customized according to customer requirements. After the application scenario changes or the usage requirements decrease, the original technical solution is difficult to be compatible or the compatibility becomes poor, and it needs to be redesigned, which brings more costs and is not conducive to the standardization and typification of products.

[0003] During the working process of common electric actuators, they often operate at the designed maximum speed. However, a high speed inevitably brings greater power consumption and heat generation, affecting the working time and service life of the system. In addition, in most cases, the design of electric actuators generally reserves a certain design margin. Therefore, during actual use, most electric actuators operate in a state beyond the performance index requirements. This is suitable for short-time and high-maneuver application scenarios, but in long-time and low-maneuver application scenarios, too large a design margin is not conducive to the long-term operation of electric actuators. Without changing the design scheme, to enable a fast-type electric actuator to be compatible with low-speed application scenarios, without using the online speed configuration method of the electric actuator, it is often necessary to modify the design scheme, which requires a lot of labor costs, resource costs, and time costs. Summary of the Invention

[0004] To solve the problems in the design of existing electric actuators, such as poor product compatibility due to customized design, large remaining margins, resulting in greater power consumption waste, and affecting product life. Therefore, the present invention provides an online speed control method for an electric actuator.

[0005] The present invention relates to an online speed control method for an electric actuator. This method is implemented through the electric actuator software, and can achieve the compatibility of a high-speed electric actuator with low-speed application scenarios without changing the hardware, reduce the power consumption of the system, and extend the service life of the actuator.

[0006] In a first aspect, the present invention provides an online speed control method for an electric actuator, the method comprising:

[0007] Based on the initial state of the electric actuator, obtain an initial command and a command increment s;

[0008] Obtain the first control command of the electric steering gear, and obtain the interval time Δt of the command based on the initial command and the first control command;

[0009] Obtain the first command recognition information based on the first control command, and obtain the first end command and speed V1 based on the first command recognition information;

[0010] According to the usage requirements, preset a timer for command increment, and the timer is set with a number of timing periods T, and the total time of the number of timing periods T is less than the interval time Δt;

[0011] Obtain the first command control output according to the preset closed-loop control algorithm;

[0012] Online adjust the speed of the electric steering gear according to the first command control output.

[0013] In some embodiments, obtaining the first command control output according to the preset closed-loop control algorithm includes:

[0014] 1) Obtain the subdivision command Signal, and assign the initial value of the subdivision command Signal to the initial command;

[0015] 2) Within each timing period T, calculate the algebraic difference between the first end command and the current subdivision command Signal. If the algebraic difference is positive, the subdivision command Signal increases by one command increment s within the current timing period T until within one of the timing periods T, the algebraic difference between the first end command and the current subdivision command Signal is less than the command increment s, and obtain that the subdivision command Signal in the subsequent timing period T is equal to the first end command and remains unchanged, that is, obtain the first command control output.

[0016] In some embodiments, obtaining the first command control output according to the preset closed-loop control algorithm further includes:

[0017] 3) Within each timing period T, if the algebraic difference is negative, the subdivision command Signal decreases by one command increment s within the current timing period T until within one of the timing periods T, the algebraic difference between the first end command and the current subdivision command Signal is less than the command increment s, and obtain that the subdivision command Signal in the subsequent timing period T is equal to the first end command and remains unchanged, that is, obtain the first command control output.

[0018] In some embodiments, the method further includes:

[0019] Obtain the second control command of the electric steering gear;

[0020] Obtain second instruction recognition information based on the second control instruction, and obtain a second end instruction and a speed V2 based on the second instruction recognition information;

[0021] Based on the current obtained subdivision instruction Signal obtained by controlling the output based on the first instruction as the start instruction, and obtain the second instruction control output according to a preset closed-loop control algorithm;

[0022] Obtaining the second instruction control output according to the preset closed-loop control algorithm includes:

[0023] Within each timing period T, calculate the algebraic difference between the second end instruction and the current subdivision instruction Signal. If the algebraic difference is positive, the subdivision instruction Signal increases by an instruction increment s within the current timing period T until within one of the timing periods T, the algebraic difference between the second end instruction and the current subdivision instruction Signal is less than the instruction increment s, and obtain that the subdivision instruction Signal in the subsequent timing period T is equal to the second end instruction and remains unchanged, that is, obtain the second instruction control output;

[0024] Online adjust the speed of the electric steering gear according to the second instruction control output.

[0025] In some embodiments, obtaining the second instruction control output according to the preset closed-loop control algorithm further includes:

[0026] Within each timing period T, if the algebraic difference is negative, the subdivision instruction Signal decreases by an instruction increment s within the current timing period T until within one of the timing periods T, the algebraic difference between the second end instruction and the current subdivision instruction Signal is less than the instruction increment s, and obtain that the subdivision instruction Signal in the subsequent timing period T is equal to the second end instruction and remains unchanged, that is, obtain the second instruction control output.

[0027] To solve the problems that in the design process of existing electric steering gears, due to customized design, the product compatibility is poor, there is also a large margin, resulting in greater power consumption waste and affecting the product life, etc., the present invention has the following advantages:

[0028] Through the technical solution of the present invention, it is very convenient to online adjust the working speed of the electric steering gear, reduce the power consumption of the steering gear and extend the service life of the steering gear while meeting the use requirements; at the same time, it can also be dynamically adjusted after the application scenario changes, making the high-speed steering gear compatible with low-speed application occasions, reducing costs, improving the versatility of the product, and promoting the improvement of the product standardization and type spectrum level. Brief Description of the Drawings

[0029] Figure 1Shows a schematic structural diagram of an online speed control method for an electric steering gear;

[0030] Figure 2 Shows a schematic diagram of the command information of the electric steering gear;

[0031] Figure 3 Shows a schematic diagram of the command and closed-loop command of the electric steering gear. Detailed implementation manners

[0032] The present disclosure will now be described with reference to several exemplary embodiments. It should be understood that these embodiments are described only to enable those of ordinary skill in the art to better understand and thus implement the present disclosure, rather than implying any limitation to the scope of the present disclosure.

[0033] As used herein, the term "comprising" and its variants are to be construed as open-ended terms meaning "including but not limited to". The term "based on" is to be construed as "at least partially based on". The terms "one embodiment" and "an embodiment" are to be construed as "at least one embodiment". The term "another embodiment" is to be construed as "at least one other embodiment". The terms "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outer", "vertical", "horizontal", "lateral", "longitudinal", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. These terms are mainly used to better describe the present application and its embodiments, and are not used to limit that the indicated device, element or component must have a specific orientation, or be constructed and operated in a specific orientation. And, in addition to being able to represent the orientation or positional relationship, some of the above terms may also be used to represent other meanings. For example, the term "upper" may also be used to represent a certain attachment relationship or connection relationship in some cases. For those of ordinary skill in the art, the specific meanings of these terms in the present application can be understood according to specific circumstances. In addition, the terms "installed", "arranged", "provided with", "connected", "coupled" should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral structure; it may be a mechanical connection, or an electrical connection; it may be directly connected, or indirectly connected through an intermediate medium, or there may be internal communication between two devices, elements or components. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances. In addition, the terms "first", "second", etc. are mainly used to distinguish different devices, elements or components (the specific types and structures may be the same or different), and are not used to indicate or imply the relative importance and quantity of the indicated device, element or component. Unless otherwise specified, the meaning of "a plurality" is two or more.

[0034] This embodiment discloses an online speed control method for an electric steering gear, asFigure 1 As shown, the method includes:

[0035] Based on the initial state of the electric steering gear, obtain the initial instruction and the instruction increment s;

[0036] Obtain the first control instruction of the electric steering gear, and based on the initial instruction and the first control instruction, obtain the interval time Δt of the instruction;

[0037] Based on the first control instruction, obtain the first instruction recognition information, and based on the first instruction recognition information, obtain the first end instruction and the speed V1;

[0038] According to the usage requirements, preset a timer for instruction increment, and the timer is set with a number of timing periods T, and the total time of the number of timing periods T is less than the interval time Δt;

[0039] Obtain the first instruction control output according to the preset closed-loop control algorithm;

[0040] Online adjust the speed of the electric steering gear according to the first instruction control output.

[0041] Further, obtaining the first instruction control output according to the preset closed-loop control algorithm includes:

[0042] 1) Obtain the subdivision instruction Signal, and assign the initial value of the subdivision instruction Signal as the initial instruction;

[0043] 2) Within each timing period T, calculate the algebraic difference between the first end instruction and the current subdivision instruction Signal. If the algebraic difference is positive, the subdivision instruction Signal increases by an instruction increment s within the current timing period T until within one of the timing periods T, the algebraic difference between the first end instruction and the current subdivision instruction Signal is less than the instruction increment s, and obtain that the subdivision instruction Signal in the subsequent timing period T is equal to the first end instruction and remains unchanged, that is, obtain the first instruction control output.

[0044] Further, obtaining the first instruction control output according to the preset closed-loop control algorithm further includes:

[0045] 3) Within each timing period T, if the algebraic difference is negative, the subdivision instruction Signal decreases by an instruction increment s within the current timing period T until within one of the timing periods T, the algebraic difference between the first end instruction and the current subdivision instruction Signal is less than the instruction increment s, and obtain that the subdivision instruction Signal in the subsequent timing period T is equal to the first end instruction and remains unchanged, that is, obtain the first instruction control output.

[0046] Further, the method further includes:

[0047] Obtaining a second control instruction for the electric steering gear;

[0048] Based on the second control instruction, obtaining second instruction recognition information, and based on the second instruction recognition information, obtaining a second end instruction and a speed V2;

[0049] Based on the current obtained subdivision instruction Signal controlled by the first instruction as the start instruction, and obtaining a second instruction control output according to a preset closed-loop control algorithm;

[0050] Obtaining a second instruction control output according to the preset closed-loop control algorithm includes:

[0051] Within each timing period T, calculating the algebraic difference between the second end instruction and the current subdivision instruction Signal. If the algebraic difference is positive, the subdivision instruction Signal increases by an instruction increment s within the current timing period T until within one of the timing periods T, the algebraic difference between the second end instruction and the current subdivision instruction Signal is less than the instruction increment s, and obtaining that the subdivision instruction Signal in the subsequent timing period T is equal to the second end instruction and remains unchanged, that is, obtaining the second instruction control output;

[0052] Online adjusting the speed of the electric steering gear according to the second instruction control output.

[0053] Further, obtaining a second instruction control output according to the preset closed-loop control algorithm further includes:

[0054] Within each timing period T, if the algebraic difference is negative, the subdivision instruction Signal decreases by an instruction increment s within the current timing period T until within one of the timing periods T, the algebraic difference between the second end instruction and the current subdivision instruction Signal is less than the instruction increment s, and obtaining that the subdivision instruction Signal in the subsequent timing period T is equal to the second end instruction and remains unchanged, that is, obtaining the second instruction control output.

[0055] In this embodiment, through the above settings, it is very convenient to online adjust the working speed of the steering gear as needed, reduce the power consumption of the steering gear and extend the service life of the steering gear while meeting the usage requirements. It can also be dynamically adjusted after the application scenario changes, making the high-speed steering gear compatible with low-speed application occasions, reducing costs, improving the versatility of the product, and promoting the improvement of the product standardization and type spectrum level.

[0056] In this solution, the follow-up characteristics and usage requirements of the electric servo determine that regardless of the algorithm used, the command is the only reference for output under normal working conditions. If factors such as the inertia and non-linearity of the electric servo are ignored, theoretically, when the speed of the electric servo is fast enough, the output of the electric servo should be exactly the same as the command. Therefore, if the change law of the command can be controlled, the optimal solution of the electric servo output can be controlled. However, the command of the electric servo is obtained passively through communication with an external host computer, and it is a series of discrete points with different amplitudes on the time axis, such as Figure 2 shown, the period and amplitude of the command may be fixed values or random values, and cannot be directly controlled. Therefore, only a new method can be sought to indirectly control the control command of the electric servo, and then control the output of the electric servo.

[0057] Among them, the command information of the electric servo is generally obtained through external communication. From the time dimension of communication, the amplitude |A| and the interval time Δt of the command between two adjacent communications are determined, which is equivalent to the starting point A and the ending point B being fixed. As long as it reaches the ending point B from the starting point A within the interval time Δt, no matter what the path is between AB, the final control result is the same, that is, the electric servo output reaches point B and enters a stable state, as Figure 3 shown.

[0058] Figure 3 Selecting any one of the trajectories ACB, ADB, AEB, and AFB in will result in the same final control result after reaching stability. However, from the time dimension of the algorithm operation, the execution time of a closed-loop control algorithm is often in the microsecond level (us), and the time for one communication to complete is in the millisecond level (ms). From the time dimension, the two differ by an order of magnitude. Between two adjacent communications, the closed-loop control algorithm is executed several times to dozens of times or even hundreds of times, and the microscopic processes of selecting ACB, ADB, AEB, and AFB are very different. Therefore, the control process selected by the equal-distance subdivision method is Figure 3 shown as ADB in. A timer Timer for command increment, a subdivision command Signal for closed-loop calculation, and a command increment s are preset. Among them, the total time of the timing period of Timer should be less than the execution time of the closed-loop calculation, and the command increment s > 0). The main processing process is as follows:

[0059] Based on the initial state of the electric servo, obtain the initial command and the command increment s; among them, the initial command of the electric servo is the initial position of the electric servo.

[0060] Obtain the first control command of the electric servo, and obtain the interval time Δt of the command based on the initial command and the first control command; in this application, the interval time Δt is the preset time interval between two adjacent communication signals received by the electric servo, and this time interval can be a fixed value or a variable value, and this application is not limited thereto.

[0061] Obtain first instruction recognition information based on the first control instruction, and obtain a first end instruction and a speed V1 based on the first instruction recognition information; in this application, the first end instruction is communication, that is, end point B of the first control instruction, where the electric steering gear needs to adjust the speed online to speed V1 this time.

[0062] According to usage requirements, a timer for instruction increment is preset in advance, and the timer is set with a number of timing cycles T. As Figure 3 shown, this embodiment preferably has 9 timing cycles T, and the required time for each timing cycle is t2, that is, the total time 9·t2 of all timing cycles T is less than the interval time Δt;

[0063] Obtain a first instruction control output according to a preset closed-loop control algorithm;

[0064] Online adjust the speed of the electric steering gear according to the first instruction control output.

[0065] In this embodiment, when the electric steering gear recognizes the first control instruction, the FLASH of the software operation carrier DSP or single-chip microcomputer starts to enter the running state, and then obtains the first instruction recognition information. Based on the first instruction recognition information, the first end instruction and speed V1 are parsed, and the above parameters are brought into the preset closed-loop control algorithm for processing. Among them, this step is:

[0066] 1) Obtain a subdivision instruction Signal, and use the initial value of the subdivision instruction Signal to assign an initial instruction, that is, the starting point A of the amplitude |A| of the instruction between two adjacent communications.

[0067] 2) During the first timing period T set by the timer, calculate the algebraic difference between the first end command and the current subdivision command Signal. Here, the current subdivision command Signal is the initial command. That is, the algebraic difference within the first timing period T is positive, which is the amplitude |A|. Therefore, within the first timing period T, the subdivision command Signal needs to increase by an instruction increment s, so that the current subdivision command Signal within the second timing period T is the initial command + instruction increment s. If the algebraic difference within the second timing period T is also positive, then within the second timing period T, the subdivision command Signal also needs to increase by an instruction increment s, that is, the current subdivision command Signal within the third timing period T is the initial command + instruction increment s + instruction increment s, and so on. Until within one of the timing periods T, the algebraic difference between the first end command and the current subdivision command Signal is less than the instruction increment s, the subdivision command Signal within the subsequent timing periods T is obtained to be equal to the first end command and remains unchanged. At this time, the speed of the subdivision command Signal is fixed at v1 = s / T, that is, the first command control output is obtained. Take the subdivision command Signal at this time as the actual closed-loop command of the electric steering gear. According to the follow-up characteristics of the electric steering gear, the speed of the closed-loop command Signal is fixed at v1 = s / T, so the stable operating speed of the electric steering gear is also v1 = s / I.

[0068] Further, if the algebraic difference within the third timing period T is negative, then within the third timing period T, the subdivision command Signal needs to decrease by an instruction increment s, that is, the current subdivision command Signal within the fourth timing period T is the initial command + instruction increment s + instruction increment s - instruction increment s, and so on. Until within one of the timing periods T, the algebraic difference between the first end command and the current subdivision command Signal is less than the instruction increment s, the subdivision command Signal within the subsequent timing periods T is obtained to be equal to the first end command and remains unchanged. In this application, the required time for a single timing period T is preferably less than or equal to Δt / 10.

[0069] Among them, the electric steering gear uses the first end command as the upper boundary in the first control command. Within each timing period T, the subdivision command Signal is obtained by adding s to the initial command c until the subdivision command Signal is equal to the first end command. Then the speed of the subdivision command Signal is fixed at v1 = s / T. Take the subdivision command Signal at this time as the actual closed-loop command of the electric steering gear. According to the preset closed-loop control algorithm, the command control output is obtained. According to the follow-up characteristics of the electric steering gear, the speed of the closed-loop command subdivision command Signal is fixed at v1 = s / T, so the stable operating speed of the electric steering gear is also v1 = s / I.

[0070] After being processed by a preset closed-loop control algorithm, a first command control output is obtained to realize online adjustment of the running speed of the electric steering gear according to the first command control output. For the electric steering gear, the process from the determined starting point A to the determined ending point B and finally reaching a stable state is a process from a steady state to a dynamic state and then back to a steady state. The steady state is mainly related to the accuracy index of the electric steering gear, while the dynamic state is related to indicators such as the speed, rise time, overshoot, and impact current of the electric steering gear. Therefore, the equal-distance subdivision method can control the dynamic adjustment process on the premise of ensuring the unchanged steady-state characteristics (static indicators) of the electric steering gear, so as to achieve characteristics such as the speed, bandwidth, and impact current of the control system.

[0071] Secondly, the online speed control method disclosed in this embodiment can also obtain a second control command for the electric steering gear. That is, when the application scenario of the electric steering gear changes and the high-speed rotating electric steering gear needs to be compatible with low-speed operating application scenarios, the second control command can be transmitted by the upper computer.

[0072] Based on the second control command, second command recognition information is obtained, and based on the second command recognition information, a second end command and a speed V2 are obtained; in this application, that is, the end point B of the amplitude |A| of the command between two adjacent communications in a new communication after receiving the command M next time. At this time, the command interval time between the first control command and the second control command is also Δt.

[0073] Based on the current subdivision command Signal obtained from the first command control output as the starting point command, and a second command control output is obtained according to the preset closed-loop control algorithm; in this application, since the running speed of the electric steering gear has been adjusted online for the first time through the first command control output at present, that is, the online speed of the electric steering gear at this time is v1 = s / T. Therefore, the current subdivision command Signal obtained from the first command control output is used as the starting point command at this time, that is, the starting point A of the amplitude |A| of the command between two adjacent communications in a new communication after receiving the command M. Among them, the starting point command, the second end command, and the command increment s are brought into the preset closed-loop control algorithm for processing. In this application, the value of the command increment s at this time has been adjusted, that is, the value of the command increment s during the first command control is not equal to the value of the command increment s during the second command control.

[0074] Specifically, this step is as follows: within each timing period T set by the timer, the algebraic difference between the second end instruction and the current subdivision instruction Signal. If the algebraic difference is positive, the subdivision instruction Signal increases by an instruction increment s within the current timing period T. Or if the algebraic difference is negative, the subdivision instruction Signal decreases by an instruction increment s within the current timing period T, until within one of the timing periods T, the algebraic difference between the second end instruction and the current subdivision instruction Signal is less than the instruction increment s, at which point the subdivision instruction Signal in the subsequent timing period T is equal to the second end instruction and remains unchanged, that is, the second instruction control output is obtained.

[0075] After processing through a preset closed-loop control algorithm, a second instruction control output is obtained to achieve a second online adjustment of the operating speed of the electric steering gear according to the second instruction control output. At this time, the online speed of the electric steering gear is v2 = s / T. In actual use, the large system where the electric steering gear is located can obtain the required dynamic indicators of the electric steering gear according to actual usage requirements, then determine the speed of the electric steering gear, and further achieve the compatibility of the high-speed system with the low-speed system by adjusting the speed of the electric steering gear.

[0076] From the above analysis, it can be seen that by changing the value of the instruction increment s for closed-loop control calculation in the timer, the speed of the steering gear can be changed without changing the static indicators of the steering gear. Therefore, by writing the instruction increment s as a configurable parameter into the FLASH of the software operation carrier DSP or single-chip microcomputer, the speed adjustment of the steering gear can be easily achieved by updating the instruction increment s each time power is applied or after a change, which can improve the versatility of the steering gear.

[0077] In this embodiment, through the technical solution of the present invention, without changing the hardware, the speed of the electric steering gear can be easily adjusted according to the needs of system use, reducing system power consumption, avoiding unnecessary losses, and extending the service life of the electric steering gear;

[0078] In this embodiment, through the technical solution of the present invention, the compatibility of the electric steering gear can also be improved through software design. On the premise that the steering gear has a margin, it can easily achieve the compatibility of high-speed electric steering gears with low-speed application scenarios, improve the versatility level of the electric steering gear, reduce design costs, and has high practical value for the standardized and spectrum-based design of electric steering gears.

[0079] In summary, through the above settings, the online speed control method of the electric steering gear disclosed in this application is simple to implement, does not require changing the hardware, and on the premise that the system has a margin, it can achieve the compatibility of the high-speed system with the low-speed system according to actual usage requirements through online speed configuration, reduce system power consumption, and extend the service life of the system. This method has a novel idea, reasonable design, and high practical value.

[0080] For those skilled in the art, it is obvious that the present invention is not limited to the details of the above-described exemplary embodiments, and the present invention can be implemented in other specific forms without departing from the spirit or basic characteristics of the present invention. Therefore, in any aspect, the embodiments should be regarded as exemplary and non-limiting. The scope of the present invention is defined by the appended claims rather than the above description. Therefore, all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be embraced within the present invention.

[0081] In addition, it should be understood that although this specification is described according to embodiments, not every embodiment only contains an independent technical solution. This narrative way of the specification is only for clarity. Those skilled in the art should regard the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A method for controlling the online speed of an electric servo, characterized in that: include: Based on the initial state of the electric servo, the initial command and the command increment s are obtained; Acquire a first control instruction of the electric servo, based on an interval time Δt between the initial instruction and the first control instruction; Obtain first instruction identification information based on the first control instruction, and obtain a first endpoint instruction and a speed V1 based on the first instruction identification information; According to the use requirements, a timer for instruction increment is pre-set, and the timer is set with a plurality of timing cycles T, and the total time of the plurality of timing cycles T is less than the interval time Δt; Obtaining a first instruction control output according to a preset closed-loop control algorithm; The speed of the electric servo is adjusted online according to the first instruction control output.

2. The electric steering gear online speed control method according to claim 1, characterized in that: Obtaining a first instruction control output according to the preset closed-loop control algorithm includes: 1) Obtaining a subdivision instruction Signal, wherein the initial value of the subdivision instruction Signal is assigned as an initial instruction; 2) In each timing cycle T, the algebraic difference between the first endpoint instruction and the current subdivision instruction Signal is calculated. If the algebraic difference is a positive value, the subdivision instruction Signal increases an instruction increment s in the current timing cycle T until the algebraic difference between the first endpoint instruction and the current subdivision instruction Signal in one of the timing cycles T is less than the instruction increment s, and the subdivision instruction Signal in the subsequent timing cycle T is equal to the first endpoint instruction and remains unchanged, that is, the first instruction control output is obtained.

3. The electric steering gear online speed control method according to claim 2, characterized in that: Obtaining a first instruction control output according to the preset closed-loop control algorithm also includes: 3) In each timing cycle T, if the algebraic difference is a negative value, the subdivision instruction Signal is reduced by an instruction increment s in the current timing cycle T until, in one of the timing cycles T, the algebraic difference between the first endpoint instruction and the current subdivision instruction Signal is less than the instruction increment s, and the subdivision instruction Signal in the subsequent timing cycle T is equal to the first endpoint instruction and remains unchanged, that is, the first instruction control output is obtained.

4. The electric steering gear online speed control method according to claim 2 or 3, characterized in that: Also includes: Obtain the second control instruction of the electric servo; Obtain second instruction identification information based on the second control instruction, and obtain a second endpoint instruction and a speed V2 based on the second instruction identification information; The current subdivision instruction Signal obtained based on the first instruction control output is used as a starting instruction, and a second instruction control output is obtained according to a preset closed-loop control algorithm; Obtaining a second instruction control output according to the preset closed-loop control algorithm includes: In each timing cycle T, the algebraic difference between the second endpoint instruction and the current subdivision instruction Signal is calculated. If the algebraic difference is a positive value, the subdivision instruction Signal is increased by an instruction increment s in the current timing cycle T, until in one of the timing cycles T, the algebraic difference between the second endpoint instruction and the current subdivision instruction Signal is less than the instruction increment s, and the subdivision instruction Signal in the subsequent timing cycle T is obtained to be equal to the second endpoint instruction and remains unchanged, that is, the second instruction control output is obtained; The speed of the electric servo is adjusted online according to the second instruction control output.

5. The electric steering gear online speed control method according to claim 4, characterized in that: Obtaining a second instruction control output according to the preset closed-loop control algorithm also includes: In each timing cycle T, if the algebraic difference is a negative value, the subdivision instruction Signal is reduced by an instruction increment s in the current timing cycle T until, in one of the timing cycles T, the algebraic difference between the second endpoint instruction and the current subdivision instruction Signal is less than the instruction increment s, and the subdivision instruction Signal in the subsequent timing cycle T is equal to the second endpoint instruction and remains unchanged, that is, the second instruction control output is obtained.

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