Joint motor control method and device, robot and storage medium

Abstract

The invention relates to a joint motor control method and device, a robot and a storage medium. The method comprises the steps that an expected stator flux linkage amplitude is determined according to an expected joint torque; determining a quadrature-axis control voltage and a direct-axis control voltage according to the expected joint torque, the expected stator flux linkage amplitude, and a direct-axis actual flux linkage amplitude, a quadrature-axis actual flux linkage amplitude, an actual joint torque and an electrical angular velocity fed back by the joint motor; and controlling the joint motor to move according to the quadrature axis control voltage and the direct axis control voltage.

Description

Technical Field

[0001] The present disclosure relates to the field of robot technology, and particularly to a method and device for controlling a joint motor, a robot, and a storage medium. Background Art

[0002] In recent years, the technology of robot technology has been continuously developing, becoming more and more intelligent and automated, and the richness, stability, and flexibility of actions have all been improved to varying degrees. A bionic robot has multiple joints, and each joint is equipped with a joint motor. The joint motor can drive the parts on both sides of the joint to perform relative movement. It is precisely by the movement of these joint motors that the robot can complete various actions. However, in related technologies, the dynamic response ability of the joint motors of the robot during control is poor, resulting in low control accuracy and causing the robot to be unable to complete relatively complex actions. Summary of the Invention

[0003] To overcome the problems existing in related technologies, embodiments of the present disclosure provide a method and device for controlling a joint motor, a robot, and a storage medium to solve the defects in related technologies.

[0004] According to a first aspect of an embodiment of the present disclosure, a method for controlling a joint motor is provided. The method includes:

[0005] Determine an expected stator flux linkage amplitude according to an expected joint torque;

[0006] Determine a quadrature-axis control voltage and a direct-axis control voltage according to the expected joint torque, the expected stator flux linkage amplitude, the direct-axis actual flux linkage amplitude, the quadrature-axis actual flux linkage amplitude, the actual joint torque, and the electrical angular velocity fed back by the joint motor;

[0007] Control the joint motor to move according to the quadrature-axis control voltage and the direct-axis control voltage.

[0008] In a possible embodiment of the present disclosure, the determining an expected stator flux linkage amplitude according to an expected joint torque includes:

[0009] Determine an expected stator flux linkage amplitude according to the expected joint torque, the permanent magnet flux linkage amplitude of the joint motor, the stator inductance, and the number of pole pairs.

[0010] In a possible embodiment of the present disclosure, the determining a quadrature-axis control voltage and a direct-axis control voltage according to the expected joint torque, the expected stator flux linkage amplitude, the direct-axis actual flux linkage amplitude, the quadrature-axis actual flux linkage amplitude, the actual joint torque, and the electrical angular velocity includes:

[0011] Input the expected joint torque, the expected stator flux amplitude, the direct-axis actual flux amplitude, the quadrature-axis actual flux amplitude, the actual joint torque, and the electrical angular velocity feedback from the joint motor into the flux controller to obtain the quadrature-axis control voltage and the direct-axis control voltage output by the flux controller;

[0012] Among them, the flux controller includes: a controller constructed based on the relative relationship between at least two of the direct-axis flux, the quadrature-axis flux, the joint torque, the quadrature-axis current, the direct-axis current, the quadrature-axis voltage, the direct-axis voltage, and the electrical angular velocity.

[0013] In a possible embodiment of the present disclosure, the method further includes:

[0014] Construct the flux controller according to at least one of the following relative relationships:

[0015] The relative relationship between the quadrature-axis flux and the quadrature-axis current;

[0016] The relative relationship between the direct-axis flux and the direct-axis current;

[0017] The relative relationship between the joint torque and the quadrature-axis current;

[0018] The relative relationship between the quadrature-axis voltage and the quadrature-axis current, the differential of the quadrature-axis current, and the electrical angular velocity;

[0019] The relative relationship between the direct-axis voltage and the direct-axis current, the differential of the direct-axis current, and the electrical angular velocity.

[0020] In a possible embodiment of the present disclosure, the method further includes:

[0021] Determine the quadrature-axis actual flux amplitude according to the quadrature-axis actual current feedback from the joint motor; and / or,

[0022] Determine the direct-axis actual flux amplitude according to the direct-axis actual current feedback from the joint motor.

[0023] In a possible embodiment of the present disclosure, the method further includes:

[0024] Input the expected joint state in the motion control instruction and the actual joint state feedback from the joint motor into the impedance controller to obtain the expected joint torque output by the impedance controller.

[0025] In a possible embodiment of the present disclosure, the expected joint state includes the expected joint position and the expected joint velocity; and / or,

[0026] The actual joint state includes the actual joint position and the actual joint velocity.

[0027] In a possible embodiment of the present disclosure, the method further includes:

[0028] Obtaining the actual joint state, the actual joint torque, the direct-axis actual current, the quadrature-axis actual current, and the electrical angular velocity feedback by the joint motor.

[0029] According to a second aspect of the embodiments of the present disclosure, there is provided a joint motor control device, the device includes:

[0030] A flux linkage module, configured to determine the amplitude of the desired stator flux linkage according to the desired joint torque;

[0031] A voltage module, configured to determine the quadrature-axis control voltage and the direct-axis control voltage based on the desired joint torque, the amplitude of the desired stator flux linkage, and the direct-axis actual flux linkage amplitude, the quadrature-axis actual flux linkage amplitude, and the actual joint torque feedback by the joint motor;

[0032] A control module, configured to control the movement of the joint motor according to the quadrature-axis control voltage and the direct-axis control voltage.

[0033] In a possible embodiment of the present disclosure, the flux linkage module is configured to:

[0034] Determine the amplitude of the desired stator flux linkage according to the desired joint torque, the permanent magnet flux linkage amplitude of the joint motor, the stator inductance, and the number of pole pairs.

[0035] In a possible embodiment of the present disclosure, the voltage module is configured to:

[0036] Input the desired joint torque, the amplitude of the desired stator flux linkage, and the direct-axis actual flux linkage amplitude, the quadrature-axis actual flux linkage amplitude, the actual joint torque, and the electrical angular velocity feedback by the joint motor into a flux linkage controller, and obtain the quadrature-axis control voltage and the direct-axis control voltage output by the flux linkage controller;

[0037] Wherein, the flux linkage controller includes: a controller constructed based on the relative relationship between at least two of the direct-axis flux linkage, the quadrature-axis flux linkage, the joint torque, the quadrature-axis current, the direct-axis current, the quadrature-axis voltage, the direct-axis voltage, and the electrical angular velocity.

[0038] In a possible embodiment of the present disclosure, the device further includes a construction module, and the construction module is configured to:

[0039] Construct the flux linkage controller according to at least one of the following relative relationships:

[0040] The relative relationship between the quadrature-axis flux linkage and the quadrature-axis current;

[0041] The relative relationship between the direct-axis flux linkage and the direct-axis current;

[0042] The relative relationship between the joint torque and the quadrature-axis current;

[0043] The relative relationship between the quadrature-axis voltage, the differential of the quadrature-axis current, and the electrical angular velocity;

[0044] The relative relationship between the direct-axis voltage, the differential of the direct-axis current, and the electrical angular velocity.

[0045] In a possible embodiment of the present disclosure, the device further includes a current module, configured to:

[0046] Determine the amplitude of the actual quadrature-axis magnetic flux according to the actual quadrature-axis current fed back by the joint motor; and / or,

[0047] Determine the amplitude of the actual direct-axis magnetic flux according to the actual direct-axis current fed back by the joint motor.

[0048] In a possible embodiment of the present disclosure, the device further includes a torque module, configured to:

[0049] Input the desired joint state in the motion control instruction and the actual joint state fed back by the joint motor into an impedance controller to obtain the desired joint torque output by the impedance controller.

[0050] In a possible embodiment of the present disclosure, the desired joint state includes a desired joint position and a desired joint velocity; and / or,

[0051] The actual joint state includes an actual joint position and an actual joint velocity.

[0052] In a possible embodiment of the present disclosure, the device further includes an acquisition module, and the acquisition module is configured to:

[0053] Acquire the actual joint state, the actual joint torque, the actual direct-axis current, the actual quadrature-axis current, and the electrical angular velocity fed back by the joint motor.

[0054] According to a third aspect of the embodiments of the present disclosure, a robot is provided. The robot includes a memory and a processor. The memory is used to store computer instructions that can be run on the processor, and the processor is configured to implement the joint motor control method described in the first aspect when executing the computer instructions.

[0055] According to a fourth aspect of the embodiments of the present disclosure, a computer-readable storage medium is provided, on which a computer program is stored. When the program is executed by a processor, the method described in the first aspect is implemented.

[0056] The technical solutions provided by the embodiments of the present disclosure may include the following beneficial effects:

[0057] The joint motor control method provided by the embodiments of the present disclosure first determines the expected stator flux linkage amplitude according to the expected joint torque; then determines the quadrature-axis control voltage and the direct-axis control voltage according to the expected joint torque, the expected stator flux linkage amplitude, and the actual direct-axis flux linkage amplitude, the actual quadrature-axis flux linkage amplitude, and the actual joint torque feedback by the joint motor; and finally controls the joint motor to move according to the quadrature-axis control voltage and the direct-axis control voltage. This method converts the expected joint torque into the expected stator flux linkage amplitude, and determines the control voltages of the quadrature axis and the direct axis based on the expected stator flux linkage amplitude and the feedback actual flux linkage amplitude. Compared with directly controlling the robot based on the expected joint torque, it can improve the dynamic response ability of the robot, and improve the control accuracy and motion complexity of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] The drawings herein are incorporated into and constitute a part of this specification, showing embodiments consistent with the present invention and, together with the specification, are used to explain the principles of the present invention.

[0059] Figure 1 is a flowchart of the joint motor control method shown in an exemplary embodiment of the present disclosure;

[0060] Figure 2 is a flowchart of the joint motor control method shown in an exemplary embodiment of the present disclosure;

[0061] Figure 3 is a schematic structural diagram of the joint motor control device shown in an exemplary embodiment of the present disclosure;

[0062] Figure 4 is a structural block diagram of the robot shown in an exemplary embodiment of the present disclosure. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0063] Here, the exemplary embodiments will be described in detail, and the examples are shown in the drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present disclosure. On the contrary, they are merely examples of devices and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0064] The terms used in the present disclosure are only for the purpose of describing specific embodiments and are not intended to limit the present disclosure. The singular forms "a", "the", and "said" used in the present disclosure and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term "and / or" as used herein refers to and includes any and all possible combinations of one or more of the associated listed items.

[0065] It should be understood that although the terms first, second, third, etc. may be used in this disclosure to describe various information, such information should not be limited to these terms. These terms are only used to distinguish information of the same type from each other. For example, without departing from the scope of this disclosure, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the word "if" as used herein may be interpreted as "when" or "while" or "in response to determining".

[0066] In recent years, the technology of robotics has been continuously developing, becoming more and more intelligent and automated, and the richness, stability, and flexibility of movements have all been improved to varying degrees. The bionic robot has multiple joints, and each joint is equipped with a joint motor. The joint motor can drive the parts on both sides of the joint to perform relative movements. It is precisely by the movements of these joint motors that the robot can complete various actions. However, in the related technology, the dynamic response ability of the joint motors of the robot is poor during control, resulting in low control accuracy and causing the robot to be unable to complete relatively complex actions.

[0067] Based on this, in a first aspect, at least one embodiment of this disclosure provides a method for controlling a joint motor. Please refer to the attached Figure 1 , which shows the flow of this method, including steps S101 to step S103.

[0068] Among them, this method can be applied to a robot, such as a legged robot like a bipedal robot or a quadruped robot; the robot has multiple joints, and each joint is provided with a joint motor. This method can be applied to each joint motor of the robot, that is, this method is used to drive the joint motor to move to complete the desired joint state obtained by the upper-level motion control according to the desired action.

[0069] In step S101, the magnitude of the desired stator magnetic flux linkage is determined according to the desired joint torque.

[0070] Among them, the desired joint torque can be determined in advance in the following manner: input the desired joint state in the motion control instruction and the actual joint state feedback by the joint motor into an impedance controller to obtain the desired joint torque output by the impedance controller.

[0071] The desired joint state can be the desired state of the joints controlled by this method determined by the upper-level motion control according to the desired motion of the robot. When the joint motor is in motion, it can feedback the joint state at a certain frequency, and this state is the actual joint state. Therefore, before performing this step, the actual joint state feedback by the joint motor can be obtained. Exemplarily, the desired joint state includes the desired joint position and the desired joint velocity, and the actual joint state includes the actual joint position and the actual joint velocity. The position error can be determined according to the desired joint position and the actual joint position, and the velocity error can be determined according to the desired joint velocity and the actual joint velocity. Then, the position error and the velocity error are input into the impedance controller; the impedance controller can determine the desired joint torque based on the position error and the velocity error, combined with its internal parameters and feedforward torque, etc.

[0072] Exemplarily, in this step, the desired stator flux linkage amplitude can be determined according to the desired joint torque, the permanent magnet flux linkage amplitude of the joint motor, the stator inductance, and the number of pole pairs. For example, the desired stator flux linkage amplitude is determined according to the following formula (1):

[0073]

[0074] In the above formula, is the desired stator flux linkage amplitude, is the desired joint torque, ψ f is the permanent magnet flux linkage amplitude, L is the stator inductance, n p is the number of pole pairs.

[0075] In step S102, the quadrature-axis control voltage and the direct-axis control voltage are determined according to the desired joint torque, the desired stator flux linkage amplitude, the direct-axis actual flux linkage amplitude, the quadrature-axis actual flux linkage amplitude, and the actual joint torque feedback by the joint motor.

[0076] Optionally, before performing this step, the actual joint torque, the direct-axis actual current, and the quadrature-axis actual current feedback by the joint motor can be obtained, and the quadrature-axis actual flux linkage amplitude is determined according to the quadrature-axis actual current feedback by the joint motor, and the direct-axis actual flux linkage amplitude is determined according to the direct-axis actual current feedback by the joint motor. For example, the quadrature-axis actual flux linkage amplitude and the direct-axis actual flux linkage amplitude are determined according to the following formula (2) and formula (3):

[0077] ψ q = L·i q

[0078] ψ d = L·i d + ψ f

[0079] In the above two formulas, ψ q is the quadrature-axis actual flux linkage amplitude, ψd is the actual direct-axis flux linkage amplitude, ψf is the permanent magnet flux linkage amplitude, i q is the quadrature-axis current, i d is the direct-axis current, and L is the stator inductance.

[0080] Exemplarily, the desired joint torque, the desired stator flux linkage amplitude, and the actual direct-axis flux linkage amplitude, quadrature-axis actual flux linkage amplitude, and actual joint torque of the joint motor feedback are input to the flux controller to obtain the quadrature-axis control voltage and direct-axis control voltage output by the flux controller; wherein, the flux controller includes: a controller constructed according to the relative relationship between at least two of direct-axis flux linkage, quadrature-axis flux linkage, joint torque, quadrature-axis current, direct-axis current, quadrature-axis voltage, direct-axis voltage, and electrical angular velocity.

[0081] For example, the flux controller is the controller represented by Equation 4 below:

[0082]

[0083] In the above formula,

[0084]

[0085] In the above formula, is the direct-axis control voltage, is the quadrature-axis control voltage, is the desired stator flux linkage amplitude, is the desired joint torque, ψ d (k) is the actual direct-axis flux linkage amplitude feedback in the current control frame, ψ q (k) is the actual quadrature-axis flux linkage amplitude feedback in the current control frame, ω e (k) is the electrical angular velocity feedback in the current control frame, T e (k) is the actual joint torque feedback in the current control frame, T s is the sampling period (i.e., the time interval between adjacent control frames), ψ f is the permanent magnet flux linkage amplitude, L is the stator inductance, n p is the number of pole pairs, R s is the stator resistance.

[0086] Next, the construction process of the flux controller will be introduced in detail with the following examples.

[0087] Before executing this method, the flux controller can be constructed according to at least one of the following relative relationships:

[0088] The first item: the relative relationship between the quadrature-axis flux linkage and the quadrature-axis current.

[0089] Second item: The relative relationship between the direct-axis magnetic flux and the direct-axis current.

[0090] Third item: The relative relationship between the joint torque and the quadrature-axis current.

[0091] Fourth item: The relative relationship between the quadrature-axis voltage, the derivative of the quadrature-axis current, and the electrical angular velocity.

[0092] Fifth item: The relative relationship between the direct-axis voltage, the derivative of the direct-axis current, and the electrical angular velocity.

[0093] The relative relationship of the above first item can be represented by the above formula 2.

[0094] The relative relationship of the above second item can be represented by the above formula 3.

[0095] The relative relationship of the above third item can be represented by the following formula 5:

[0096]

[0097] In the above formula, T e is the joint torque, ψ f is the amplitude of the permanent magnet magnetic flux, i q is the quadrature-axis current, n p is the number of pole pairs.

[0098] The relative relationship of the above fourth item can be represented by the following formula 6:

[0099]

[0100] In the above formula, u q is the quadrature-axis voltage, i q is the quadrature-axis current, is the derivative of the quadrature-axis current, ψ f is the amplitude of the permanent magnet magnetic flux, L is the stator inductance, R s is the stator resistance, ω e is the electrical angular velocity.

[0101] The relative relationship of the above fifth item can be represented by the following formula 7:

[0102]

[0103] In the above formula, u d is the direct-axis voltage, i d is the direct-axis current, is the derivative of the direct-axis current, L is the stator inductance, R s is the stator resistance, ω e is the electrical angular velocity.

[0104] Furthermore, the flux equation composed of the above equations 2 and 3 can be substituted into the voltage equation composed of the above equations 6 and 7 to obtain the following equation 1:

[0105]

[0106] In the above formula, ψ d (k+1) is the direct axis flux amplitude of the k+1th control frame, ψ q (k+1) is the quadrature axis flux amplitude of the k+1th control frame, u d (k) is the direct axis voltage of the kth control frame, u q (k) is the quadrature axis voltage of the kth control frame, ψ d (k) is the direct axis flux amplitude of the kth control frame, ψ q (k) is the quadrature axis flux amplitude of the kth control frame, ω e (k) is the electrical angular velocity of the kth control frame, L is the stator inductance, R s is the stator resistance, T s is the sampling period (i.e., the time interval between adjacent control frames), ψ f is the flux amplitude of the permanent magnet.

[0107] From the above equation 1, the following equation 8 can be obtained:

[0108]

[0109] In the above formula, is the stator flux amplitude of the k+1th control frame.

[0110] make It is possible to track the expected flux amplitude within one sampling period.

[0111] The flux equation composed of the above equations 2 and 3 can be substituted into the torque equation composed of the above equation 5 to obtain the following equation 9:

[0112]

[0113] In the above formula, T e (k+1) is the joint torque of the k+1th control frame, T e (k) is the joint torque of the kth control frame.

[0114] By combining the above equation 1 and the above equation 9, we can get the following equation 10:

[0115] u q (k)T s =B

[0116] In the above formula,

[0117] make It can achieve tracking the desired torque within one sampling period.

[0118] According to the above formulas (8) and (10), a flux controller as shown in 4 above can be constructed.

[0119] In step S103, the joint motor is controlled to move according to the quadrature-axis control voltage and the direct-axis control voltage.

[0120] Please refer to the appendix Figure 2 , which exemplarily shows a flowchart of the joint motor control method obtained by combining the above-mentioned multiple embodiments. Among them, the upper-level motion control issues the desired joint position θ d , the desired joint speed v d , the impedance controller parameters K p , K d and the feedback torque τ ff . Combining the actual joint position θ and the actual joint speed v feedback by the joint motor, the desired joint torque is obtained through the impedance controller The desired stator flux amplitude is obtained through the relationship between torque and flux (such as the relationship shown in the above formula (1)) Combining the direct-axis actual flux amplitude, the quadrature-axis actual flux amplitude, the actual joint torque and the electrical angular velocity feedback by the joint motor, the quadrature-axis and direct-axis control voltages are obtained through the current-loop torque-flux deadbeat controller After pulse width modulation, the three-phase voltage drives the motor to run through the inverter.

[0121] The joint motor control method provided by the embodiments of the present disclosure first determines the desired stator flux amplitude according to the desired joint torque; then determines the quadrature-axis control voltage and the direct-axis control voltage according to the desired joint torque, the desired stator flux amplitude, and the direct-axis actual flux amplitude, the quadrature-axis actual flux amplitude and the actual joint torque feedback by the joint motor; finally, controls the joint motor to move according to the quadrature-axis control voltage and the direct-axis control voltage. This method converts the desired joint torque into the desired stator flux amplitude, and determines the control of the quadrature-axis and direct-axis control voltages based on the desired stator flux amplitude and the feedback actual flux amplitude. Compared with directly controlling the robot based on the desired joint torque, it can improve the dynamic response ability of the robot, improve the control accuracy and motion complexity of the robot.

[0122] This method utilizes the advantage of fast response speed of deadbeat predictive control to increase the bandwidth of the current loop, and at the same time directly controls torque and flux, improving the response speed of the entire system.

[0123] According to a second aspect of the embodiments of the present disclosure, a joint motor control device is provided. Please refer to the appendix Figure 3 , the device includes:

[0124] A flux linkage module 301, configured to determine an expected stator flux linkage amplitude according to an expected joint torque;

[0125] A voltage module 302, configured to determine a quadrature-axis control voltage and a direct-axis control voltage based on the expected joint torque, the expected stator flux linkage amplitude, and the actual direct-axis flux linkage amplitude, actual quadrature-axis flux linkage amplitude, and actual joint torque fed back by the joint motor;

[0126] A control module 303, configured to control the movement of the joint motor according to the quadrature-axis control voltage and the direct-axis control voltage.

[0127] In a possible embodiment of the present disclosure, the flux linkage module is configured to:

[0128] Determine the expected stator flux linkage amplitude according to the expected joint torque, the permanent magnet flux linkage amplitude of the joint motor, the stator inductance, and the number of pole pairs.

[0129] In a possible embodiment of the present disclosure, the voltage module is configured to:

[0130] Input the expected joint torque, the expected stator flux linkage amplitude, the actual direct-axis flux linkage amplitude, actual quadrature-axis flux linkage amplitude, actual joint torque, and electrical angular velocity fed back by the joint motor to a flux linkage controller, and obtain the quadrature-axis control voltage and the direct-axis control voltage output by the flux linkage controller;

[0131] Wherein, the flux linkage controller includes: a controller constructed based on the relative relationship between at least two of direct-axis flux linkage, quadrature-axis flux linkage, joint torque, quadrature-axis current, direct-axis current, quadrature-axis voltage, direct-axis voltage, and electrical angular velocity.

[0132] In a possible embodiment of the present disclosure, the device further includes a construction module, and the construction module is configured to:

[0133] Construct the flux linkage controller according to at least one of the following relative relationships:

[0134] The relative relationship between the quadrature-axis flux linkage and the quadrature-axis current;

[0135] The relative relationship between the direct-axis flux linkage and the direct-axis current;

[0136] The relative relationship between the joint torque and the quadrature-axis current;

[0137] The relative relationship between the quadrature-axis voltage and the quadrature-axis current, the differential of the quadrature-axis current, and the electrical angular velocity;

[0138] The relative relationship between the direct-axis voltage, the direct-axis current, the derivative of the direct-axis current, and the electrical angular velocity.

[0139] In a possible embodiment of the present disclosure, the device further includes a current module, configured to:

[0140] Determine the magnitude of the quadrature-axis actual magnetic flux according to the quadrature-axis actual current fed back by the joint motor; and / or,

[0141] Determine the magnitude of the direct-axis actual magnetic flux according to the direct-axis actual current fed back by the joint motor.

[0142] In a possible embodiment of the present disclosure, the device further includes a torque module, configured to:

[0143] Input the desired joint state in the motion control instruction and the actual joint state fed back by the joint motor into an impedance controller to obtain the desired joint torque output by the impedance controller.

[0144] In a possible embodiment of the present disclosure, the desired joint state includes a desired joint position and a desired joint velocity; and / or,

[0145] The actual joint state includes an actual joint position and an actual joint velocity.

[0146] In a possible embodiment of the present disclosure, the device further includes an acquisition module, and the acquisition module is configured to:

[0147] Acquire the actual joint state, the actual joint torque, the direct-axis actual current, the quadrature-axis actual current, and the electrical angular velocity fed back by the joint motor.

[0148] In a third aspect, at least one embodiment of the present disclosure provides a robot. Please refer to the appendix Figure 4 , which shows the structure of the robot. The robot includes a memory and a processor. The memory is used to store computer instructions that can be run on the processor, and the processor is used to control the joint motor based on the method according to any one of the first aspects when executing the computer instructions.

[0149] In a fourth aspect, at least one embodiment of the present disclosure provides a computer-readable storage medium, on which a computer program is stored. When the program is executed by a processor, the method according to any one of the first aspects is implemented.

[0150] Other embodiments of the present disclosure will be readily apparent to those skilled in the art in view of the specification and practice of the disclosure herein. This application is intended to cover any variations, uses, or adaptations of the present disclosure that follow the general principles of the present disclosure and include known common general knowledge or conventional technical means in the technical field not disclosed herein. The specification and examples are only to be considered as exemplary, and the true scope and spirit of the present disclosure are pointed out by the following claims.

[0151] It should be understood that the present disclosure is not limited to the exact structures described above and shown in the drawings, and various modifications and changes can be made without departing from its scope. The scope of the present disclosure is only limited by the appended claims.

Claims

1. A method for controlling a joint motor, characterized in that, The method includes: Determining an expected stator flux linkage amplitude according to an expected joint torque; Determining a quadrature-axis control voltage and a direct-axis control voltage according to the expected joint torque, the expected stator flux linkage amplitude, and the direct-axis actual flux linkage amplitude, quadrature-axis actual flux linkage amplitude, actual joint torque, and electrical angular velocity feedback by the joint motor; Controlling the joint motor to move according to the quadrature-axis control voltage and the direct-axis control voltage.

2. The joint motor control method according to claim 1, wherein The determining the expected stator flux linkage amplitude according to the expected joint torque includes: Determining the expected stator flux linkage amplitude according to the expected joint torque, the permanent magnet flux linkage amplitude of the joint motor, the stator inductance, and the number of pole pairs.

3. The joint motor control method according to claim 1, characterized in that The determining the quadrature-axis control voltage and the direct-axis control voltage according to the expected joint torque, the expected stator flux linkage amplitude, and the direct-axis actual flux linkage amplitude, quadrature-axis actual flux linkage amplitude, actual joint torque, and electrical angular velocity feedback by the joint motor includes: Inputting the expected joint torque, the expected stator flux linkage amplitude, and the direct-axis actual flux linkage amplitude, quadrature-axis actual flux linkage amplitude, actual joint torque, and electrical angular velocity feedback by the joint motor into a flux controller to obtain the quadrature-axis control voltage and the direct-axis control voltage output by the flux controller; Wherein, the flux controller includes: a controller constructed according to the relative relationship between at least two of direct-axis flux linkage, quadrature-axis flux linkage, joint torque, quadrature-axis current, direct-axis current, quadrature-axis voltage, direct-axis voltage, and electrical angular velocity.

4. The joint motor control method according to claim 3, wherein The method further includes: Constructing the flux controller according to at least one of the following relative relationships: The relative relationship between the quadrature-axis flux linkage and the quadrature-axis current; The relative relationship between the direct-axis flux linkage and the direct-axis current; The relative relationship between the joint torque and the quadrature-axis current; The relative relationship between the quadrature-axis voltage and the quadrature-axis current, the differential of the quadrature-axis current, and the electrical angular velocity; The relative relationship between the direct-axis voltage and the direct-axis current, the differential of the direct-axis current, and the electrical angular velocity.

5. The joint motor control method according to claim 1, wherein, The method further includes: Determining the quadrature-axis actual flux linkage amplitude according to the quadrature-axis actual current feedback by the joint motor; and / or, Determining the direct-axis actual flux linkage amplitude according to the direct-axis actual current feedback by the joint motor.

6. The joint motor control method according to claim 5, wherein The method further includes: Inputting the expected joint state in the motion control instruction and the actual joint state feedback by the joint motor into an impedance controller to obtain the expected joint torque output by the impedance controller.

7. The joint motor control method according to claim 6, wherein The expected joint state includes an expected joint position and an expected joint velocity; and / or, The actual joint state includes an actual joint position and an actual joint velocity.

8. The joint motor control method according to claim 6, wherein, The method further includes: Obtaining the actual joint state, the actual joint torque, the direct-axis actual current, the quadrature-axis actual current, and the electrical angular velocity feedback by the joint motor.

9. An articulated motor control device, characterized in that, The device includes: A flux module for determining an expected stator flux linkage amplitude according to an expected joint torque; A voltage module for determining a quadrature-axis control voltage and a direct-axis control voltage according to the expected joint torque, the expected stator flux linkage amplitude, and the direct-axis actual flux linkage amplitude, quadrature-axis actual flux linkage amplitude, and actual joint torque feedback by the joint motor; A control module, configured to control the joint motor to move according to the quadrature-axis control voltage and the direct-axis control voltage.

10. A robot, characterized in that, The robot includes a memory and a processor. The memory is configured to store computer instructions that can be run on the processor, and the processor is configured to implement the joint motor control method according to any one of claims 1 to 8 when executing the computer instructions.

11. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, the method according to any one of claims 1 to 8 is implemented.

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